PI L-417. 9211E0B Series User manual

L417M0015EN ‒ 9/10/2019
User Manual
L-417.XX9211E0B HIGH-LOAD LINEAR STAGE
MOTION | POSITIONING

Contents
1 Legal Information.........................................................................................................4
2 About this Document..................................................................................................5
2.1 Objective and Target Group..............................................................................5
2.2 Explanation of Symbols....................................................................................5
2.2.1 Typographic Conventions................................................................. 5
2.2.2 Symbols Used.................................................................................... 5
2.3 Figures................................................................................................................6
2.4 Downloading Manuals...................................................................................... 6
3 Safety............................................................................................................................7
3.1 Intended Use......................................................................................................7
3.2 General Safety Instructions.............................................................................. 7
3.3 Organizational Measures.................................................................................. 7
3.3.1 User Manual....................................................................................... 7
3.3.2 General Personnel Qualification.......................................................7
4 Product Description..................................................................................................... 8
4.1 Model Overview.................................................................................................8
4.2 Product Labeling................................................................................................8
4.2.1 Type Plate........................................................................................... 9
4.3 Scope of Delivery...............................................................................................9
4.4 Overview.......................................................................................................... 10
4.4.1 Base Body......................................................................................... 10
4.4.2 Drive.................................................................................................. 11
4.4.3 Holding brake................................................................................... 11
4.4.4 Linear Encoder Connector............................................................... 11
4.4.5 Purge Air System..............................................................................11
4.5 Direction of Motion..........................................................................................13
4.6 Suitable Electronics......................................................................................... 13
5 Unpacking.................................................................................................................. 14
6 Installation................................................................................................................. 15
6.1 Mounting the L-417.xx9211E0B........................................................................15
6.2 Connecting the L-417.xx9211E0B to the Protective Earth Conductor........... 16
6.3 Mounting the Load onto the L-417.xx9211E0B............................................... 18
6.4 Connecting the L-417.xx9211E0B..................................................................... 19
7 Startup / Operation................................................................................................... 21
7.1 Starting and Operating the L-417.xx9211E0B................................................. 21
CONTENTS L417M0015EN ‒ 9/10/2019
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8 Maintenance...............................................................................................................23
8.1 Maintenance Run.............................................................................................23
8.2 Relubricating.................................................................................................... 23
8.3 Cleaning............................................................................................................23
8.4 Moving the Motion Platform by Hand........................................................... 24
9 Troubleshooting......................................................................................................... 25
10 Transportation............................................................................................................26
11 Customer Service Department.................................................................................27
12 Technical Data............................................................................................................ 28
12.1 Specifications...................................................................................................28
12.2 Maximum Ratings........................................................................................... 31
12.3 Ambient Conditions and Classifications........................................................31
12.4 Dimensions...................................................................................................... 32
13 Old Equipment Disposal........................................................................................... 34
14 Appendix.................................................................................................................... 35
14.1 Pin Assignment................................................................................................35
14.1.1 Drive Connector............................................................................... 35
14.1.2 Motor encoder..................................................................................35
14.1.3 Encoder Connector.......................................................................... 37
14.2 Reference Switch Specifications.................................................................... 37
14.3 Limit Switch Specifications.............................................................................38
14.4 PTC Temperature Sensor................................................................................ 38
14.5 Commutation Encoder.................................................................................... 38
14.6 Holding Brake Specifications..........................................................................39
15 EU Declaration of Conformity...................................................................................40
CONTENTS L417M0015EN ‒ 9/10/2019
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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 http://www.physikinstrumente.com/en/
about-pi/patents.
© 2019 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: 9/10/2019
Document number: L417M0015en, ASt
Subject to change. This manual is superseded by any new release. The latest versions of the
user manuals are available for download (p. 6) at 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 L417M0015EN ‒ 9/10/2019
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2 About this Document
2.1 Objective and Target Group
This user manual contains the information needed for the intended use of the
L-417.xx9211E0B.
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 several steps whose sequential order must be ob-
served
■ 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)
Start > Settings Menu path in the PC software (example: to open the menu, the Start
and Settings menus 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 observe can lead to death or serious injury.
►Measures for avoiding the risk.
WARNING
Dangerous situation
Failure to observe can lead to serious injury.
►Action to take to avoid the risk.
