ASRT Series Stage User`s Manual
Contents
1. ece eee cec ccc ceeccccccceeeccccceeeeeeecuceeeeeeeees 25 4 2 Cleaning and LuDncaion e c cece cece cece RI RI RR RR RR rrr rrr 27 4 2 1 Recommended Cleaning Solvents eese nneee 27 Appendix A Glossary 29 Appendix B Warranty and Field Service cece cece cece ee eee 35 Appendix C Technical Changes 37 t 5 RR TE I pede eee eee 39 Reader s Comments 41 www aerotech com lii Table of Contents ASRT Series Stage User s Manual IV www aerotech com ASRT 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 3 1 Figure 3 2 Figure 3 3 Figure 3 4 Figure 3 5 Figure 3 6 Figure 3 7 Figure 3 8 Figure 3 9 Figure 3 10 Figure 4 1 Figure 4 2 Standard ASRT Rotary Stage 2 0 2 000 c cece ccc ccc ccc cccccceccececceeeeceeeeeeee 1 ASRT 185 DIMENSIONS 22 22 oscs2 525s c08 8 42h e Ba dea E aa en A p c uA aaa anna 5 ASRT 245 Dimensions 6 ASRT 300 Dimensions 022 222 ee ccc ccceceeececccceccceeceeccececcececceeceeeeeeeeeees 7 Results of Flat Versus Non Flat Mounting iii 10 Vertical Axis of Rotation Mounting Counter bored Holes 11 Vertical Axis of Rotation Flange Mounting Through Holes 11 Horizontal Axis of Rotation Side Mounting Tapped Holes ss 12 Electrical Connector2. Air Purge Option t Ground Lug DESICCANT CARTRIDGE alza go ps OPTION 15 Flange Accessory 220 Flange Accessory 151 with Aperture I DIMENSIONS MILLIMETERS Horizontally Mounted with Cover Option Figure 1 2 ASRT 185 Dimensions Www aerotech com Chapter 1 5 Overview ASRT Series Stage User s Manual M6X1 0 Y 12 8X EQUALLY SPACED ON B C 8X 7 THRU ALL FI 265 Typ 100Typ 080 Flange Flange Aperture Accessory Accessory Option 150 BC 4X 7 THRU ALL LJ 127 Y 75 Ground Lug Ground Lug DESICCANT CARTRIDGE OPTION 300 Flange Accessory DIMENSIONS MILLIMETERS Horizontally Mounted with Covers Option Figure 1 3 ASRT 245 Dimensions 6 Chapter 1 www aerotech com ASRT Series Stage User s Manual Overview M6X1 0 F 12 8X EQUALLY SPACED ON B C 8X 9 THRU ALL Flange Accessory 320 Typ 130 100 Typ Flange Aperture Flange Accessory Option Accessory 4X 9 THRU ALL LI 15 v 75 Ground Lug 0 4x M8x1 0 9250 54 43 Ground Lug 8 DESICCANT CARTRIDGE OPTION 350 Flange Accessory 156 w Aperture DIMENSIONS MILLIMETERS Horizontally Mounted with Covers Option Figure 1 4 ASRT 300 Dimensions www aerotech com Chapter 1 7 Overview ASRT Series Stage User s Manual 1 5 Safety Procedures and Warnings The following statements apply throughout this manual Failure to observe these precautions could r
3. Home Switch Hysteresis UO IEEE 488 Incremental www aerotech com Glossary For a repetitive cycle the ratio of on time to total cycle time used to determine a motors rms current and torque force Time in a cycle at which no motion occurs Used in the calculation of rms power Ratio of input power vs output power Technique used to electrically simulate mechanical gearing Causes one closed loop axis to be slaved to another open or closed loop axis with a variable ratio Once per revolution signal provided by some incremental encoders to accurately specify a reference point within that revolution Also known as Zero Reference Signalor Index Pulse Measure of the smallest positional change which can be detected by the encoder A 1000 line encoder with a quadrature output will produce 4000 counts per revolution Position encoding device in which the output is a series of pulses relative to the amount of movement Signal that provides process or loop information such as speed torque and position back to the controller to produce a closed loop system Measure ofthe vertical deviation of a stage as it travels in a horizontal plane The value of force that a particular motor can produce in a continuous stall or running as calculated by the rms values condition The maximum value of force that a particular motor can produce When sizing for a specific application the peak force is usually that requir
4. COM www aerotech com Chapter 3 19 Operating Specifications ASRT Series Stage User s Manual 3 4 Ground Attachments ASRT series stages come with two ground lugs one for stage ground and one for payload ground The stage ground is located adjacent to the connectors and the payload ground is located on the tabletop Figure 3 5 Housing Ground Lug Location Figure 3 6 Tabletop Ground Lug Location 20 Chapter 3 www aerotech com ASRI Series Stage User s Manual Operating Specifications 3 5 Desiccant Cartridge You can access the optional Desiccant Cartridge accessory from the side of the stage as shown in Figure 3 7 The cartridge is secured with four M4 button head screws It is sealed to the stage with a gasket between the housing and the cartridge flange M4 Button Head Screws Figure 3 7 Desiccant Cartridge Access Screws www aerotech com Chapter 3 21 Operating Specifications ASRT Series Stage User s Manual 3 6 Air Purge Fitting You can access the optional Air Purge fitting between the motor and feedback connectors The fitting is threaded with an optional 1 8 NPT pipe thread Without this option the ASRT ships with a 1 8 NPT plug All threads are coated with Teflon tape at the factory to ensure good sealing Figure 3 8 Air Purge Fitting Accessory 22 Chapter 3 www aerotech com ASRT Series Stage User s Manual Operating Specifications 3 7 Horizontal Axis of Rotation Mounting
