ABL1500-B Series Stage User`s Manual
Contents
1. 21 3 2 Accuracy and Temperature Effects 21 3 3 Basic Specifications 22 3 4 Load Capability 26 3 5 End of Travel Limits 28 3 5 1 Limit Operation 28 3 5 2 Limit Switch Wiring 28 3 5 3 Limit Operation with the LNAS Encoder Option 30 3 6 Standard Motor Wiring 31 3 7 Vacuum Operation 34 Chapter 4 35 4 1 Service and Inspection Schedule 35 4 2 Cleaning and Lubrication 36 4 2 1 Recommended Cleaning Solvents 36 4 2 2 Cle2. 41 Table B 2 Archived Changes 42 www aerotech com vii List of Tables ABL1500 B Series Stage User s Manual viii www aerotech com ABL1500 B Series Stage User s Manual Overview Chapter 1 Overview This manual describes Aerotech s ABL1500 B series of air bearing positioning stages Figure 1 1 shows a typ ical ABL1500 B positioning stage The ABL1500 B series supports travel distances ranging from 50 mm to 500 mm 2 in to 20 in The ABL1500 B combines excellent pitch yaw characteristics with the unsurpassed velocity control that is necessary for printing imaging lens fabrication and fiber optic applications The integral bellows protect the stage from abrasive debris and other contaminants This chapter introduces standard and optional features of the ABL1500 B stages and gives general safety pre cautions Figure 1 1 Typical ABL1500 B Series Linear Positioning Stage N OTE Aerotech continually improves its product offerings and listed options may be superseded at any time Refer to the most recent edition of the Aerotech Motion Control Product Guide for the most current product information at www aerotech com www aerotech com Chapter 1 1 Overview ABL1500 B Series Stage User s Manual 1 1 Standard Features The ABL1500 B series stages all incorporate completely non contact air bearing
3. 5 arc sec www aerotech com Chapter 3 23 Operating Specifications ABL1500 B Series Stage User s Manual Table 3 3 ABL1500 B Series Resolution Information Code SigmalPerod TravelStep Mulier Code Maximum Speed LTAS System Data Rate up to 2 0 m s 1 Requires system data rate of atleast 14 MHz 24 Chapter 3 www aerotech com ABL1500 B Series Stage User s Manual Operating Specifications Table 3 4 ABL1500 B Motor Specifications Performance Specifications 1 5 Continuous Force 20 psi 1 4 bar 2 N 154 7 Continuous Force No Cooling 2 106 7 Peak Force 3 618 8 c Motor Constant 2 4 N VW 10 29 1 Performance is dependent upon heat sink configuration system cooling conditions and ambient temperature 2 Values shown 100 C rise above a 25 C ambient temperature with motor mounted to the specified aluminum heat sink 3 Peak force assumes correct rms current consult Aerotech 4 Force Constant and Motor Constant specified at stall 5 All performance and electrical specifications 10 percent 6 Maximum winding temperature is 125 C 7 Ambient operating temperature range 0 C 25 C consult Aerotech for performance in elevated ambient temperatures 8 All Aerotech amplifiers are rated use torque constant in N m Apk when sizing www aerote
4. 1 1 1 Standard Features 2 1 1 1 Optional Features ds E phase 3 1 2 Dimensions 5 1 3 Safety Procedures and 7 1 4 EC Declaration of Incorporation 9 Chapter 2 11 2 1 Unpacking and Handling the Stage 12 2 2 Preparing the Mounting Surface 13 2 3 Securing the Stage to the Mounting Surface 14 2 4 Attaching the Payload to the Stage 16 2 5 Electrical Installation ___ 17 2 6 Air Requirements 19 Chapter 3 Operating 21 3 1 Environmental Specifications
5. A A A A A A 2 2 2 2 2 2 Z Z 2 2 2 Z O O O O O O ABL1500 B Series Stage User s Manual Do not expose the stage to environments or conditions outside the specified range of oper ating 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 Only trained personnel should operate inspect and maintain the stage This stage is intended for light industrial manufacturing or laboratory use Use of the stage for unintended applications can result in injury and damage to the equipment Before using this stage perform an operator risk assessment to determine the needed safety requirements Chapter 1 www aerotech com ABL1500 B Series Stage User s Manual Overview 1 4 EC Declaration of Incorporation Manufactorer Aerotech Inc 101 Zeta Drive Pittsburgh PA 15238 USA AEROTECH herewith declares that the product Aerotech Inc ABL1500 B Stage is intended to be incorporated into machinery to constitute machinery covered by the Directive 2006 42 EC as amended does therefore not in every respect comply with the provisions of this directive and that the following harmonized European standards have been applied EN ISO 12100 1 2 2003 A1 2009 Safety of machiner
6. Chapter 4 Maintenance The ABL1500 B series stages are designed to require minimum maintenance Due to the non contact air bear ing design there are no friction surfaces or dynamic seals to wear or require lubrication However it is impor tant to clean the bearing surfaces and encoder strips to maintain the accuracy of the stage The bellows require periodic lubrication to maintain smooth motion This chapter will detail the cleaning and lubrication process and specify recommended cleaning solvents N OTE The bearing area must be kept free of foreign matter and moisture otherwise the performance and life expectancy of the stage will be reduced See Section 2 6 for air requirements To minimize the possibility of bodily injury confirm that all electrical power is disconnected prior to making any mechanical adjustments DANGER 4 1 Service and Inspection Schedule Aerotech recommends that the ABL1500 B be inspected once per month until a trend develops for the spe cific application and environment www aerotech com Chapter 4 35 Maintenance ABL1500 B Series Stage User s Manual 4 2 Cleaning and Lubrication You must periodically re lubricate the bellows Lubricating the bellows tracks will promote smooth motion Periodic cleaning to remove dust is also recommended 4 2 1 Recommended Cleaning Solvents Before using a cleaning solvent on any part of the stage it is recommended that clean dry compressed air is used to blow aw
