PI V62 Series User manual

User Manual
V620D0001 Rev 0.0
17-Nov-2021
Page 1 of 27
PI (Physik Instrumente) L.P.
16 Albert Street, Auburn, MA 01501
Tel: [phone] Fax: [phone]
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V-62x Series Rotary Stage
Direct-drive Torque Motor Driven with Encoder Feedback

User Manual
V620D0001 Rev 0.0
17-Nov-2021
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PI (Physik Instrumente) L.P.
16 Albert Street, Auburn, MA 01501
Tel: [phone] Fax: [phone]
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Physik Instrumente (PI) GmbH & Co. KG is the owner of the following trademarks:
PI®, PIC®, PICMA®, PILine®, PIFOC®, PiezoWalk®, NEXACT®, NEXLINE®, NanoCube®, NanoAutomation®,
Picoactuator®, PInano®, PIMag®
PI owns the following patents or patent applications for the technology field Magnetic Direct Drives (PIMag®):
WO212146709A2, DE102012207082A1
© 2021 PI (Physik Instrumente) L.P. The text, photographs and drawings in this manual are protected by
copyright. With regard thereto, PI (Physik Instrumente) L.P. retains all the rights. Use of said text, photographs
and drawings is permitted only in part and only upon citation of the source.
Subject to change without notice. This manual is superseded by any new release. PI continually improves its
product offerings, and listed options and specifications may be superseded at any time.

User Manual
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Table of Contents
1. About this Document ____________________________________________________________________5
1.1. Objective and Target Audience of this User Manual ________________________________________5
1.2. Symbols and Typographic Conventions __________________________________________________5
1.3. Other Applicable Documents __________________________________________________________5
2. Safety ________________________________________________________________________________6
2.1. Intended Use ______________________________________________________________________6
2.2. General Safety Instructions ___________________________________________________________6
2.3. Warnings and Safety Notices __________________________________________________________7
2.4. Organizational Measures _____________________________________________________________8
3. Product Description _____________________________________________________________________9
3.1. Model Overview and Part Numbering ___________________________________________________9
3.2. Product Features ___________________________________________________________________9
3.3. Product Labeling__________________________________________________________________ 10
3.4. Scope of Delivery _________________________________________________________________ 11
3.5. Accessories ______________________________________________________________________ 11
3.6. Controllers ______________________________________________________________________ 11
4. Technical Features ____________________________________________________________________ 12
4.1. Ball Bearing______________________________________________________________________ 12
4.2. Torque Motor____________________________________________________________________ 12
4.3. Encoder_________________________________________________________________________ 12
4.4. Index Mark (Incremental encoders only)_______________________________________________ 12
5. Unpacking and Handling________________________________________________________________ 13
6. Installation __________________________________________________________________________ 14
6.1. Mounting Surface Quality and Preparation _____________________________________________ 14
6.2. Mounting Orientation _____________________________________________________________ 14
6.3. Mounting Procedure ______________________________________________________________ 15
6.4. Removing the shipping restraint _____________________________________________________ 15
6.5. Affixing the Payload to the Stage _____________________________________________________ 15
6.6. Travel Orientation ________________________________________________________________ 16

User Manual
V620D0001 Rev 0.0
17-Nov-2021
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PI (Physik Instrumente) L.P.
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6.7. Multi-Axis Configurations___________________________________________________________ 16
6.8. Connecting the Stage to Protective Earth ______________________________________________ 17
6.9. Connecting the Cables _____________________________________________________________ 18
7. Startup and Operation of the Stage _______________________________________________________ 19
8. Maintenance_________________________________________________________________________ 20
8.1. Cleaning the Stage ________________________________________________________________ 20
8.2. Preparing the Stage for Transport ____________________________________________________ 20
9. Customer Service _____________________________________________________________________ 21
10. Technical Data _____________________________________________________________________ 22
10.1. Sizes and Load Capacities _________________________________________________________ 22
10.2. Performance Specifications _______________________________________________________ 22
10.3. Motor Electrical Specifications_____________________________________________________ 23
10.4. Encoder Specifications ___________________________________________________________ 23
10.5. Ambient Conditions _____________________________________________________________ 24
10.6. Dimensions____________________________________________________________________ 24
10.7. Pin Assignments ________________________________________________________________ 26
11. EC Declaration of Conformity__________________________________________________________ 27
12. Old Equipment Disposal ______________________________________________________________ 27
Table of Figures
Figure 1 - Product Features, V-62x _____________________________________________________________9
Figure 2 - Product Labeling Example__________________________________________________________ 10
Figure 3 - Mounting Surface Quality___________________________________________________________ 14
Figure 4 –Travel Orientation ________________________________________________________________ 16
Figure 5 - Mounting of the protective earth conductor (profile view) __________________________________ 17
Figure 6 - V-622 Stage Dimensions ___________________________________________________________ 24
Figure 7 - V-623 Stage Dimensions ___________________________________________________________ 25

