PI U-628 User manual

Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstr. 1, 76228 Karlsruhe, Germany
Phone: [phone], Fax: [phone], E-mail: [e-mail]
MP112E
U-628 Rotation Stage
User Manual
Version: 1.2.0
Date: 21.08.2015
This document describes the following
product:
U-628.03
PILine® rotation stage, >360° rotation
range, velocity 720°/s, incremental
encoder, 17 µrad resolution, 49 mm
diameter, piezoelectric ultrasonic motor

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 Ultrasonic
Piezo Motors (PILine®):
Germany: DE102004024656A1, DE102004044184B4, DE102004059429B4,
DE102005010073A1, DE102005039357B4, DE102005039358A1,
DE102006041017B4, DE102008012992A1, DE102008023478A1,
DE102008058484A1, DE102010022812A1, DE102010047280A1, DE102010055848,
DE102011075985A1, DE102011082200A1, DE102011087542B3,
DE102011087542B3, DE102011087801B4, DE102011108175, DE102012201863B3,
DE19522072C1, DE19938954A1
Europe: EP0789937B1EP1210759B1, EP1267425B1, EP1581992B1, EP1656705B1,
EP1747594B1, EP1812975B1, EP1861740B1, EP1915787B2, EP1938397B1,
EP2095441B1, EP2130236B1, EP2153476B1, EP2164120B1, EP2258004B1,
EP2608286A2
USA: US2010/0013353A1, US5872418A, US6765335B2, US6806620B1,
US6806620B1, US7218031B2, US7598656B2, US7737605B2, US7795782B2,
US7834518B2, US7973451B2, US8253304B2, US8344592B2, US8482185B2
Japan: JP2011514131, JP2011522506, JP3804973B2, JP4377956, JP4435695,
JP4477069, JP4598128, JP4617359, JP4620115, JP4648391, JP4860862,
JP4914895, JP2013539346
China: ZL200380108542.0, ZL200580015994.3, ZL200580029560.9,
ZL200580036995.6, ZL200680007223.4, ZL200680030007.1, ZL200680042853.5
International patent applications: WO2009059939A2, WO2010121594A1,
WO2012048691A2, WO2012113394A1, WO2012155903A1, WO2013034146A3,
WO2013117189A2

© 2015 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: 21.08.2015
Document number: MP112E, CBo, Version 1.2.0
Subject to change without notice. This manual is superseded by any new release. The
latest 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 Symbols and Typographic Conventions...............................................................1
1.3 Definition...............................................................................................................2
1.4 Figures..................................................................................................................3
1.5 Other Applicable Documents................................................................................3
1.6 Downloading Manuals ..........................................................................................3
2Safety 5
2.1 Intended Use ........................................................................................................5
2.2 General Safety Instructions..................................................................................5
2.3 Organizational Measures......................................................................................7
3Product Description 9
3.1 Product View.........................................................................................................9
3.2 Product Labeling.................................................................................................10
3.3 Scope of Delivery ...............................................................................................11
3.4 Suitable Controllers ............................................................................................12
3.5 Accessories ........................................................................................................12
3.6 Technical Features.............................................................................................13
3.6.1 Rotary Encoder.................................................................................13
3.6.2 Reference Point Switch ....................................................................13
3.6.3 ID Chip..............................................................................................13
4Unpacking 15
5Installation 17
5.1 General Notes on Installation.............................................................................17
5.2 Connecting the U-628 to the Protective Earth Conductor..................................19
5.3 Mounting the U-628 on a Surface ......................................................................21
5.4 Affixing the Load to the U-628............................................................................23
6Start-Up and Operation 25
6.1 General Notes on Start-Up and Operation.........................................................25
6.2 Starting up the U-628 .........................................................................................28
Contents

7Maintenance 31
7.1 General Notes on Maintenance..........................................................................31
7.2 Performing a Maintenance Run..........................................................................31
7.3 Cleaning the U-628.............................................................................................32
8Troubleshooting 33
9Customer Service 35
10 Technical Data 37
10.1 Specifications......................................................................................................37
10.1.1 Data Table........................................................................................37
10.1.2 Reference Point Switch Specifications.............................................38
10.1.3 Maximum Ratings.............................................................................38
10.2 Ambient Conditions and Classifications .............................................................39
10.3 Motor Power .......................................................................................................40
10.3.1 Motor Power and Operating Voltage................................................40
10.3.2 Velocity and Torque..........................................................................41
10.3.3 Motor Power and Lifetime.................................................................42
10.3.4 Influence of Downtimes on the Torque.............................................43
10.4 Dimensions.........................................................................................................44
10.5 Pin Assignment...................................................................................................45
11 Old Equipment Disposal 47
12 EC Declaration of Conformity 49