7. Figure 3 4 Yaw Offsets www aerotech com Chapter 3 27 Operating Specifications ABL1500 B Series Stage User s Manual 3 5 End of Travel Limits ABL1500 B series stages are provided with EOT End of Travel limits These limits indicate to the motion controller when the stage has reached its maximum useable travel in each direction 3 5 1 Limit Operation The EOT limits are integral to the encoder feedback read head and integrated into the feedback connector These outputs change state when the stage approaches its maximum travel distance and signals the motion controller The ABL1500 B stage limits operate as normally closed N C current sinking outputs If the stage is driven approximately 6 mm beyond the electrical limit it will encounter a mechanical stop Although the operating speed of the stage may be relatively slow damage to the stage could result WARNING 3 5 2 Limit Switch Wiring The ABL1500 B stage has open collector EOT limit outputs Since they are open collector devices they may be interfaced to 5 24 Volt logic inputs Assuming a N C limit configuration as shown in the upper half of Figure 3 5 JP2 set 1 2 the limit input to the controller is a logic 0 typical 0 4 Volts 12 8 mA when no limit is present When the limit is activated the switch transistor shuts off and the signal changes state to logic 1 typically 4 8 5 Volts because of the external user supplied pull up resistor The lim
8. Stage User s Manual Overview 1 2 Dimensions 210 6 10 7 0 16 PLACES 5 0 8 6 0 4 PLACES 25 CMS OPTIONS DETAIL TABLETOP XIO amp XY MOUNTING PATTERN CENTERED ON CARRIAGE SCALE 1 10 CMS OPTIONS amp XY B 2 c AIR INLET FITTINGS LIMIT HARDSTOP MOUNTING HOLES 4MM OR 5 32 OD TUBING an MOTOR FEEDBACK NOMINAL 85 CONNECTIONS TUA nda sid 240 D 127 7 DETAIL MOUNTING HOLES J PLACES SCALE 1 5 DIMENSIONS MILLIMETERS Figure 1 3 ABL1500 B Dimensions Www aerotech com Chapter 1 5 Overview ABL1500 B Series Stage User s Manual F 2 Y HARDSTOP F 2 Y HARDSTOP C 2 X HARDSTOP C 2 X HARDSTOP MOTOR FEEDBACK CONNECTIONS QTY 2 AIR INLET FITTINGS 4MM OR 5 32 OD TUBING CMS XAXS Y AXIS CONFIG OPTION OPTION 0 xy cMs 2 Y LIMIT D 2 Y NOMINAL A 2 X NOMINAL B 2 41 X LIMIT p m REFER TO ABL1500 B SINGLE AXIS CATALG DRAWING FOR TABLETOP AND STAGE MOUNTING INFORMATION MODEL 4 c G L e 3925 was fara us ABL15020 B YES ABL15010 B zas 1975 625 aras as DIMENSIONS MILLIMETERS 500 550 1060 1220 5 550 1060 Figure 1 4 ABL1500 B XY Dimensions 6 Chapter 1 www aerotech com ABL1500 B Series Stage User s Manual Overview 1 3 Safety Procedures a
9. be returned to the Aerotech service center for repair and if Aerotech determines the problem could be warranty related then the following policy applies Aerotech will provide an on site field service representative in a reasonable amount of time provided that the customer issues a valid purchase order to Aerotech cov ering all transportation and subsistence costs For warranty field repairs the cus tomer will not be charged for the cost of labor and material If service is rendered at times other than normal work periods then special service rates apply If during the on site repair it is determined the problem is not warranty related then the terms and conditions stated in the following On Site Non Warranty Repair section apply If any Aerotech product cannot be made functional by telephone assistance or pur chased replacement parts and cannot be returned to the Aerotech service center for repair then the following field service policy applies Aerotech will provide an on site field service representative in a reasonable amount of time provided that the customer issues a valid purchase order to Aerotech cov ering all transportation and subsistence costs and the prevailing labor cost includ ing travel time necessary to complete the repair Aerotech Inc Phone 412 963 7470 101 Zeta Drive Pittsburgh PA Fax 412 963 7459 15238 2897 www aerotech com ABL1500 B Series Stage User s Manual Technical
10. 8 LNAS Encoder 30 Environmental 21 orn 28 Inspection Schedule 35 L Lubrication ___ 36 M model numbers 12 Optional Features 3 www aerotech com Index 43 ABL1500 B Series Stage User s Manual Index 44 Index www aerotech com Reader s Comments ABL1500 B Series Stage Manual P N EDS165 April 18 2011 Revision 1 02 00 Please answer the questions below and add any suggestions for improving this doc ument Is manual Adequate to the subject Well organized Clearly presented Well illustrated H 1 How do you use this document in your job Does it meet your needs What improvements if any would you like to see Please be specific or cite examples erp Name Aerotech Subsidiary Email Order Maiyourcommentsto Farto Aerotech Inc 412 967 6870 101 Zeta Drive Pittsburgh PA 15238 U S A service aerotech com