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CAUTION
Dangerous situation
Failure to observe can lead to minor injury.
►Actions to take to avoid the risk.
NOTICE
Dangerous situation
Failure to observe can lead to material damage.
►Action to take to avoid the risk.
Information
Additional information on the L-417.xx9211E0B 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 Downloading Manuals
The latest versions of the user manuals can be downloaded (p. 6) at www.pi.ws.
For products that are supplied with software (data storage device in the scope of delivery),
access to the manuals is protected by a password. Protected content is only displayed on the
website after entering the access data. You need the data storage device for the product to
get the access data.
If a manual is missing or problems occur with downloading, contact our customer service
department (p. 27).
Downloading Manuals
1. Open the website www.pi.ws.
2. If the product was shipped with a data storage device: Log into the website:
a) Click Login.
b) Enter the login data.
The login data is in the [...]_Releasenews_[...].pdf on the product's data storage
device (in the main directory or the Manuals directory).
If necessary: Follow the link and register yourself to get the login data.
c) Click Login or press the Enter key.
3. Search for the product:
a) Click Search.
b) Enter the product number up to the period (e.g., L-417) into the search field.
c) Click Start search or press the Enter key.
d) If necessary: Click Load more results at the bottom of the list.
4. Click the corresponding product in the list of search results.
5. Click the Downloads tab.
➔The manuals are shown under
Documentation .
6. Click the desired manual and save it.
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3 Safety
3.1 Intended Use
The L-417.xx9211E0B is a laboratory device as defined by DIN EN 61010-1. 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-417.xx9211E0B is intended for positioning, adjusting and
shifting loads in one axis at various velocities. The L-417.xx9211E0B is not intended for
applications in areas, in which a failure would present severe risks to human beings or the
environment.
If the L-417.xx9211E0B does not have a holding brake, it is only intended for operation with a
horizontally aligned motion axis.
The intended use of the L-417.xx9211E0B is only possible when completely mounted and
connected. The thermal protection sensor built into the L-417.xx9211E0B's motor must be
evaluated and monitored. The L-417.xx9211E0B must be operated with suitable
electronics (p. 13). The electronics are not in the scope of delivery of the L-417.xx9211E0B.
The L-417.xx9211E0B may not be used for purposes other than those stated in this user
manual. The L-417.xx9211E0B may only be used in compliance with the technical
specifications and instructions in this user manual.
3.2 General Safety Instructions
The L-417.xx9211E0B is built according to state-of-the-art technology and recognized safety
standards. Improper use of the L-417.xx9211E0B may result in personal injury and/or damage
to the L-417.xx9211E0B.
►Use the L-417.xx9211E0B only for its intended purpose and if it is in perfect condition.
►Read the user manual.
►Eliminate any faults and malfunctions that are likely to affect safety immediately.
The operator is responsible for correct installation and operation of the L-417.xx9211E0B.
3.3 Organizational Measures
3.3.1 User Manual
►Always keep this user manual available with the L-417.xx9211E0B. The latest versions of
the user manuals can be downloaded (p. 6) 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-417.xx9211E0B 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 lead to serious or fatal injuries and damage to equipment.
►Only install and operate the L-417.xx9211E0B after you have read and understood this user
manual.