1 About this Document
U-628 Rotation Stage MP112E Version: 1.2.0 1
In this Chapter
Objective and Target Audience of this User Manual..................................................... 1
Symbols and Typographic Conventions........................................................................ 1
Definition........................................................................................................................ 2
Figures........................................................................................................................... 3
Other Applicable Documents......................................................................................... 3
Downloading Manuals................................................................................................... 3
1.1 Objective and Target Audience of this User Manual
This manual contains information on the intended use of the U-628.
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 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 situation.
NOTICE
Dangerous situation
If not avoided, the dangerous situation will result in damage to the equipment.
Actions to take to avoid the situation.
1 About this Document

1 About this Document
2 Version: 1.2.0 MP112E U-628 Rotation 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
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 signs affixed to the product that refer to
detailed information in this manual.
1.3 Definition
Term Explanation
Load capacity Maximum load capacity in the vertical direction when the
rotation stage is mounted horizontally. The contact point of the
load is in the center of the platform.
Rotary encoder The rotary encoder is an incremental sensor for capturing
changes in position. Signals from the sensor are used for axis
position feedback. After switching on the controller a reference
point definition must be performed before absolute target
positions can be commanded and reached.

1 About this Document
U-628 Rotation Stage MP112E Version: 1.2.0 3
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 Other Applicable Documents
The devices and software tools which are mentioned in this documentation are
described in their own manuals.
Description Document
C-867.1U PILine® controller MS223E user manual
C-867.2U PILine® controller MS231E user manual
C-877.1U11 PILine® controller MS232E user manual
C-877.2U12 PILine® controller MS233E user manual
PIMikroMove SM148E software manual
PILine® stage MP121EK short instructions
1.6 Downloading Manuals
INFORMATION
If a manual is missing or problems occur with downloading:
Contact our customer service department (p. 35).
INFORMATION
For products that are supplied with software (CD in the scope of delivery), access to
the manuals is protected by a password. Protected manuals are only displayed on
the website after entering the password.
The password is included on the CD of the product.

1 About this Document
4 Version: 1.2.0 MP112E U-628 Rotation Stage
For products with CD: Identify the password
1. Insert the product CD into the PC drive.
2. Switch to the Manuals directory on the CD.
3. In the Manuals directory, open the Release News (file including releasenews
in the file name).
4. Find the user name and the password in the section "User login for software
download" in the Release News.
Downloading Manuals
1. Open the website http://www.pi.ws.
2. Click Info.
3. If you have a user name and password:
a) Click Login.
b) Log in with the user name and password.
4. Click >> Product Downloads.
5. In the Product Files area, click the corresponding product category.
6. On the right-hand side of the page, select the corresponding sub-category.
7. Navigate to the product code on the page.
The following manuals are displayed:
−Freely accessible manuals
−Manuals that are protected by a password
8. Click the desired manual and save it to the hard disk of your PC or to a data
storage medium.

2 Safety
U-628 Rotation Stage MP112E Version: 1.2.0 5
In this Chapter
Intended Use ................................................................................................................. 5
General Safety Instructions........................................................................................... 5
Organizational Measures............................................................................................... 7
2.1 Intended Use
The U-628 is a laboratory device as defined by DIN EN 61010-1. It is intended for
indoor and use in an environment that is free of dirt, oil and lubricants.
In accordance with its design, the U-628 is intended for single-axis positioning,
adjustment and rotation of loads at different velocities in interval operation. The U-628
is not intended for applications in areas in which a failure would present severe risks
to human beings or the environment.
The intended use of the U-628 is only possible when completely mounted and
connected.
The U-628 uses a PILine® ultrasonic piezomotor as drive and must be operated with a
suitable controller (p. 12). The controller is not included in the scope of delivery of the
U-628.
2.2 General Safety Instructions
The U-628 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 U-628.
Only use the U-628 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 U-628.
2 Safety

2 Safety
6 Version: 1.2.0 MP112E U-628 Rotation Stage
Piezomotors are driven by piezo actuators. After disconnection from the electronics,
piezo actuators can remain electrically charged for several hours. Temperature
changes can also induce charges in piezo actuators. Touching charged parts of the
U-628 can cause slight injuries from electric shock.
Do not open the U-628.
Do not touch the contacts in the connector of the U-628.
If a protective earth conductor is not or not properly connected, dangerous touch
voltages can occur on the U-628 in the case of malfunction or failure of the system. If
touch voltages exist, touching the U-628 can result in minor injuries from electric
shock.
Connect the U-628 to a protective earth conductor (p. 19) before start-up.
Do not remove the protective earth conductor during operation.
If the protective earth conductor has to be removed temporarily (e. g. in the
case of modifications), reconnect the U-628 to the protective earth conductor
before starting it up again.
Mechanical forces can damage or misalign the U-628.
Avoid impacts that affect the U-628.
Do not drop the U-628.
Do not exceed the maximum permissible stress and load capacities according
to the specifications (p. 37).