11. ABL1500 B Series Stage User s Manual P N EDS165 Revision 1 02 00 Dedicated to the Science of Motion Aerotech Inc 101 Zeta Drive Pittsburgh PA 15238 412 963 7470 412 963 7459 www aerotech com Product Registration Technical Support Revision History Register online at http www aerotech com prodreg cfm United States Headquarters Phone 412 967 6440 Fax 412 967 6870 Email service aerotech com United Kingdom Phone 44 118 940 9400 Fax 44 118 940 9401 Email service aerotech co uk Germany Phone 49 911 967 9370 Fax 49 911 967 93720 Email service aerotechgmbh de Japan Phone 81 0 47 489 1741 Sales Phone 81 0 47 489 1742 Service Fax 81 0 47 489 1743 Email service aerotechkk com jp China Phone 852 3793 3488 Email saleschina aerotech com Revision 1 02 00 April 18 2011 Revision 1 01 00 February 25 2011 Revision 1 00 00 October 11 2010 Product names mentioned herein are used for identification purposes only and may be trademarks of their respective companies Aerotech Inc 2011 ABL1500 B Series Stage User s Manual Table of Contents Table of Contents Table of 22 es iii LPISt 9 PFIQ0reSu o u Eist or Tables LRL E ee een vii Chapter 1
12. Aerotech Inc warrants its laser products to the original purchaser for a minimum Laser Products period of one year from date of shipment This warranty covers defects in work manship and material and is voided for all laser power supplies plasma tubes and laser systems subject to electrical or physical abuse tampering such as opening the housing or removal of the serial tag or improper operation as determined by Aerotech This warranty is also voided for failure to comply with Aerotech s return procedures Claims for shipment damage evident or concealed must be filed with the carrier Return Procedure by the buyer Aerotech must be notified within 30 days of shipment of incorrect materials No product may be returned whether in warranty or out of warranty with out first obtaining approval from Aerotech No credit will be given nor repairs made for products returned without such approval Any returned product s must be accompanied by a return authorization number The return authorization number may be obtained by calling an Aerotech service center Products must be returned prepaid to an Aerotech service center no C O D or Collect Freight accepted The status of any product returned later than 30 days after the issuance of a return authorization number will be subject to review After Aerotech s examination warranty or out of warranty status will be deter Returned Product War mined If upon Aerotech s examination a
13. Changes Appendix B Technical Changes Table B 1 Current Changes 1 02 00 Section s Affected General Information Section 3 5 3 Section added www aerotech com Appendix B 41 Technical Changes ABL1500 B Series Stage User s Manual Table B 2 Archived Changes Section s Revision Affected General Information 1 01 00 Section 3 1 Updated ingress protection specifications 1 01 00 Section 3 3 Added motor specifications table 42 Appendix B www aerotech com Index ABL1500 B Series Stage User s Manual Index P A Preparing the Mounting Surface 13 Attaching the 16 B safety procedures 7 Bellows Securing the Stage to the Mounting Surface 14 Lubrication 38 22 Standard 2 cable 17 T Cleaning 36 37 travel 4 5 1 Cleaning Solvents 36 ii D Unpacking and Handling the Stage 12 Declaration 9 DIMENSIONS URSI DOE TIS 5 j Warnings 7 E Electrical 17 19 End of Travel Limits 2
14. NGLE CMS Table 1 1 Model Numbers and Ordering Options ABL15005 50 mm 2 in travel linear air bearing stage with linear motor and limits ABL15030 300 mm 12 in travel linear air bearing stage with linear motor and limits ABL15040 400 mm 16 in travel linear air bearing stage with linear motor and limits ABL15050 500 mm 20 in travel linear air bearing stage with linear motor and limits NC www aerotech com Chapter 1 3 Overview ABL1500 B Series Stage User s Manual Table 1 1 Ordering Options continued i LN50AS High accuracy linear encoder for ABL15050 amplified sine output SINGLE CMS Cable management system for single axis applications XY CMS Cable management system for X Y assembly order with X axis only XIO CMS Cable management system for single axis with two customer cables and one customer air line Y CMS Cable management system for X Y assembly order with Y axis only YZ CMS Cable management system for X Y Z assembly order with Y axis only YIO CMS Cable management system for X Y assembly with two customer cables and one customer airline order with Y axis only Accessories to be ordered as separate line item HALAR High accuracy system linear error correction for accuracy and repeatability ALIGNMENT Non precision XY assembly NPA ALIGNMENT XY assembly 5 arc sec orthogonal PA5 ALIGNMENT XY assembly 2 arc sec orthogonal PA2 4 Chapter 1 www aerotech com ABL1500 B Series
15. age User s Manual www aerotech com ABL1500 B Series Stage User s Manual List of Tables List of Tables Table 1 1 Model Numbers and Ordering Options 3 Table 3 1 Environmental Specifications 21 Table 3 2 ABL1500 B Series Specifications 22 Table 3 3 ABL1500 B Series Resolution Information 24 Table 3 4 ABL1500 B Motor Specifications 25 Table 3 5 LNAS Encoder Option Limit Signals 30 Table 3 6 Motor Connector Pin Assignments 31 Table 3 7 Feedback Connector Pin Assignments 31 Table 3 8 Connector Wiring Pinout Descriptions 32 Table 3 9 User I O XIO or YIO option Connector Pin Assignments Qty 2 Optional 33 Table 3 10 User I O XIO or YIO option Mating 5 33 Table 4 1 Recommended Cleaning Solvents 36 Table B 1 Current Changes 1 02 00