User Manual
V620D0001 Rev 0.0
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1. About this Document
1.1. Objective and Target Audience of this User Manual
This manual contains information on the intended use of the V-62x series of rotary direct-drive stages. It
assumes that the reader has a fundamental understanding of basic servo systems as well as motion control
concepts and applicable safety procedures.
1.2. Symbols and Typographic Conventions
The following symbols and markings are used in this User Manual:
Symbol
Meaning
If not avoided, the situation could result in damage to the equipment.
Failure to observe these precautions could result in serious injury to
those performing the procedures and damage to the equipment.
1.
2.
Action consisting of several steps whose sequential order must be
observed
➢
Action consisting of one or several steps whose sequential order is
irrelevant
1.3. Other Applicable Documents
None at this time

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2. Safety
2.1. Intended Use
The V-62x is a laboratory device as defined by DIN EN 61010. It is intended to be used in interior spaces and in
an environment which is free of dirt, oil and lubricants.
In accordance with its design and realization, the V-62x is intended for single-axis rotational positioning of loads
at different velocities. The V-62x 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 V-62x is only possible when completely mounted and connected.
The V-62x must be operated with a suitable controller. The controller is not included in the scope of delivery of
the V-62x.
2.2. General Safety Instructions
The V-62x 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 V-62x.
➢Only use the V-62x 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 V-62x.

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2.3. Warnings and Safety Notices
The following statements apply throughout this manual. Failure to observe these precautions could result in
serious injury to those performing the procedures and damage to the equipment. This manual and any additional
instructions included with the stage should be retained for the lifetime of the stage.
To minimize the possibility of electrical shock and bodily injury or death, disconnect all electrical
power prior to making any electrical connections.
To minimize the possibility of electrical shock and bodily injury or death when any electrical circuit
is in use, ensure that no person comes in contact with the circuitry when the stage is connected to
a power source.
To minimize the possibility of bodily injury or death, disconnect all electrical power prior to making
any mechanical adjustments.
To minimize the possibility of bodily injury or death from electric shock in the case of malfunction or
failure of the system, make sure a protective earth conductor is properly connected.
Moving parts of the stage can cause crushing or shearing injuries. All personnel must remain clear
of any moving parts.
Improper use of the stage can cause damage, shock, injury, or death. Read and understand this
manual before operating the stage.
If the stage is used in a manner not specified by the manufacturer, the protection provided by the
stage can be impaired.
Stage cables can pose a tripping hazard. Securely mount and position all stage cables to avoid
potential hazards.
Do not expose the stage to environments or conditions outside the specified range of operating
environments. Operation in conditions other than those specified can cause damage to the
equipment.
The stage must be mounted securely. Improper mounting can result in injury and damage to the
equipment.
Use care when moving the stage. Manually lifting or transporting stages can result in injury.
Use care when moving the stage. Avoid any shocks, drops or bumps that can cause scratches,
dings, dents, or distortion of the stage.
The stage contains high power magnets that can attract ferrous objects, such as loose screws.
Attracted objects can damage the stage. Make sure that there are no movable, ferrous objects
within a radius of at least 10 cm around the stage.

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The stage contains high power magnets that can damage magnetically sensitive objects such as
magnetic data carriers and electronic devices. Make sure that there are no magnetically sensitive
objects within a radius of at least 10 cm around the stage.
Dirt, oil, lubricants and condensation will damage the stage. Keep the stage clean and free of dirt,
debris, oil, lubricants, and moisture.
2.4. Organizational Measures
User manual
➢Always keep this user manual available near the V-62x.
➢Add all information given by the manufacturer to the user manual, for example supplements or
Technical Notes.
➢If you pass the V-62x on to other users, also turn over this user manual as well as other relevant
information provided by the manufacturer.
➢Only use the device on the basis of the complete user manual. Missing information due to an
incomplete user manual can result in minor injury and property damage.
➢Only install and operate the V-62x after having read and understood this user manual.
Personnel qualification
The V-62x may only be installed, started up, operated, maintained and cleaned by authorized and
appropriately qualified personnel.

