PI U-624 User manual

Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany
Phone [phone], Fax [phone], Email [email protected], www.pi.ws
MP114E
U
-624 Rotation Stage
User Manual
Version: 1.1.0
Date: 31.07.2020
This document describes the following product:

U-624.03
PILine® rotation stage, small design, >360°
rotation range, velocity 720°/s, incremental
encoder, 35 µrad resolution, 28,5 mm
diameter, piezoelectric ultrasonic motor

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
© 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: 31.07.2020
Document number: MP114E, CBo, Version 1.1.0
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 This manual is superseded by any new release.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 of Terms..................................................................................................... 2
1.4 Figures ........................................................................................................................ 2
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............................................................................................ 6
3Product Description 7
3.1 Product View .............................................................................................................. 7
3.2 Product Labeling......................................................................................................... 8
3.3 Scope of Delivery........................................................................................................ 9
3.4 Suitable Controllers .................................................................................................... 9
3.5 Accessories ............................................................................................................... 10
3.6 Technical Features.................................................................................................... 10
3.6.1 Rotary Encoder ............................................................................................ 10
3.6.2 Reference Switch ......................................................................................... 10
3.6.3 ID Chip ......................................................................................................... 10
4Unpacking 11
5Installation 13
5.1 General Notes on Installation................................................................................... 13
5.2 Mounting the U-624 onto an Underlying Surface and Connecting it to a
Protective Earth Conductor...................................................................................... 15
5.3 Fixing the Load to the U-624 .................................................................................... 17
6Starting and Operating 19
6.1 General Notes on Starting and Operating................................................................ 19
6.2 Starting and Operating the U-624 ............................................................................ 22
6.3 Adjusting Parameter Values when Using Extension Cables ..................................... 23
Contents

7Maintenance 25
7.1 General Notes on Maintenance ............................................................................... 25
7.2 Doing a Maintenance Run ........................................................................................ 25
7.3 Cleaning the U-624 ................................................................................................... 25
8Troubleshooting 27
9Customer Service 29
10 Technical Data 31
10.1 Specifications............................................................................................................ 31
10.1.1 Data Table.................................................................................................... 31
10.1.2 Reference Switch Specifications.................................................................. 32
10.1.3 Maximum Ratings........................................................................................ 32
10.2 Ambient Conditions and Classifications ................................................................... 33
10.3 Motor Power ............................................................................................................ 34
10.3.1 Motor Power and Operating Voltage .......................................................... 34
10.3.2 Velocity and Torque..................................................................................... 35
10.3.3 Motor Power and Lifetime .......................................................................... 36
10.3.4 Influence of Downtimes on the Torque ...................................................... 37
10.4 Dimensions ............................................................................................................... 38
10.5 Pin Assignment ......................................................................................................... 39
11 Old Equipment Disposal 41
12 EU Declaration of Conformity 43

1 About this Document
U-624 Rotation Stage MP114E Version: 1.1.0 1
In this Chapter
Objective and Target Audience of this User Manual ..................................................................... 1
Symbols and Typographic Conventions......................................................................................... 1
Definition of Terms ........................................................................................................................ 2
Figures............................................................................................................................................ 2
Other Applicable Documents......................................................................................................... 3
Downloading Manuals ................................................................................................................... 3
1.1 Objective and Target Audience of this User Manual
This user manual contains the information required for using the U-624 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 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.
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.
1
About this Document

1 About this Document
2 Version: 1.1.0 MP114E U-624 Rotation Stage
Symbol/Label Meaning
1.
2.
Action consisting of several steps with strict sequential order

Action consisting of one or more steps without relevant sequential
order.