16. air supply detailed in Section 2 6 has been installed Moving the stage table without air supplied can cause permanent damage to the stage WARNING 12 Chapter 2 www aerotech com ABL1500 B Series Stage User s Manual Installation 2 2 Preparing the Mounting Surface The mounting surface should be flat and have adequate stiffness in order to achieve the maximum per formance from the ABL1500 B When an ABL1500 B 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 Adjustments to the mounting surface must be done before the stage is secured The effects of flat ness on mounting are illustrated in Figure 2 2 N OTE Tomaintain accuracy the mounting surface should be flat within 1 um per 150 mm A laboratory grade AA granite surface plate is recommended EE EE X Note the curved surface of the granite Mounting Surface Mounting to a Flat Surface Figure 2 2 Results of Flat Versus Non Flat Mounting NOTE The stage base is precision machined and verified for flatness prior to stage assembly at the fac tory If machining is required to achieve the desired flatness it should be performed on the mounting sur face rather than the stage base Shimming should be avoided if possible If shimming is required it should be minimized to improve the rigidity of the system www aerotech com Chapter 2 13 Instal
17. aning Process 37 4 2 3 Bellows Re lubrication 38 Appendix A Warranty and Field 39 Appendix B Technical 41 Index er 43 Reader s elei 45 www aerotech com ill Table of Contents ABL1500 B Series Stage User s Manual iV www aerotech com ABL1500 B Series Stage User s Manual List Of Figures List of Figures Figure 1 1 Figure 1 2 Figure 1 3 Figure 1 4 Figure 2 1 Figure 2 2 Figure 2 3 Figure 2 4 Figure 2 5 Figure 2 6 Figure 2 7 Figure 2 8 Figure 3 1 Figure 3 2 Figure 3 3 Figure 3 4 Figure 3 5 Figure 3 6 Figure 4 1 Figure 4 2 Typical ABL1500 B Series Linear Positioning Stage 1 ABL1500 B Series Stage Labeled 2 ABL1500 B Dimensions 5 ABL1500 B XY Dimensions 6 Lifting Features 12 R
18. ay small particles and dust All encoder surfaces and magnet tracks should be cleaned with isopropyl alcohol Aluminum hardcoated metal surface may be cleaned with acetone Acetone should not be used on magnet tracks because it could break down the epoxy that holds the magnets in place Table 4 4 Recommended Cleaning Solvents em Recommended Cleaner Encoders Magnets Isopropyl Alcohol 36 Chapter 4 www aerotech com ABL1500 B Series Stage User s Manual Maintenance 4 2 2 Cleaning Process The cleaning process is outlined in the steps that follow It is recommended that all air bearing surfaces and encoder scales are cleaned often to prevent damage to the stage or decreased performance The entire stage should be blown with clean dry compressed air often to prevent dust from building up in the linear motors encoders and air bearing surfaces In order to clean the entire length of the air bearing surfaces and encoder scales it will be necessary to move the stage Strong rare earth magnets are present in the linear motor magnet track Loose metal objects tools watches keys etc may cause personal injury and or damage to the equipment DANGER Moving the stage table without air supplied can cause permanent damage to the stage Refer to Section 2 6 for more information about air requirements and installation WARNING Begin by blowing off the stage with clean dry compressed air and removing any visible debris on th
19. ch com Chapter 3 25 Operating Specifications ABL1500 B Series Stage User s Manual 3 4 Load Capability Aerotech recommends that application loads be symmetrically distributed whenever possible i e the pay load should be centered on the stage table and the entire stage should be centered on the support structure With the stage lying flat horizontal and the application load vertically applied and symmetrically distributed the maximum vertical load carrying capacity of ABL1500 B stages is 35 0 kg If cantilevered loads are applied refer to Figure 3 1 to find the maximum allowable load a 79 G o 0 50 100 150 200 250 300 Distance of Load from Tabletop Centerline mm Figure 3 1 Cantilevered Load Capability Side Load Horizontal Load Figure 3 2 Cantilever Length Diagram 26 Chapter 3 www aerotech com ABL1500 B Series Stage User s Manual Operating Specifications Figure 3 3 and Figure 3 4 show the relationships between mass carried by the stage and maximum accel eration capabilities of the stage Peak acceleration capabilities are given The maximum acceleration pos sible for the ABL1500 B series stages is 2g Mass vs Offset Pitch Acceleration Load For Various Peak Acceleration Values 2 5 9 2 50 100 150 200 250 Offset Figure 3 3 Pitch Offsets Mass vs Offset Yaw Load For Various Peak Acceleration Values 200 Offset mm
20. e outside of the stage Move the stage to one end of travel and remove power Unbolt the bellows from both endplates Clean all accessible surfaces being sure that the correct solvent is used on each surface see Table 4 1 Once the cleaner has dried move the stage by hand to the opposite end of travel This should expose all pre viously covered surfaces Repeat the cleaning process and then secure the bellows into the stage end plates Restore power to the stage once all solvents have dried Bearing Surfaces 4 Stage gt S gt Bellows Track KUN Figure 4 1 Air Bearing Surfaces and Encoder Scales Require Periodic Cleaning www aerotech com Chapter 4 37 Maintenance ABL1500 B Series Stage User s Manual To minimize the possibility of bodily injury confirm that all electrical power is disconnected prior to making any mechanical adjustments DANGER 4 2 3 Bellows Re lubrication Use the following instructions to re lubricate the bellows tracks The tracks might require re lubrication if the bellows begin to bind Lubricate the bellows tracks during or after cleaning the stage see Section 4 2 2 Begin by removing power from the stage Unbolt the bellows from the stage endplates Move the stage car riage to one end of travel and compress the bellows Clean the bellows track with Acetone to remove any left over grease After the solv