3.3.2 General Personnel Qualification
The L-417.xx9211E0B 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, xx mm travel range, 166 mm width, 450 N load capacity,
incremental linear encoder with sin/cos signal transmission, 20 µm signal period,
holding brake, synchronous servo motor, to 320 V
Product number Travel range: xx
L-417.059211E0B 102 mm (4")
L-417.099211E0B 204 mm (8")
L-417.139211E0B 305 mm (12")
L-417.179211E0B 407 mm (16")
L-417.219211E0B 508 mm (20")
L-417.259211E0B 610 mm (24")
L-417.339211E0B 813 mm (32")
4.2 Product Labeling
1
1
3
22
2
4
2
5
6
4
Figure 1: Product labeling on the L-417.xx9211E0B
1. Warning symbol: Risk of crushing
2. Connector labels
3. Warning symbol: Hot surface
4. Warning symbol: Electrostatic-sensitive device
5. Type plate
6. Protective earth connector
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4.2.1 Type Plate
Figure 2: Type plate of the L-417.xx9211E0B
1. Data matrix code (example; contains the serial number)
2. Product number (example)
3. Serial number (example), individual for each L-417.xx9211E0B
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. 34), CE mark (p. 40))
4.3 Scope of Delivery
Product number Description
L-417.xx9211E0B Linear stage according to the order (p. 8)
For L-417.xx9211E0B with xx = 05, 09, 13, 17:
L417B0014
Mounting kit for mounting the
L-417.xx9211E0B and installation material,
consisting of
■12 socket head screws, ISO 4762 M6×30
■2 dowel pins, ISO 8734, 4 m6 × 12
■12 flat washers, ISO 7092, D11 d6.4 h1, 6
mm
For L-417.xx9211E0B with xx = 21, 25, 33:
L417B0015
Mounting kit for mounting the
L-417.xx9211E0B and installation material,
consisting of
■20 socket head screws, ISO 4762 M 6 × 30
■2 dowel pins, ISO 8734, 4m6 × 12
■20 flat washers, ISO 7092, D11 d6.4 h1, 6
mm
MP187EK Short instructions for positioners with elec-
tric motors to 320 V
For L-417.xx9211E0B with xx = 21, 25, 33:
V417B0029
Transport means: Carrying aid for the
L-417.xx9211E0B
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4.4 Overview
1
5
7
8
34
2
6
Figure 3: Elements of the L-417.xx9211E0B
1. Base body
2. Motion platform
3. Drive
4. Holding brake
5. Drive and rotary encoder connector
6. Purge air connector
7. Linear encoder connector
8. Grease nipple for relubricating the drive screw
4.4.1 Base Body
The base body is the basis of the positioner. The L-417.xx9211E0B is mounted onto a surface
via the base body (p. 15).
The base body comprises the following subassembly (subassemblies):
Drive screw
The drive screw converts the rotary motion of the drive to linear motion of the motion
platform.
Reference Switch
The reference switch is a sensor whose fixed position serves as the reference point for
incremental sensor signals.
Limit switches
The limit switches 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.
Incremental linear encoder
An incremental linear encoder is a sensor that measures the position of the motion platform
incremental to a known reference point. Optical linear encoders measure the actual position
directly. Therefore, errors in the drive, such as nonlinearity, backlash or elastic deformations
cannot influence the measurement of the position.
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4.4.2 Drive
The drive generates the torque required for the dynamics of the motion platform.
The drive comprises the following subassembly (subassemblies):
Motor
The motor generates the torque required for the dynamics of the motion platform.
Rotary encoder
The rotary encoder measures the motor shaft's angle of rotation. This signal can be used by
suitable electronics for commutating the motor .
4.4.3 Holding brake
The holding brake blocks the drivetrain at rest.
The holding brake is designed for holding only and is not suitable for continuous braking
during operation.
The holding brake blocks in a zero voltage state.
4.4.4 Linear Encoder Connector
The linear encoder connector transmits the L-417.xx9211E0B's sensor signals.
4.4.5 Purge Air System
The purge air system protects the drive and guides of the L-417.xx9211E0B against
surrounding dust.
The purge air system comprises the following subassembly (subassemblies):
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Passive dust protection
The passive dust protection consists of covering strips that seal the openings on the side of
the L-417.xx9211E0B's base body and therefore reduces the amount of dust that can
penetrate.
Active dust protection
The active dust protection consists of a purge air connector on the base body of the
L-417.xx9211E0B, which creates a slight overpressure in the L-417.xx9211E0B and therefore
reduces the amount of dust that can penetrate.
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4.5 Direction of Motion
Positive Direction of Motion
Reference Switch
Negative Limit Switch Positive Limit Switch
Figure 4: Schematic representation of the direction of motion, reference switch, and limit
switches. The exact position of the reference switch and the limit switches may vary.
4.6 Suitable Electronics
The L-417.xx9211E0B 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
ACS modular controller
To order, contact our customer service department (p. 27).
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5 Unpacking
Unpacking the L-417.xx9211E0B
1. Unpack the L-417.xx9211E0B with care. Hold the L-417.xx9211E0B by its base body only.
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. 27) immediately.
4. If the L-417.xx9211E0B was supplied with a carrying aid (p. 9): Use the carrying aid to
transport the L-417.xx9211E0B to the intended place of use.
5. If the L-417.xx9211E0B was supplied with ESD protective caps on the connectors: Do not
remove the ESD protective caps.