2 Safety
U-628 Rotation Stage MP112E Version: 1.2.0 7
2.3 Organizational Measures
User manual
Always keep this user manual available with the U-628.
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 U-628 on to other users, 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 result in minor injury and
damage to equipment.
Only install and operate the U-628 after you have read and understood this
user manual.
Personnel qualification
The U-628 may only be installed, started up, operated, maintained and cleaned by
authorized and appropriately qualified personnel.

3 Product Description
U-628 Rotation Stage MP112E Version: 1.2.0 9
In this Chapter
Product View ................................................................................................................. 9
Product Labeling.......................................................................................................... 10
Scope of Delivery ........................................................................................................ 11
Suitable Controllers..................................................................................................... 12
Accessories ................................................................................................................. 12
Technical Features...................................................................................................... 13
3.1 Product View
Figure 1: U-628 product view
1 Base body
2 0° mark: After a reference move of the U-628, the red point on the moving
platform is above the 0° mark in the base body.
3 Moving platform
4 Cable for connecting to the controller
5 Protective earth connection
The arrow in the figure shows the positive direction of motion.
3 Product Description

3 Product Description
10 Version: 1.2.0 MP112E U-628 Rotation Stage
3.2 Product Labeling
Figure 2: U-628: Position of the product labeling (example view)
Position Labeling Description
A Manufacturer's logo
A CE conformity mark
A Warning sign "Observe manual!"
A U-628.03 Product name
A 113050975 Serial number (example), individual for each U-628
Meaning of the places (counting from left):
1 = internal information
2 and 3 = year of manufacture
4 to 9 = consecutive numbers
A WWW.PI.WS Manufacturer's address (website)
A Data matrix code (example; contains the serial
number)
A Old equipment disposal (p. 47)
A Country of origin:
Germany Country of origin
B Symbol for the protective earth conductor, marks the
protective earth connection of the U-628 (p. 19)

3 Product Description
U-628 Rotation Stage MP112E Version: 1.2.0 11
Figure 3: U-628: "Residual voltage" warning sign on connector
Warning sign "Residual voltage": Notice of risk of electric shock (p. 5)
3.3 Scope of Delivery
Item ID Components
U-628.03 PILine® rotation stage, >360° rotation range, velocity 720°/s,
incremental encoder, 17 µrad resolution, 49 mm diameter,
piezoelectric ultrasonic motor
000036450 M4 screw set for protective earth, consisting of:
1 M4x8 flat-head screw with cross recess, ISO 7045
2 safety washers
2 flat washers
000042783 Screw set for mounting the U-628, consisting of:
4 M2.5x16 socket-head cap screws, ISO 4762
4 M2.5 flat washers, ISO 7092
1 Allen wrench AF 2.0
MP121EK Short instructions for the PILine® stage

3 Product Description
12 Version: 1.2.0 MP112E U-628 Rotation Stage
3.4 Suitable Controllers
Order Number Description
C-867.1U Piezomotor controller / driver, networkable, 1 channel, for
PILine® systems with Sub-D connector(s)
C-867.2U Piezomotor controller with drive electronics, networkable,
2 channels, for PILine® systems with Sub-D connector(s)
C-877.1U11 Compact, cost-efficient piezomotor controller with drive
electronics, 1 channel, for PILine® systems with low power
consumption
C-877.2U12 Compact piezomotor controller with drive electronics, 2 channels,
for PILine® systems
To order, contact our customer service department (p. 35).
3.5 Accessories
Order Number Description
U-600.A01 Extension cable for PILine®, 15-pin Sub-D, 1 m*
U-600.A03 Extension cable for PILine®, 15-pin Sub-D, 3 m*
U-600.A05 Extension cable for PILine®, 15-pin Sub-D, 5 m*
* Other cable lengths available on request.
To order, contact our customer service department (p. 35).

3 Product Description
U-628 Rotation Stage MP112E Version: 1.2.0 13
3.6 Technical Features
3.6.1 Rotary Encoder
The U-628 is equipped with an optical rotary encoder. For the encoder resolution,
refer to the table in the "Specifications" section (p. 37).
Optical rotary encoders measure the actual position directly (direct metrology).
Therefore, errors occurring in the drivetrain, such as nonlinearity, backlash or elastic
deformation, cannot influence the measurement of the position.
3.6.2 Reference Point Switch
The U-628 has an optical reference point switch (see "Reference Switch
Specifications", p. 38).
See the controller user manual and/or associated software manuals for the commands
which make use of the reference point signal.
After a reference move of the U-628, the red dot on the moving platform is above the
0° mark in the base body.
3.6.3 ID Chip
The connector of the U-628 stages contains an ID chip. Information on the stage (e.g.,
type, serial number, date of manufacture, version of the hardware) is stored in
parameters on the ID chip.
When switched on or rebooted, controllers from PI read the data from the ID chip.
For more information on the ID chip recognition, see the manual of the controller used.