21. ent has dried brush new grease onto the track Aerotech recommends NSK LGU grease Move the stage carriage to the opposite end of travel and repeat the process on the newly exposed track After you have completed re lubrication reattach the bellows to the stage end plates and restore power to the stage Endplate Screws Bellows Track ZZ 27 s Bellows Track Endplate Screws Figure 4 2 Bellows Re Lubrication 38 Chapter 4 www aerotech com ABL1500 B Series Stage User s Manual Warranty and Field Service Appendix A Warranty and Field Service Aerotech Inc warrants its products to be free from defects caused by faulty mate rials or poor workmanship for a minimum period of one year from date of shipment from Aerotech Aerotech s liability is limited to replacing repairing or issuing credit at its option for any products that are returned by the original purchaser during the warranty period Aerotech makes no warranty that its products are fit for the use or purpose to which they may be put by the buyer where or not such use or purpose has been disclosed to Aerotech in specifications or drawings previously or sub sequently provided or whether or not Aerotech s products are specifically designed and or manufactured for buyer s use or purpose Aerotech s liability or any claim for loss or damage arising out of the sale resale or use of any of its prod ucts shall in no event exceed the selling price of the unit
22. esults of Flat Versus Non Flat Mounting 13 Surface Mounting Screws 15 Bellows Cover Attachment 15 Electrical Connections 17 25 Pin Conductor Cable Connections 18 Air Fitting 4 mm 5 32 in O D Location for Air Bearing 19 Air Fittings 4 mm 5 32 O D for Customer Use Location Optional 19 Cantilevered Load Capability 26 Cantilever Length Diagram 26 27 Yaw OSES x 27 Current Sourcing or Current Sinking Limit Output Configuration 29 LNAS Encoder Option Limit Wiring 30 Air Bearing Surfaces and Encoder Scales Require Periodic 37 Bellows Re Lubrication 38 www aerotech com V List of Figures vi ABL1500 B Series St
23. he air bearing design extreme temperature environments could cause a decrease in performance or permanent damage to the stage Standard Aerotech air bearing stages are designed for and built in a 20 C 68 F environment Stage travel changes linearly with temperature The thermal expansion coefficient for standard ABL1500 B stages is 7 5 ppm per C www aerotech com Chapter 3 21 Operating Specifications ABL1500 B Series Stage User s Manual 3 3 Basic Specifications For the most recent specifications see Aerotech s website Table 3 2 ABL1500 B Series Specifications ABL15005 B ABL15010 B ABL15020 B Travel 50 mm 2 in 100 mm 4 in 200 mm 8 in in 0 6 uin 10 yin 0 16 yin 0 16 yin lt S Straightness 0 25 um 10 uin Flatness 0 25 10 Load Capaciy Horizontal Moving Mass No Load Stage Mass 18 6 kg 41 0 Ib 1 Certified with each stage 2 Axis orientation for on axis loading is listed 3 Specifications are for single axis systems measured 25 mm aove the tabletop Performance of multi axis systems is payload and workpoint dependent Consult factory for multi axis or non standard applications 4 To protect air bearing against under pressure an in line pressure switch tied to the motion controller amplifier E stop input is rec ommended 5 Air supply must be clean dry to 0 F dewpoint and filtered to 0 25 or better recommend nitrogen at 99 9 pur
24. it switch operation for a N O limit configuration is the exact opposite as described above The upper half of Figure 3 5 also illustrates a current sinking output JP 1 set 2 2 The lower half of Figure 3 5 illustrates a current souring output JP2 set 2 3 28 Chapter 3 www aerotech com ABL1500 B Series Stage User s Manual Operating Specifications 5V FEEDBACK 10K Lenit output configured as PIN V 3369P8 Current Sinking to a limit Input with a pull up resistor Jumper set 1 2 47 2222 Limit output configured as 5 1K le Current Sourcing to limit input 2 with a pull down resistor Jumper set 2 3 N C PINZ4 2 D 330PF i Figure 3 5 Current Sourcing or Current Sinking Limit Output Configuration 5 11K www aerotech com Chapter 3 29 Operating Specifications ABL1500 B Series Stage User s Manual 3 5 3 Limit Operation with the LNAS Encoder Option The limit signals provided by the encoder with the LNAS encoder option are nonstandard These two signals do not directly indicate end of travel limits There are two TTL compatible open collector signals capable of driving 8mA Table 3 5 describes these two signals Table 3 5 LNAS Encoder Option Limit Signals Signal internal Encoder Signal Name CCW LMT EOT Limit indicator non directional As shown in Figure 3 6 if the CCW LMT signal is true the CW LMT signal will indicate which e