5. ACCESSOMNES urli iaia 3 R Air Purge Fitting 0 0 0 00 3 22 Recommended Cleaning Solvents 27 Aperture Option 0 i 3 Attaching the Payload 13 S safety procedures 8 C Securing the Stage to the Mounting Surface 11 Gleanillg tesi eo ead elisa 27 Specifications eee eee ee eee 16 Color Scheme 3 Standard Features 2 Gh CIR 3 U D Unpacking and Handling the Stage 9 Desiccant Cartridge 3 21 DIMENSIONS ccnl eda 5 W Warnings iii iii 8 E Electrical lnstallation 14 Encoder Option L Lib 3 G Ground Atrachmenta 000 20 H Horizontal Axis of Rotation Mounting 23 L Lubrication 00 27 M model numbers iii 9 Mounting Flange 000 3 O Optional Features uiui 3 www aerotech com Index 39 ASRT Series Stage User s Manual Index 40 Index www aerotech com Reader s Comments ASRT Series Stage Manual PIN EDS167 June 28 2010 Revision 1 00 00 Please answer the questions below and add any suggestions for improving this doc ument AEROTECH Is the manual Adequate to the subject e _ Well organized o Clearly presented sl Well illustrated BS 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 Seolo
6. 2 3 AACCOS SOMES ie aes ge yeh pate wel alge Ses dae eed eh ee wea ems atv ow ee eee 3 1 2 4 Golor Sch mie 2222 st stireria ei riot iero late 3 1 3 Model Numbers 000 cc cece cece cece cece ce cece cece eeeeeeeeeecececeeeeeeeeeeeseeees 4 1 4 DIMENSIONS TTT 5 1 5 Safety Procedures and Warnings iii iii eee 8 Chapter 2 Installation ccc ec ec ec ec ccc cece ececececececcececesecesess 9 2 1 Unpacking and Handling the Stage 0 00 9 2 2 Preparing the Mounting Surface L e cece esee rennen 10 2 3 Securing the Stage to the Mounting Sunracege cece cece eee eeececeeeeees 11 2 4 Attaching the Payload to the Stage 13 2 5 Electrical Installation 2 2 2 0 222 e cece eee cece ec naaar aooaa onnon oann 14 Chapter 3 Operating Specifications e cece eee eevee eee ec eee ec eee 15 3 1 Accuracy and Temperature Effects e cece cece cece cece cc cece e e eres 15 3 2 Basic Specifications 16 3 3 Standard Motor Wiring 0000 00 18 3 4 Ground Attachments iii 20 3 5 Desiccant Cartridge ccc cece cece cece cece ccc e cece ccc eeeceeeeeeeeeeeees 21 3 6 Air Purge us 22 3 7 Horizontal Axis of Rotation Mounting 0 0002222 e cece cece cece cece cece cece cece ec eeeeeees 23 Chapter 4 Maintenance 25 4 1 Service and Inspection Schedule
7. Chapter 1 Overview The ASRT is a continuous travel sealed rotary table This chapter introduces standard and optional features of the ASRT stages explains the model numbering system and gives general safety precautions Figure 1 1 Standard ASRT Rotary Stage NOTE Aerotech continually improves its product offerings and listed options can be superseded at any time Refer to the Aerotech Motion Control Product Guide for the most current product information at www aer otech com www aerotech com Chapter 1 1 Overview ASRT Series Stage User s Manual 1 1 Standard Features All ASRT stages incorporate a direct drive brushless motor The maintenance free direct drive and slotless motor design combine to create outstanding angular positioning and velocity control This is especially use ful in scanning applications where torque ripple cannot be tolerated Other added benefits of the direct drive are zero backlash and higher speeds Every ASRT stage is designed around a set of angular contacts used to maximize performance with respect to tilt error moment stiffness and rotating friction A precision machined shaft further minimizes tilt error The design incorporates integral connections that minimize cable issues ASRT stage performance is assured with resolutions from 0 02 arc sec count to 0 036 arc sec count The motor and high performance rotary encoder are directly coupled to a common shaft All ASRT stages are fully grounded Int
8. In applications requiring a horizontal axis of rotation in hostile environments a set of external covers are avail able These covers are factory installed and are necessary to protect the ASRT from ingress of dust and water The mounting surface for the ASRT in this orientation is also the connector face This keeps con taminants away from the connectors To remove the external covers remove the screws shown in Figure 3 9 Remove external cover screws 4x Remove external cover screws 4x Figure 3 9 External Cover Removal When mounting the ASRT in this orientation remove the drainage plug on the mounting surface This will allow any water built up inside the stage to drain off Any mounting fixturing should leave access to the con nectors air fitting and ground lug The fixturing should also have a water channel around the hole plug to allow adequate drainage Figure 3 10 Drainage Plug Location www aerotech com Chapter 3 23 Operating Specifications ASRT Series Stage User s Manual 24 Chapter 3 www aerotech com ASRT Series Stage User s Manual Maintenance Chapter 4 Maintenance ASRT series stages are designed to be maintenance free positioning systems Periodic inspection and clean ing is recommended 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 You