6. Keep all packaging materials in case the product needs to be returned.
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6 Installation
6.1 Mounting the L-417.xx9211E0B
Overview
Figure 5: Mounting the L-417.xx9211E0B onto an underlying surface
Tools and Accessories
■Screw set for mounting the L-417.xx9211E0B (p. 9)
■Suitable screwdriver
Requirements
✓You have read and understood the general safety instructions (p. 7).
✓You have provided a suitable surface with the holes necessary for the screws and if
required, locating pins (p. 32).
■The flatness of the surface is ≤ 2 μm.
■For applications with large temperature changes: The surface should have the same or
similar thermal expansion properties as the L-417.xx9211E0B.
✓You have accounted for the space required to route cables without bending and
according to regulations.
DANGER
Risk of electric shock if the protective earth conductor is not connected!
If the protective earth conductor is missing or not properly connected, risk of dangerous
touch voltages on the L-417.xx9211E0B in the event of malfunction or failure of the system. If
there are touch voltages, touching the L-417.xx9211E0B leads to serious injuries or death by
electric shock.
►Connect the L-417.xx9211E0B to a protective earth conductor before startup.
►Do not remove the protective earth conductor during operation.
►If the protective earth conductor has to be removed temporarily (e.g., for modifications),
reconnect the L-417.xx9211E0B to the protective earth conductor before restarting.
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CAUTION
Risk of crushing by moving parts!
Risk of minor injuries from crushing between the moving parts of the L-417.xx9211E0B 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-417.xx9211E0B, the load to be moved, and the surroundings.
►Make sure that collisions are not possible between the L-417.xx9211E0B, the load to be
moved, and the surroundings in the motion range of the L-417.xx9211E0B.
►Do not place any cables or other objects in areas where they could be caught by moving
parts.
NOTICE
Excessively long screws and locating pins
Screws and locating pins that are inserted too deeply can damage the L-417.xx9211E0B.
►Pay attention to the depth of the mounting and locating holes (p. 33) in the
L-417.xx9211E0B.
►Only use screws and locating pins of the correct length for the respective mounting holes.
Mounting the L-417.xx9211E0B onto an Underlying Surface
1. If necessary: Insert the locating pins into the corresponding holes in the underlying
surface.
2. Align the L-417.xx9211E0B on underlying surface so that the corresponding mounting
holes in the L-417.xx9211E0B and underlying surface in line.
3. Put the L-417.xx9211E0B onto the underlying surface so that the locating pins can be
inserted into the corresponding locating holes with the L-417.xx9211E0B.
4. If necessary: Allow access to the mounting holes in the base body of the L-417.xx9211E0B.
Possible measures:
■Temporary startup of the L-417.xx9211E0B (p. 21) and commanding the motion
platform to a suitable position
■Push the motion platform by hand (p. 24)
5. If necessary, use a flat washer with each screw and insert the screws through the washer
into the mounting hole.
6. Tighten the screws in all accessible mounting holes completely.
Recommended torque: 3 Nm
7. If necessary: Repeat steps 4 to 6 for all concealed mounting holes.
8. Check that the L-417.xx9211E0B is fixed firmly to the underlying surface.
6.2 Connecting the L-417.xx9211E0B to the Protective Earth
Conductor
The L-417.xx9211E0B must be connected to the protective earth conductor via the drive
connector.
If the load needs to be connected to the protective earth conductor, the L-417.xx9211E0B'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.
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Overview
Figure 6: Protective earth connector on the L-417.xx9211E0B
1. Connector for the protective earth conductor on the L-417.xx9211E0B, indicated by the
protective earth symbol
2. Safety washer
3. Flat washer
4. Protective earth conductor lug
5. Screw, ISO 7045 M4×8
Tools and Accessories
■Suitable protective earth conductor:
■Cable cross section ≥ 0.75 mm2
■Contact resistance <0.1 Ω at 25 A at all connection points relevant for attaching the
protective earth conductor
■Suitable screwdriver
Requirements
✓You have read and understood the general safety instructions (p. 7).
DANGER
Risk of electric shock if the protective earth conductor is not connected!
If the protective earth conductor is missing or not properly connected, risk of dangerous
touch voltages on the L-417.xx9211E0B in the event of malfunction or failure of the system. If
there are touch voltages, touching the L-417.xx9211E0B leads to serious injuries or death by
electric shock.