25. ity 6 Maximum upper axis length is 100 mm when mounting the ABL1500 B in an XY configuration 22 Chapter 3 www aerotech com ABL1500 B Series Stage User s Manual Operating Specifications Table 3 2 Basic Specifications continued ABL15030 B ABL15040 B ABL15050 B Travel 300 mm 12 in 400 mm 16 in 500 mm 20 in LN T Accuracy 10 75 um 30 pin 15 0 um 200 uin um 32 uin 12 480 16 pm 640 pin Repeatability 0 3 um 12 8 20 8 um 12 uin Straightness 0 75 um 30 yin 1 5 um 60 uin Flatness 41 5 60 Pitch 4 arc sec Yaw 4 arc sec 5 arc sec Load Capacity Horizontal Moving Mass No Load Stage Mass 26 5 kg 58 4 Ib 1 Certified with each stage 2 Axis orientation for on axis loading is listed 3 Specifications are for single axis systems measured 25 mm aove the tabletop Performance of multi axis systems is payload and workpoint dependent Consult factory for multi axis or non standard applications 4 To protect air bearing against under pressure an in line pressure switch tied to the motion controller amplifier E stop input is rec ommended 5 Air supply must be clean dry to 0 F dewpoint and filtered to 0 25 or better recommend nitrogen at 99 9 purity 6 Maximum upper axis length is 100 mm when mounting the ABL1500 B in an XY configuration L 2 0 um 80 yin 2 0 um 80 5 arc sec
26. lation ABL1500 B Series Stage User s Manual 2 1 Unpacking and Handling the Stage Carefully remove the stage from the protective shipping container Before operating the stage it is important to let the stage to stabilize at room temperature for at least 12 hours Clean the stage by blowing it off with pressurized nitrogen or clean oil less air ABL1500 B stages come equipped with lifting bars and eyebolts attached to the stage as shown in Figure 2 1 The bellows are detached from the endplates to allow access to these features Use the eyebolts in con junction with lifting straps Do not attempt to lift the stage manually The lifting straps should be configured to pull on the eyebolts in the vertical direction only Do not attempt to lift or move the stage by the table cable brackets or end plates For multi axis assemblies always lift the system by the lower axis Lifting by the upper axis may disturb precision align ments on the system Figure 2 1 Lifting Features Each stage has a label listing the system part number and serial number These numbers contain information necessary for maintaining or updating system hardware and software Locate this label and record the infor mation for later reference If any damage has occurred during shipping report it immediately Improper stage handling could adversely affect the stage s performance Use care when moving the stage WARNING Do not attempt to move the stage until the
27. lation ABL1500 B Series Stage User s Manual 2 3 Securing the Stage to the Mounting Surface Strong rare earth magnets are present in the linear motor magnet track Loose metal objects tools watches keys etc can cause personal injury or damage to the equipment DANGER The stage must be mounted securely Improper mounting can result in injury and damage to the equipment WARNING Procedure for ABL1500 B mounting 1 Prepare the stone mounting surface and bottom of the stage base with precision flatstones to remove any burrs or high spots N Clean the mounting surface and bottom of the stage with the appropriate cleaners acetone or isopropyl alcohol for the stage bottom Place the stage on the mounting surface Remove the lifting brackets and shipping bracket Figure 2 3 Save the brackets for future use 5 Turnon the air supply to the air bearing Do not attempt to move the stage until the air supply detailed in Section 2 6 has been installed Moving the stage table without air supplied can cause permanent damage to the stage WARNING 6 Slide the air bearing carriage to one end of travel and compress the bellows Screw down with M6 socket head cap screws with flat washers in the exposed mounting locations Do not fully tighten at this time but bring within 1 4 tum of screw head engagement 14 Chapter 2 www aerotech com ABL1500 B Series Stage User s Manual Installation Magnet Track Mo
28. listed in the following table Table 3 1 Environmental Specifications Ambient Operating 16 to 25 C 61 to 77 F Temperature The optimal operating temperature is 20 C 2 C 68 F 4 F If at any time the operating tem perature deviates from 20 C degradation in performance could occur Contact Aerotech for information regarding your specific application and environment Storage 0 to 40 C 32 to 104 F in original shipping packaging Humidity Operating 40 percent to 60 percent RH The optimal operating humidity is 50 percent RH Storage 30 percent to 60 percent RH non condensing in original packaging Altitude Operating 0 to 2 000 m 0 to 6 562 ft above sea level Contact Aerotech if your specific application involves use above 2 000 below sea level Use the system in a low vibration environment Excessive floor or acoustical vibration can affect stage and system performance Contact Aerotech for information regarding your specific appli cation ABL1500 B stages have limited protection against dust and vertically falling drops of water This sure equates to an ingress protection rating of IP51 Indoor use only Do not expose the stage to environments or conditions outside the specified range of oper ating environments Operation in conditions other than those specified can cause damage to the equipment WARNING 3 2 Accuracy and Temperature Effects Due to the small clearances in t