Bullet
p. 5
Cross-reference to page 5
RS-232
Label on the product indicating an operating element (example:
RS-232 interface socket)
Warning signs attached to the product that refer to detailed
information in this manual.
1.3 Definition of Terms
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 at 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, referencing must be done before
absolute target positions can be commanded and reached.
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
U-624 Rotation Stage MP114E Version: 1.1.0 3
1.5 Other Applicable Documents
The devices and software tools from PI mentioned in this documentation are described in
separate manuals.
Description Document
C-867.1U PILine® Controller
MS223E User Manual
C-867.2U2 PILine® Controller
MS231E User Manual
C-877.1U11 PILine® Controller
MS232E User Manual
C-867.10C885 PILine® Controller Module
C867T0017 User Manual
PIMikroMove
SM148E Software Manual
PILine® Positioners
MP121EK Short Instructions
1.6 Downloading Manuals
INFORMATION
If a manual is missing or problems occur with downloading:
Contact our customer service department (p. 29).
Downloading manuals
1. Open the website www.pi.ws.
2. Search the website for the product number (e.g., U-624) or the product family (e.g.,
PILine®).
3. Click the corresponding product to open the product detail page.
4. Click the Downloads tab.
The manuals are shown under Documentation. Software manuals are shown under
General Software 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
U-624 Rotation Stage MP114E Version: 1.1.0 5
In this Chapter
Intended Use.................................................................................................................................. 5
General Safety Instructions ........................................................................................................... 5
Organizational Measures ............................................................................................................... 6
2.1 Intended Use
The U-624 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 U-624 is intended for single-axis positioning, adjustment and
rotation of loads at different velocities in interval operation. The U-624 is not intended for
applications in areas where failure could lead to considerable risk to people or the
environment.
It is only possible to use the U-624 as intended when completely mounted and connected.
The U-624 uses a PILine® ultrasonic piezo motor as drive and must be operated with a suitable
controller (p. 9). The controller is not included in the scope of delivery of the U-624.
2.2 General Safety Instructions
The U-624 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-624.
Use the U-624 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 U-624.
Piezo motors are driven by piezo actuators. Piezo actuators can remain electrically charged for
several hours after disconnecting the electronics. Temperature changes can also induce charges
in piezo actuators. Touching charged parts of the U-624 can cause slight injuries from electric
shock.
Do not open the U-624.
Do not touch the contacts in the connector of the U-624.
2
Safety

2 Safety
6 Version: 1.1.0 MP114E U-624 Rotation Stage
If a protective earth conductor is not or not properly connected, dangerous touch voltages can
occur on the U-624 in the case of malfunction or failure of the system. If there are touch
voltages, touching the U-624 can result in minor injuries from electric shock.
Connect the U-624 to a protective earth conductor (p. 15) before starting.
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-624 to the protective earth conductor before
restarting.
Mechanical forces can damage or misalign the U-624.
Avoid impacts that affect the U-624.
Do not drop the U-624.
Do not exceed the maximum permissible stress and load capacities (p. 31).
2.3 Organizational Measures
User manual
Always keep this user manual together with the U-624.
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-624 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 U-624 only after you have read and understood this user
manual.
Personnel qualification
The U-624 may only be installed, started, operated, maintained, and cleaned by authorized and
appropriately qualified personnel.

3 Product Description
U-624 Rotation Stage MP114E Version: 1.1.0 7
In this Chapter
Product View.................................................................................................................................. 7
Product Labeling ............................................................................................................................ 8
Scope of Delivery ........................................................................................................................... 9
Suitable Controllers ....................................................................................................................... 9
Accessories................................................................................................................................... 10
Technical Features ....................................................................................................................... 10
3.1 Product View
Figure 1: U-624 product view
1Base body
20° mark: After a reference move of the U-624, the red dot on the motion platform is
above the 0 mark in the base body.
3Motion platform
4Cable for connecting to the controller
The arrow in the figure shows the positive direction of motion.
3
Product Description

3 Product Description
8 Version: 1.1.0 MP114E U-624 Rotation Stage
3.2 Product Labeling
Figure 2: U-624: Position of the product labeling (example view)
Position Labeling Description
A
U-624.03
Product name
A
123456789
Serial number (example), individual for each U-624
Meaning of each position (from the left):
1 = internal information
2 and 3 = year of manufacture
4 to 9 = consecutive number
A, B
WWW.PI.WS
Manufacturer's address (website)
A
Data matrix code (example; contains the serial
number)
B
PILine®
Brand name
B
Manufacturer's logo
B
Warning sign "Pay attention to the manual!"
B
Old equipment disposal (p. 41)
B
CE conformity mark
B
Symbol for the protective earth conductor (p. 15)
B
Country of origin:
Germany
Country of origin