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3. Product Description
3.1. Model Overview and Part Numbering
The V-62x series offers various models, defined by the stage size, encoder type, and motor option. The
dimensions of the various models vary. Encoder options do not affect the stage external dimensions.
Model
Table
Diameter
Encoder Option
Motor
Options
V-62
2 = 85mm
A = Incremental, SIN/COS Analog
(1 Vp-p) output
1 = Standard
Direct Drive
00 = None
3 = 110mm
B = Absolute BiSS-C serial output
3.2. Product Features
The V-62x series stages incorporate high-precision preloaded rotary ball bearings, direct-drive torque motors,
and optical position feedback encoders to provide a maintenance free stage. The brushless torque motor directly
drives the rotating part of the stage. With no brushes to replace and no gear trains or belts to maintain, direct-
drive technology is optimized for 24/7 production environments. It provides quicker acceleration and higher top
speeds than gear- or belt-driven mechanisms.
The bearing, motor, and encoder are housed in the internals of the stage and are not visible to the user.
Figure 1 - Product Features, V-62x
#
Description
1.
Stage base
2.
Moving table (platform)
3.
Clear aperture
4.
Motor electrical connection
5.
Encoder electrical connection
6.
Protective earth connection

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3.3. Product Labeling
Figure 2 - Product Labeling Example
#
Description
1.
Product model number (example)
2.
Serial number (example), individual for each V-62x
Meaning of the places (counting from left):
A = PI USA Product
21 = year of manufacture (i.e. 2021)
160501 = unique number, 6-digit
3.
Warning sign "Observe manual"
4.
Old equipment disposal warning sign
5.
Protective earth ground
6.
CE conformity mark
7.
Country of origin
8.
Manufacturer's address (website)
9.
Manufacturer's logo

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3.4. Scope of Delivery
Item ID
Component
V-62x.xxxxxx
Stage according to the order
---
Stage Mounting Screws (size will depend on the stage
model ordered)
---
Shipping restraint (if needed)
V620D0001
User manual (this document)
3.5. Accessories
The following accessories are offered to complement the V-62x stage. Contact PI for all available configurations.
Part #
Description
A-851.A03
A-851.A05
A-851.A10
Cable set for use with A-8xx Series Controller, SIN/COS Encoder (1 set per stage)
3m
5m
10m
A-851.B03
A-851.B05
A-851.B10
Cable set for use with A-8xx Series Controller, Absolute Encoder (1 set per stage)
3m
5m
10m
3.6. Controllers
The V-62x must be connected to a suitable motion controller to be operated. The following standard controllers
are available from PI to operate the V-62x. Other controllers are also available, contact PI for options.
Part #
Description
A-81x.xxxxx
A-82x.xxxxx
PIglide Family of Motion Controllers (1, 2, 4, 6, or 8 Axes)

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4. Technical Features
4.1. Ball Bearing
The V-62x series stage features fully preloaded, high-precision rotary ball bearings to guide the motion of the
stage and support the payload. The bearing ways are made of hardened stainless-steel, which provide long life
and corrosion resistance.
4.2. Torque Motor
The V-62x series stage features a brushless 3-phase torque motor. This type of motor technology is completely
non-contact and is ideally suited to high speeds; high accelerations; fine resolution positioning; and smooth,
constant-velocity scanning. The motor must be commutated by an external motor drive. Hall Effect sensors are
not included, so the drive and/or controller must be capable of encoder-based (sine) commutation.
4.3. Encoder
The V-62x series stage features an optical non-contact position encoder for direct measurement of the stage
position. This feedback signal is used by an external motion controller to close the servo loop for position and
velocity control.
The V-62x series stage offers two types of encoders:
▪Incremental with analog (sine/cosine) 1 Vp-p output: Suitable for use with controllers using on-board encoder
interpolation.
▪Absolute with BiSS-C 32-bit serial output: Eliminates the need for startup homing routines and limit switches.
4.4. Index Mark (Incremental encoders only)
When equipped with either of the incremental encoder options, the V-62x series stage features a non-contact
home index marker. The index is integral to the encoder electronics. The index mark is optical; there is one
index per revolution of the stage.

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5. Unpacking and Handling
Carefully unpack the stage and other components from the shipping packaging. Inspect the contents for signs of
damage. If there is any sign of damage or missing parts, contact PI immediately. Compare the package contents
to packing list and notify PI immediately if any parts are missing or incorrect. Keep all packaging materials in
case the product needs to be returned.
Before mounting or using the stage, it is recommended to let the stage stabilize at room temperature for at least
12 hours. Clean any dust or shipping debris off the stage before using.
If the stage will be mounted in such a way as to block the product label, it is recommended to record the stage
serial number for future reference.
Use care when moving the stage. Manually lifting or transporting stages can result in injury.
Use care when moving the stage. Avoid any shocks, drops or bumps that can cause scratches,
dings, dents, or distortion of the stage.