29. nd Warnings 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 A DANGER gt DANGER gt DANGER gt DANGER WARNING WARNING WARNING www aerotech com Chapter 1 7 minimize the possibility of electrical shock and bodily injury or death disconnect all elec trical 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 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 Overview
30. nd of travel limit is active Controller Stage Limit State Diagram 7 Cw No Limit CCW HOMING CCW LMT LIMIT 24 CW LMT 12 HOMING HM LMT 22 No Connection Center of Travel Figure 3 6 LNAS Encoder Option Limit Wiring 30 Chapter 3 www aerotech com ABL1500 B Series Stage User s Manual Operating Specifications 3 6 Standard Motor Wiring Table 3 6 Motor Connector Pin Assignments 1 A4 0 2 1 543 Table 3 7 Feedback Connector Pin Assignments 1 5 9 13 0000000000000 O O O OQ O O0 9 O O0 O9 99 14 18 22 25 Pm ps sos 5 Reservo FNCODERCOMMON s es www aerotech com Chapter 3 31 Operating Specifications ABL1500 B Series Stage User s Manual Table 3 8 Connector Wiring Pinout Descriptions Pin Output Hc Hall Effect Brushless motor commutation track output TTL line driven signal with rotary motor H Marker Incremental encoder output pulse given once per revolution Typically used for home ref erence cycle s MKR N Incremental encoder output either the compliment of Marker with a line driven TTL type encoder or 2 5 V DC bias level with amplified sine wave type encoder SIN N Incremental encoder output Compliment of sin THERM Tthermistor to motion controller MTR A Mo
31. r the operation of the system If compressed air is used it must be filtered to 0 25 microns dry to dew point and oil free If nitrogen is used it must be 99 99 pure and fil tered to 0 25 microns The filtration requirement is to prevent particles from clogging the air bearing orifices Air pressure in the range of 517 kPa to 551 kPa 75 psi to 80 psi is necessary for use Air should be supplied via a 4 mm 5 32 polyurethane air hose It is recommended that a pressure switch is installed to remove power from the air bearing if pressure drops below 40 psi because the bearing surfaces could be damaged An airflow rate of between 24 to 30 SLPM standard liters per minute at 551 kPa should be observed single axis Figure 2 7 Air Fitting 4 mm 5 32 in O D Location for Air Bearing a AEROTECH 1507 Figure 2 8 Air Fittings 4 5 32 O D for Customer Use Location Optional www aerotech com Chapter 2 19 Installation 20 ABL1500 B Series Stage User s Manual Chapter 2 www aerotech com ABL1500 B Series Stage User s Manual Operating Specifications Chapter 3 Operating Specifications The surrounding environment and operating conditions can affect the performance and service life of the stage This chapter provides information on ideal environmental and instructions for estimating load capabil ity 3 1 Environmental Specifications The environmental specifications for the ABL1500 B are
32. surfaces linear motors and feedback devices to provide a minimum maintenance stage The integral bellows protect the stage in harsher environments where light debris is present The ABL1500 B incorporates air on air preload on both vertical and horizontal surfaces The opposing thin film pressure maintains the bearing nominal gap tolerance This design in addition to the large air bearing sur face that distributes the load over large surface area results in a stage with outstanding stiffness that is ideal for heavy or offset loading The brushless linear motor uses an ironless forcer which means there is zero cogging and no attractive forces resulting in unsurpassed smoothness of motion This is especially useful in applications where velocity control is important The bellows seal the internal components of the stage This protects the air bearing surfaces motor encoder and all other elements of the stage from dust dirt chips and light oil that would otherwise damage the stage Stage Table Figure 1 2 ABL1500 B Series Stage Labeled 2 Chapter 1 www aerotech com ABL1500 B Series Stage User s Manual Overview 1 1 1 Optional Features The ABL1500 B can be readily customized to meet the needs of individual applications Common examples include cable management for stage mounted payloads custom tabletops and granite bases Contact the Aerotech factory for more details Ordering Example ABL15010 B M 10 NC LN10AS SI
33. tech motion control systems are adjusted at the factory for optimum performance When the ABL1500 B series stage is part of acomplete Aerotech motion control system setup usually involves connecting a stage to the appropriate drive chassis with the cables provided Labels on the system components usually indicate the appropriate connections However please refer to the appropriate system manuals and documentation for additional installation and operation information In some cases if the system is uniquely configured a drawing showing system interconnects is supplied The stage and its carriage are protected from dangerous faults by an integral safety ground through the stage s motor power cable In addition a spot faced safety ground connection point shown in Figure 2 5 is provided on the stage endplate for customer use See Section 3 6 for standard wiring pinouts Never connect or disconnect any electrical component or connecting cable while power is applied or serious damage may result WARNING Feedback Connector Motor Connector ai Customer Ground Figure 2 5 Electrical Connections www aerotech com Chapter 2 17 Installation ABL1500 B Series Stage User s Manual Figure 2 6 25 Pin Conductor Cable Connections Optional 18 Chapter 2 www aerotech com ABL1500 B Series Stage User s Manual Installation 2 6 Air Requirements The air supply to the air bearing is important fo