3 Product Description
U-624 Rotation Stage MP114E Version: 1.1.0 9
Figure 3: "Residual Voltage" warning sign on the connector of the U-624
"Residual Voltage" warning sign: Indicates risk of electric shock (p. 5)
3.3 Scope of Delivery
Product number Description
U-624.03
PILine® rotation stage, small design, >360° rotation range, velocity
720°/s, incremental encoder, 35 µrad resolution, 28,5 mm diameter,
piezoelectric ultrasonic motor
1474
4 socket head screws M2x10, ISO 4762, for mounting the U-624
3109
Hex key, AF 1.5
MP121EK Short instructions for PILine® positioners
3.4 Suitable Controllers
Product number Description
C-867.1U
Piezo motor controller for PILine® systems, 1 axis, USB, RS-232, SPI, I/O,
analog joystick, networkable via daisy chain
C-867.2U2
Piezo motor controller for PILine® systems, 2 axes, USB, RS-232, TCP/IP,
SPI, I/O, analog or digital joystick, networkable via daisy chain
C-877.1U11
Compact, inexpensive piezo motor controller / driver, 1 axis, for PILine®
systems with low power consumption
C-867.10C885
Motion controller module for performance class 1 and 2 PILine® piezo
motor systems, 1 axis, D-sub 15, for PIMotionMaster, PID controller
To order, contact our customer service department (p. 29).

3 Product Description
10 Version: 1.1.0 MP114E U-624 Rotation Stage
3.5 Accessories
Product number Description
U-600.A01 Extension cable for PILine®, D-sub 15-pin, 1 m*
U-600.A03
Extension cable for PILine®, D-sub 15-pin, 3 m*
U-600.A05
Extension cable for PILine®, D-sub 15-pin, 5 m*
* Other cable lengths available on request.
To order, contact our customer service department (p. 29).
3.6 Technical Features
3.6.1 Rotary Encoder
The U-624 is equipped with an optical rotary encoder. For the encoder resolution, refer to the
table in the "Specifications" section (p. 31).
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 Switch
The U-624 has an optical reference switch (refer to "Reference Switch Specifications" (p. 32)).
Refer to the controller user manual and/or associated software manuals for the commands that
make use of the reference point signal.
The red dot on the platform is above the 0° mark in the base body after the U-624 has done a
reference move.
3.6.3 ID Chip
The U-624 positioners have a connector with an ID chip. Information on the positioner (e.g.,
type, serial number, date of manufacture, hardware version) is stored in parameters on the
ID chip.
When switched on or rebooted, controllers from PI read the data from the ID chip.
You will find further information on ID chip recognition in the manual for the controller.

4 Unpacking
U-624 Rotation Stage MP114E Version: 1.1.0 11
1. Unpack the U-624 with care.
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. 29) immediately.
4. Keep all packaging materials in case the product needs to be returned.
4
Unpacking

5 Installation
U-624 Rotation Stage MP114E Version: 1.1.0 13
In this Chapter
General Notes on Installation ...................................................................................................... 13
Mounting the U-624 onto an Underlying Surface and Connecting it to a Protective Earth
Conductor .................................................................................................................................... 15
Fixing the Load to the U-624........................................................................................................ 17
5.1 General Notes on Installation
CAUTION
Dangerous voltage and residual charge on piezo actuators!
Piezo motors are driven by piezo actuators. Piezo actuators can remain electrically charged for
several hours after disconnecting the electronics. Temperature changes can also induce
charges in piezo actuators. Touching or short-circuiting the contacts in the connector of the
U-624 can lead to minor injuries from electric shock.
Do not touch the contacts in the connector of the U-624.
NOTICE
Lubricants, dirt, condensation!
Dirt, oil, lubricants and condensation will render the motor/drive inoperable.
Ensure that the piezo motor of the U-624 does not come into contact with lubricants.
Keep the U-624 free from dirt and condensation.
NOTICE
Heating up of the U-624 during operation!
The heat produced during operation of the U-624 can affect your application.
Install the U-624 so that your application is not affected by the dissipating heat.
5
Installation