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6. Installation
6.1. Mounting Surface Quality and Preparation
The surface to which the stage will be mounted should be flat and have adequate stiffness in order to achieve the
maximum performance from the V-62x. When the V-62x series stage is mounted to a non-flat surface, the stage
can be distorted as the mounting screws are tightened. This distortion will decrease the overall accuracy of the
stage. The effects of flatness on mounting are illustrated below.
To maintain accuracy, the mounting surface should be flat within 2-3 µm per 100 mm. A laboratory grade “A”
granite surface plate is recommended. Do not shim under the stage base.
Figure 3 - Mounting Surface Quality
Prepare the mounting surface and bottom of the stage base with precision flat stones to remove any burrs or high
spots. Clean the mounting surface and bottom of the stage with the appropriate cleaners (isopropyl alcohol).
6.2. Mounting Orientation
The V-62x is suitable for various mounting orientations, such as horizontal, vertical, and inverted. PI
recommends that you review your payload and orientation conditions with a PI engineer before purchasing this
product.

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6.3. Mounting Procedure
1. Place the stage on the mounting surface.
2. Remove the shipping restraint (if needed).
3. Affix the stage base to the mounting surface using the four mounting screws provided. Screw size and length
will depend on the stage model, see the table below.
4. Torque the mounting screws (begin from the center out for best accuracy). The typical maximum torque
value for the mounting screws is shown in the table below.
The stage should now be securely mounted. Make sure to allow sufficient clearance to attach the motor and
encoder cables to the stage.
Model
Mounting Screw (4x)
Max. Screw Torque (N-m)
V-62x.xxxxx
M6 SHCS, 30mm long (minimum)
20
6.4. Removing the shipping restraint
If the V-62 stage is shipped as part of a system, a shipping restraint may have been installed to prevent
unwanted stage motion. Shipping restraints are typically identified with a red warning label. Remove the
shipping restraint prior to operating the stage. Make sure to safely store the parts for later use, in case the stage
ever needs to be moved or transported.
6.5. Affixing the Payload to the Stage
The payload should be flat, rigid, and comparable to the stage in quality. For valid system performance, the
mounting interface surface should be flat within 1 µm per 50 mm.
The stage tabletop features tapped holes for mounting the user’s payload. These are the only features that
should be used to attach a payload to the stage. Mounting-hole sizes and patterns will depend on the stage
model ordered; see the CAD drawings in Section 10.6 for details.
Prepare the payload mounting surface and the stage table with precision flat stones to remove any burrs or high
spots. Clean the payload mounting surface and the stage table with the appropriate cleaners (isopropyl alcohol).
For optimum performance, the payload center of mass should be centered on the stage tabletop. If the payload
is not centered, the rotating mass will not be balanced about the axis of rotation. Imbalance, especially at higher
rotational speeds, can cause vibration, excessive error motion, and possibly damage to the stage.
Do not attempt to modify the stage table in any way. Customer modifications may damage the
stage.
The screws used to attach the payload to the stage table should not thread into the stage
tabletop any more than the depth shown on the CAD drawing. Longer screws may damage the
table.
Do not overtighten the payload mounting screws.
Do not exceed the maximum payload specified for the V-62x stage.

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6.6. Travel Orientation
The stage travel orientation (direction) is dictated by the stage wiring and internal components. The programming
direction of a stage is set by the motion controller that is used to operate the stage. Programming direction is
typically selectable in the controller, while the stage’s travel orientation is hardwired in the stage. The figure
below shows the V-62x series stage travel orientation.
Figure 4 –Travel Orientation
6.7. Multi-Axis Configurations
Please contact PI for a quote if you require a multi-axis system.

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6.8. Connecting the Stage to Protective Earth
To minimize the possibility of bodily injury or death from electric shock in the case of malfunction or
failure of the system, make sure a protective earth conductor is properly connected.
The V-62x has an M4 threaded hole for connecting the protective earth conductor. This hole is marked with the
symbol for the protective earth ground . The hole is located on the stage body near the cable exit.
Note that the ground point provides a protective earth ground for the stage base and motor. While a ground path
to the moving table via the ball bearings may exist, the level of conductivity to the tabletop is not controlled or
specified. If the user’s application requires that the stage tabletop be electrically grounded for application
reasons, an external ground path to the moving table should be added by the user.
Figure 5 - Mounting of the protective earth conductor (profile view)
#
Description
1.
Base plate of the V-62x
2.
Flat washer (2x)
3.
Internal tooth washer (2x)
4.
M4 Screw
5.
Cable lug
6.
Protective earth conductor
1. If necessary, fasten a suitable cable lug to the protective earth conductor. Note that the conductor and lug
are not in the scope of delivery of the stage.
2. Fasten the cable lug of the protective earth conductor to the protective earth connection of the V-62x as
shown in the profile view using the M4 screw proved. You will need a 2mm Allen key.
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.