34. tor Phase MTR B Motor Phase B MTR C Motor Phase C C MKR Sine Incremental encoder output either TTL line driven or amplified sign wave type signal W 5V 6 COM Signal common 32 Chapter 3 www aerotech com ABL1500 B Series Stage User s Manual Operating Specifications Table 3 9 User I O XIO or YIO option Connector Pin Assignments Qty 2 Optional 1 5 9 13 oooooooooo0O0GQO0 oooo0oQ90000060909 14 18 22 25 T usrioi BAmemag i4 4 2 UsriO BAmoma 15 User 1075 8Ampmax 577 3 8 016 8 1 37 8 5 18 User 078 8Ampmax G UserI06 8Ampmax 018 8 2i UseioziBAwma 5 UseiOs BAmpma 2 2208 s useme 0227 Table 3 10 User I O or YIO option Mating Connectors Aerotech Part Number Third Part Part Number ECK33033 Cinch DM 25S ECK00101 Cinch DB 25P www aerotech com Chapter 3 33 Operating Specifications ABL1500 B Series Stage User s Manual 3 7 Vacuum Operation The ABL1500 B is an air bearing stage and is not compatible with operation in a vacuum environment Please contact Aerotech for alternate solutions 34 Chapter 3 www aerotech com ABL1500 B Series Stage User s Manual Maintenance
35. ve the stage table to the limits to m p access the surface mounting holes a mi 55 the bellows Figure 2 3 Surface Mounting Screws 7 Slide the air bearing carriage to the opposite end of travel and fasten the remaining mounting screws with flat washers 8 Tighten the mounting screws begin from the center out for best accuracy The typical torque value for M6 socket head cap screws is 8 N m 9 Attach the bellows to the endplates of the stage The M4 socket head cap screws are captured in the end plates Extend the bellows to the endplates and tighten the screws Figure 2 4 Bellows Cover Attachment www aerotech com Chapter 2 15 Installation ABL1500 B Series Stage User s Manual 2 4 Attaching the Payload to the Stage To prevent damage to payloads test the operation of the stage before the payload is attached to the stage table Proceed with the electrical installation and test the motion control system in accordance with the sys tem documentation Document all results for future reference For information on electrical connections refer the Section 2 5 and the documentation delivered with the stage The payload should be flat rigid and comparable to the stage in quality NOTE For valid system performance the mounting interface should be flat within 1 um per 50 mm 16 Chapter 2 www aerotech com ABL1500 B Series Stage User s Manual Installation 2 5 Electrical Installation Aero
36. warranted defect exists then the prod ranty Determination uct s will be repaired at no charge and shipped prepaid back to the buyer If the buyer desires an airfreight return the product s will be shipped collect Warranty repairs do not extend the original warranty period After Aerotech s examination the buyer shall be notified of the repair cost At such Returned Product time the buyer must issue a valid purchase order to cover the cost of the repair and Non warranty Deter freight or authorize the product s to be shipped back as is at the buyer s mination expense Failure to obtain a purchase order number or approval within 30 days of notification will result in the product s being returned as is at the buyer s expense Repair work is warranted for 90 days from date of shipment Replacement com ponents are warranted for one year from date of shipment At times the buyer may desire to expedite a repair Regardless of warranty orout Rush Service of warranty status the buyer must issue a valid purchase order to cover the added rush service cost Rush service is subject to Aerotech s approval www aerotech com Appendix A 39 Warranty and Field Service ABL1500 B Series Stage User s Manual On site Warranty Repair On site Non warranty 40 Repair Company Address If Aerotech product cannot be made functional by telephone assistance by sending and having the customer install replacement parts and cannot
37. y Basic concepts general principles for design ISO 14121 1 2007 Safety of machinery Risk assessment Par 1 Principles EN 60204 1 2005 Safety of machinery Electrical equipment of machines Part 1 General requirements and further more declares that it is not allowed to put the equipment into service until the machinery into which it is to be incorporated or of which it is to be a component has been found and declared to be in conformity with the provisions of the Directive 2006 42 EC and with national implementing legislation i e as a whole including the equipment referred to in this Declaration Authorized Representative Manfred Besold Address Name Position Location Date AEROTECH GmbH S d West Park 90 D 90449 N rnberg Alex Weibel Cb Engineer Verifying Compliance Pittsburgh PA April 18 2011 www aerotech com Chapter 1 9 Overview ABL1500 B Series Stage User s Manual 10 Chapter 1 www aerotech com ABL1500 B Series Stage User s Manual Installation Chapter 2 Installation This chapter describes the installation procedure the ABL1500 B stage including handling the stage properly securing the stage to the mounting surface attaching the payload and making the electrical connections Installation must follow the instructions in this chapter Failure to follow these instructions could result in injury and damage to the equipment WARNING www aerotech com Chapter 2 11 Instal
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