Piezo LEGS® Rotary Ø17
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Piezo LEGS® Rotary Ø17 Direct drive - backlash free Integrated Absolute Encoder Microradian resolution No power draw in hold position Quick response The LR17 is a high precision motor in the second generation of Piezo LEGS Rotary. It is intended for a large range of applications where high speed dynamics and positioning with precision is crucial. High torque output in a small package is also beneficial. The LEGS technology is characterized by its outstanding precision. Fast speed and quick response time, as well as long service life are other benefits. In combination with the micro radian resolution the technology is quite unique. The motor is ideally suited for move and hold applications or for automatic adjustments. When the motor is in hold position it does not consume any power. The drive technology is direct, meaning no gears are needed to create motion. Because of this the motor has no mechanical play or backlash. The motor comes with an integrated high resolution magnetic encoder. With feedback from the encoder you can run in closed loop with a remarkable resolution of 0.2 mrad (0.01º). Even more impressive is the open loop resolution of the motor which is 0.1 µrad (0.000006º). Operating modes The motor can move in full steps (wfm-steps), or partial steps (microsteps) giving positioning resolution in the microradian range. Speed is adjustable from microsteps per second up to max specified. The motor can be operated with feedback from the integrated magnetic encoder, or have the control loop closed using an external sensor with even higher resolution. PiezoMotor offers a range of drivers and controllers. The most basic one is a handheld push button driver. Another option is an analogue driver that regulates the motor speed by means of an ±10 V analog interface. The more advanced alternatives are the microstep drivers/controllers in the 100- and 200-series*. These products allow for closed loop control and precise positioning. The microstepping feature divides the wfm-step into thousands of small increments which results in microsteps in the microradian range. The PMD units are straight forward to use, supports quadrature and serial sensors, and have multiple I/O ports. Design your own driver Some customers prefer to design their own driver for ease of integration. In this case PiezoMotor can provide information to assist in the design. Ordering information Motor LR17 Standard version, stainless steel Analogue driver

Piezo LEGS® Rotary Ø17 Operating Principle 1 When all legs are electrically activated they are elongated and bending. As we shall see below, alternate legs move as pairs. Arrows show the direction of motion of the tip of each leg. The Piezo LEGS walking principle is of the non-resonant type, i.e. the position of the drive legs is known at any given moment. This assures very good control of the motion over the whole speed range. The performance of a Piezo LEGS motor is different from that of a DC or stepper motor in several aspects. A Piezo LEGS motor is friction based, meaning the motion is...

Piezo LEGS® Rotary Ø17 Note: Refer to drawings for details. Electrical Connector Type The connector on the motor is a 16 pin dual row CviLux connector 1 CI1116M2VD0, which mates with socket from the CviLux CI1116 family. Sensor DO/DI Motor Ground (GNDM)

Technical Specification Type Angular Range Speed Range - microstep, 8192a per wfm-step, no load - wfm-step, no load Step Angle Open Loop Resolution Closed Loop Resolution Encoder Accuracy Encoder Type Recommended Operating Range Shaft Press Fit Force, Max. Maximum Voltage for best microstepping performance and life time Stall Torque Holding Torque Material in Motor Housing Mates with socket CviLux CI1116S Stainless Steel Operating Temperature a. Driver dependent - given values using driver in PMD200-series.* b. Closed loop resolution using the integrated rotary encoder. - radial (6.5 mm...