One thing I wasn't expecting to be prepared for.  Piezos are used for loudspeakers...drive frequency is 2 kHz.  Get it?  Very loud and annoying :P  They do however work well.

They are also reasonably low torque.  Will do some experiments to see how they drive some of my linear stages.


====== Actuators ======

Bare actuators:
  * 830X Picomotor Actuators
    * 8301-8341: standard
      * In: 4 pin RJ-22
    * 8301v-8341v: vacuum compatible, standard
      * In: 4 pin teflon insulated RJ-22
  * 8351 Tiny Picomotor Actuator
    * In: 4 pin RJ-22
  * 8310 closed loop driver
    * In: 4 pin RJ-22 and HDDB-15M

Units:
    * 8051 fiber positioner
      * In: 6 pin RJ-11
    * 8071, 8081, 8082: 4/5 axis stages
      * In: 2X 6-pin RJ-11
    * 8095: 6 axis stage
      * In: 6X 4-pin RJ-22
    * 8401 rotary stage
      * In: 1X 4-pin RJ-22
    * 8807 mirror mount
      * In: 2X 4-pin RJ-22
    * 8808-8854: mirror mount
      * In: 1X 6-pin RJ-11
    * 888X: pint size mounts
      * In: 2X 4-pin RJ-22

"Note: The knob on the end of the drive screw provides inertial mass required for operation. Removal of the knob will prevent the Picomotor from functioning properly and void the warranty."

====== Pinout ======

4-pin RJ-22:
  * 1: NC
  * 2: GND (power)
  * 3: MOTOR
  * 4: GND (motor)
Has note saying that the two GNDs are electrically connected.

====== Driver ======


There seem to be at least two different driver systems: "intelligent" / network system and stand alone drivers.

"The Picomotor drivers generate the 130-V pulses required to drive the piezo in the Picomotor."


===== Network =====

Basically a controller receives input from either a joystick, pendant, ethernet, or RS-232 which then relays a signal to RS-485 daisy chained (Distributed Control Network (DCN)) open and/or closed loop drivers.  Free Windows DLL available (advertised in manual, haven't looked into it).  Runs off of 24VDC (min/max varies) using standard Phoenix Contact Combicon compatible quick disconnects.  

Major family components:
  * 8750 Intelligent Picomotor Network Controller
    * Input: RS-232 or joystick
    * Output: DCN
    * Does not support 8751-C driver
    * Does not support 8757 hand terminal
    * 12-32VDC (some funny thing that you can really do 10-40VDC), < 100 mA at 24VDC
  * 8751 iPico closed loop driver
    * Used with 8310 actuator
    * Output: 1 4-pin single channel picomotor driver
    * 12-32VDC, 17W typical @ 2kHz sustained speed
  * 8752 Intelligent Picomotor Ethernet Controller
    * Input: RS-232, joystick, or ethernet
    * Output: DCN
    * Supports 8751-C driver
      * NOTE: requires firmware 1.5.0+
    * Supports 8757 hand terminal
    * 12-32VDC (some funny thing that you can really do 10-40VDC), < 100 mA at 24VDC
  * 8753 iPico open loop driver
    * Output: 3 4-pin single channel picomotor driver
      * XXX: why 4 pins if its just a peizo?
    * Multi axis devices require 8725 multi-axis adapter
    * 21-29VDC, 0.65A typ
  * 8754 iPoco joystick
    * Use directly with 8750 (or 8752 I presume)
    * Standard DCN device...should be able to put in daisy-chain
  * 8757 iPico Handpad / Hand Terminal
  * LS-773 Open Collector I/O module (LOGOSOL NETWORK I/O NODE LS-773")
    * Same spects as LS-784 except 6 OC outputs can drive 1A and 1 SSR can drive 5A
  * LS-784 Open Emitter I/O module ("LOGOSOL NETWORK I/O NODE LS-784")
    * Inputs
      * 10 digital
      * 3 analog (0-5V, 0-10V, 0-20V, 0-30V selected by DIP switch)
        * How many bit?  Bandwidth?
      * 1 of above can be counter or timer with pre-scalar
    * Outputs
      * 8 open emitter (0.5A each)
      * 2 of above can be 8-bit PWM

Additionally:
  * 8721 10' comm cable
  * 8722 Comm adapter
    * Basically RS-485 <=> RS-232 adapter in place of 8750 or 8752
  * 8724 5" comm cable
  * 8725 multi-axis adapter
  * 8726 6" power cable
  * 8755 power supply
  * 8763-KIT: 8752 ethernet controller + 8753 driver + power supply + cables
 

====== Precision / repeatability ======

According to manual, step size varies considerably.  Standard drivers < 30 nm, Tiny < 100 nm.  From standstill or changing direction will cause significant variance.  Other factors include direction, load, temperature, and wear.