5 Installation
14 Version: 1.1.0 MP114E U-624 Rotation Stage
NOTICE
Unsuitable cables!
Unsuitable cables can cause damage to the controller and affect the performance of the U-624.
Only use genuine PI parts to connect the U-624 to the controller.
If you need longer cables, use extension cables from PI (p. 10).
NOTICE
Unwanted changes in position when mounted vertically!
The platform could move unexpectedly if the load exceeds the rotation stage's drive torque
when the U-624 is mounted vertically (e.g., due to pulling forces on the cable of the load).
Unwanted changes in the position of the platform can damage the drive, the load or the
surroundings.
Take suitable measures to make sure that the load is lower than the drive torque (p. 31)
when the rotation stage is mounted vertically, e.g., the cables connected to the load
should have sufficient strain relief.
INFORMATION
For optimum repeatability, all components must be connected firmly together.
INFORMATION
When moving the platform in a power off state manually, differences in the holding force may
be noticeable across the travel range.
There are mechanical reasons for fluctuations in the holding force and they have no influence
on the function of the rotation stage.
If possible, simulate the rotation stage motions with a mounted load or make suitable
calculations in order to identify collisions or unfavorable center of gravity
constellations.
If necessary, take suitable constructive measures to avoid collisions and instabilities in
the overall system.
Avoid or mark danger zones that result from the installation of the rotation stage and
the application in accordance with the legal regulations.
Refer to the "Motor Power" section (p. 34) for more information on operating conditions.

5 Installation
U-624 Rotation Stage MP114E Version: 1.1.0 15
5.2 Mounting the U-624 onto an Underlying Surface and Connecting
it to a Protective Earth Conductor
NOTICE
Warping the base body!
Incorrect mounting can warp the base body. A warped base body will increase wear and
reduce accuracy.
Mount the U-624 onto a flat surface. The recommended flatness of the surface is 10 µm.
For applications with large temperature changes:
Only fix the U-624 to surfaces that have the same or similar thermal expansion properties
as the U-624 (e.g., surfaces made of aluminum).
INFORMATION
Contact of the U-624 with the protective earth conductor is made as follows:
Three mounting holes in the base body of the U-624
Suitable conductive screws (p. 9)
Protective earth conductor connected to the surface on which the U-624 is mounted
INFORMATION

Pay attention to the applicable standards for connecting the protective earth conductor.
INFORMATION
The positive direction of motion of the U-624 is shown in the product view (p. 7).
Figure 4: Mounting holes for mounting the U-624 on a surface

5 Installation
16 Version: 1.1.0 MP114E U-624 Rotation Stage
Requirements
You have read and understood the general notes on installation (p. 13).
You have provided a suitable underlying surface (see "Dimensions" (p. 38) for the
required position of the holes for the screws).
−The underlying surface is connected to a protective earth conductor.
−Three M2 holes are provided with a thread depth of at least 6 mm.
−The holes for the screws are sufficiently conductive to ensure that the protective
earth conductor functions properly.
−The surface flatness is ≤10 µm.
−For applications with large temperature changes: The surface should have the same
thermal expansion properties as the U-624 (e.g., underlying surface made of
aluminum).
You have accounted for the space required to route cables according to regulations and
without bending them.
The U-624 is not connected to the controller.
Tools and accessories
Suitable protective earth conductor: Cable cross section ≥0.75 mm2
Mounting kit included in the scope of delivery (p. 9):
−3 M2x10 screws
−Hex key
Mounting the U-624 onto an underlying surface and connecting it to a protective
earth conductor
1. Align the U-624 on the underlying surface so that the corresponding holes in the U-624
and underlying surface are in line.
2. Insert the three screws into the holes in the base body of the U-624.
3. Tighten the three screws with a torque of 20 Ncm each.
4. Make sure that the contact resistance at all points relevant for attaching the protective
earth conductor is <0.1 Ωat 25 A.
5. Check that the U-624 is fixed firmly to the underlying surface.