►Connect the L-417.xx9211E0B to a protective earth conductor before startup.
►Do not remove the protective earth conductor during operation.
►If the protective earth conductor has to be removed temporarily (e.g., for modifications),
reconnect the L-417.xx9211E0B to the protective earth conductor before restarting.
Information
►Observe the applicable standards for connecting the protective earth conductor.
Connecting the L-417.xx9211E0B to the Protective Earth Conductor
1. If necessary, attach a suitable cable lug to the protective earth conductor.
2. Attach the cable lug of the protective earth conductor to the protective earth connection
as shown in the illustration of the L-417.xx9211E0B.
3. Tighten the screw with a torque of 1.2 Nm to 1.5 Nm.
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4. Make sure that the contact resistance is <0.1 Ω at 25 A at all connection points relevant for
attaching the protective earth conductor.
6.3 Mounting the Load onto the L-417.xx9211E0B
Overview
Figure 7: Mounting the load onto the L-417.xx9211E0B
1. Screws
2. Load
3. Motion platform of the L-417.xx9211E0B
Tools and Accessories
■At least 3 screws with suitable dimensions (p. 33)
■Suitable tool for tightening the screws
■Optional: 2 suitably dimensioned dowel pins as locating pins for aligning the load on the
L-417.xx9211E0B
Requirements
✓You have read and understood the general safety instructions (p. 7).
✓You have mounted the L-417.xx9211E0B on the surface (p. 15) properly.
✓The L-417.xx9211E0B is not connected to the electronics.
✓You have prepared the load so that it can be fixed to the mounting holes on the motion
platform:
■The distance between the center of gravity of the load and the center of the motion
platform is as small as possible in all directions.
■At least three points are provided for fixing the load on the motion platform.
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NOTICE
Impermissibly high load on the L-417.xx9211E0B
An impermissible high load impairs the motion of the platform and can damage the
L-417.xx9211E0B.
►Pay attention to the maximum permissible forces (p. 28) that may act on the motion
platform.
►In the case of multi-axis systems, include the masses of the positioners to be moved
when calculating the load.
Fixing the Load
1. If necessary: Insert the locating pins into the corresponding holes in the motion platform.
2. Align the load on the motion platform so that the mounting holes selected in the motion
platform can be used for mounting the load.
3. Place the load onto the motion platform so that the locating pins are inserted into the
corresponding locating holes in the load.
4. Tighten the screws in all mounting holes.
5. Check that the load is fixed firmly to the motion platform.
6.4 Connecting the L-417.xx9211E0B
Tools and Accessories
■Suitable cable set
■If necessary: Suitable screwdriver for the locking screws of the connectors.
■Optional: Purge air connector with the following properties:
Pressure: 2 to 6 bar (200 to 600 kPa); purge air hose: Outer diameter 4 mm; air quality as
stated in the specifications (p. 28)
Requirements
✓You have read and understood the general safety instructions (p. 7).
✓You have read and understood the user manual for the electronics.
✓You have installed the electronics properly.
✓The electronics are switched off.
✓The L-417.xx9211E0B is connected to the protective earth conductor (p. 16).
NOTICE
Damage due to incorrect connection of the L-417.xx9211E0B!
Connecting unsuitable electronics or the wrong cable can lead to damage to the
L-417.xx9211E0B or the electronics.
►Make sure that the electronics support the drive type of the L-417.xx9211E0B and has been
configured accordingly.
►Use cables from PI miCos only to connect the L-417.xx9211E0B to the electronics.
►Pay attention to correct pin assignment (p. 35).
Connecting the L-417.xx9211E0B
1. If necessary: Remove the ESD protective caps from the connectors of the L-417.xx9211E0B.
2. All of the L-417.xx9211E0B's connections must be made in the following order:
a) Optional: Purge air connector
Permissible pressure: 2 to 6 bar (200 to 600 kPa)
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b) Rotary encoder connector
c) Drive connector
d) Linear encoder connector
3. Secure the connectors against unintentional removal.
If necessary: Turn the drive and encoder connector carefully to a position suitable for your
installation conditions.
The drive and encoder connector of the L-417.xx9211E0B can be turned up to 140° (in steps
of approximately 7°).
≈7°
Figure 8: Rotation range of the L-417.xx9211E0B's drive/sensor connectors
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