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6.9. Connecting the Cables
Stage interconnect cables are not in the scope of delivery of the V-62x series stage. However, PI offers several
standard cable sets that can be used, depending on the motion controller being used. Contact PI for a quote.
See Section 10.7 for connector pin assignments.
Only use the interconnect cables that have been designed for the combination of stage and
controller being used. Connection using the wrong cable may result in damage to the stage and
the controller.
To minimize the possibility of electrical shock and bodily injury or death, disconnect all electrical
power prior to making any electrical connections.
To minimize the possibility of electrical shock and bodily injury or death when any electrical
circuit is in use, ensure that no person comes in contact with the circuitry when the stage is
connected to a power source.
To minimize the possibility of bodily injury or death, disconnect all electrical power prior to
making any mechanical adjustments.
1. Connect the stage cables for the motor and encoder to the connectors on the V-62x stage.
2. Tighten the jack screws with a flat head screwdriver to secure the cables. Do not overtighten the screws.
The electrical connectors are external to the stage body, as shown on the photo above. Care should be taken to
properly secure the connectors after installation so they do not move and damage the cables or stage body.

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7. Startup and Operation of the Stage
See the user’s manual of the controller being used with the V-62x stage for instructions about startup and
operation.
Note that the servo tuning values may need to be adjusted if the payload mass or size changes. If PI was not
given user application information at the time of order, the servo was tuned with no payload mass.
Moving parts of the stage can cause crushing or shearing injuries. All personnel must remain clear
of any moving parts.
Collisions can damage the stage and the payload.
➢Take care when operating the stage to ensure that no collisions are possible between the
stage, the load to be moved, and the environment in the motion range of the stage.
➢Do not place any objects in areas where they can be caught by moving parts.
➢Stop the motion immediately if a controller malfunction occurs.
Do not attempt to operate the stage with the shipping restraint installed.
The V-62x can develop high forces and accelerations. If the stage has been improperly or
incompletely installed, the stage, the payload, and the environment can be damaged during
operation.
The drive mechanism of the V-62x is not self-locking. The stage can therefore unintentionally move
in the following cases:
▪Switching off or restarting the controller
▪Switching off the servo mode for the axis
Unintentional displacement can damage the stage, the payload to be moved, and the environment.
➢Only operate the V-62x with a horizontally aligned motion axis.
➢Before switching off or rebooting the controller, take suitable measures to ensure that no
unintentional displacement of the stage table is possible.
Do not exceed the operating voltage range for which the V-62x is specified.
The optimum values of the servo-loop parameters in the controller depend on the application and
the payload mass/inertia. Unsuitable servo-control parameter settings of the controller can cause
the control loop to become unstable and for the stage to vibrate. Oscillations can damage the
stage and/or the load affixed to it.
➢If the stage is oscillating or exhibits unusual operating noise, immediately switch off the servo
mode for the axis on the controller or switch off the controller.
➢Only switch on the servo mode for the axis on the controller after you have modified the servo-
control parameter settings; see the manual of the controller.
➢Note that the servo tuning values may need to be adjusted if the payload mass, size, or inertia
changes.

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8. Maintenance
Other than basic cleaning, the V-62x series stage is maintenance-free.
8.1. Cleaning the Stage
To clean the stage surfaces, use isopropanol and a clean, lint-free cloth or wipe. Apply the cleaning agent to the
cloth and wipe down all of the surfaces.
Do not use cleaning agents other than isopropanol. Agents such as acetone or other detergents
can damage certain parts of the stage.
8.2. Preparing the Stage for Transport
If the stage requires movement, transport, or shipping, follow these steps:
1. Turn off the controller power.
2. Disconnect stage cables.
3. Remove the payload.
4. Install the shipping restraint and restraint label. Tighten the stage shipping restraint screws using an Allen
wrench.
The stage is now secured and can be safely moved. If the stage needs to be shipped, use the original packing
materials.
Use care when moving the stage. Avoid any shocks, drops or bumps that can cause scratches,
dings, dents, or distortion of the stage.
Do not attempt to move or transport the stage with the payload attached. This may damage the
stage and the payload.