9. Nam eee I me seria erp Name bets ae ensa Aerotech Subsidiary Email Order Maiyourcommentsto Farto Aerotech Inc 412 967 6870 101 Zeta Drive Pittsburgh PA 15238 U S A service aerotech com
10. a yaw motion Appendix A www aerotech com ASRT Series Stage User s Manual Warranty and Field Service Appendix B 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 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 Aerotec
11. axis of rotation Refers to a closed loop control system where a command is issued for a change in position and the change is then verified via a feedback system Appendix A 33 Glossary Settling Time Shaft Radial Load Shaft Runout Slotless Stator Stiction Straightness of Travel Torque TIR Total Indi cated Read ing TIR Total Indi cator Runout Torque Con tinuous Torque Peak Torque rms Torque Stall Tuning Unidirectional Repeatability Velocity Com mand Wobble Yaw of travel Yaw Error 34 ASRT Series Stage User s Manual Time required for a motion system to cease motion once the command for motion has ended Maximum radial load that can be applied to the end of the motor shaft at maximum motor speed Deviation from straight line travel Describes the type of laminations used in a motor that eliminates cogging torque due to magnetic attraction of the rotor to the stator slots Non rotating part of a magnetic structure In a motor the stator usually contains the mounting surface bearings and non rotating windings Friction encountered when accelerating an object from a stationary position Static friction is always greater than moving friction and limits the smallest possible increment of movement Measure ofthe side to side deviation of a stage as ittravels in a horizontal plane Rotary equivalent to force Equalto the product ofthe force perpendicular to
12. in the horizontal plane Axial runout is defined as the total indicator reading on a spherical ball positioned 50 mm above the tabletop and centered on the axis of rotation A centerline about which rotation occurs The voltage generated when a permanent magnet motor is rotated This voltage is proportionalto motor speed andis present whether or not the motor windings are energized Acomponent of bidirectional repeatability it is the non responsivenessof the system loadto reversal of input com mand A precision device for translating rotary motion into linear motion A lead screw is a low cost lower performance device performing the same function Unit consists of an externally threaded screw and an internally threaded ball nut The linear distance a carriage will travel for one revolution of the ball screw lead screw A measurement expressed in frequency hertz of the range which an amplifier or motor can respond to an input command from DC to 3dB on a frequency sweep The number of bits transmitted per second on a serial communication channel such as RS 232 or modem Binary Coded Decimal A number system using four bits to represent 0 F 15 A support mechanism allowing relative motion between two surfaces loaded against each other This can be a rotary ball bearing linear slide bearing or air bearing zero friction See Repeatability Atechnique used to perform nonlinear motion that is electronically simi
13. is required it should be minimized to improve the rigidity of the system 10 Chapter 2 www aerotech com ASRT Series Stage User s Manual Installation 2 3 Securing the Stage to the Mounting Surface ASRT series stages have a fixed mounting pattern available to secure the stage to a mounting surface Fig ure 2 2 through Figure 2 4 shows the main mounting holes in the base of the stage These counter bored and through holes are designed for 6 mm socket head cap screws for the ASRT 245 and smaller models and M8 socket head cap screws forthe ASRT 300 model Side mounting tapped holes are M8x1 25 holes for the ASRT 245 and larger models and M6x1 for the ASRT 185 model Mounting Hole Locations Figure 2 2 Vertical Axis of Rotation Mounting Counter bored Holes Figure 2 3 Vertical Axis of Rotation Flange Mounting Through Holes www aerotech com Chapter 2 11 Installation ASRT Series Stage User s Manual Figure 2 4 Horizontal Axis of Rotation Side Mounting Tapped Holes 12 Chapter 2 www aerotech com ASRT Series Stage User s Manual Installation 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 to the documen
14. 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 Appendix B www aerotech com ASRT Series Stage User s Manual Technical Changes Appendix C Technical Changes Table C 1 Current Changes 1 00 00 Section s Affected General Information Newmenwai www aerotech com Appendix C 37 Technical Changes ASRT Series Stage User s Manual Table C 2 Archived Changes Section s Affected General Information 38 Appendix C www aerotech com Index ASRT Series Stage User s Manual Index P A Preparing the Mounting Surface 10
15. the radius of motion and distance from the center of rotation to the point where the force is applied The full indicator reading observed when a dial indicator is in contact with the part surface during one full rev olution ofthe part about its axis of rotation The smallest perpendicular distance between two planes both parallel with the reference plane that enclose all points on the surface Torque needed to drive a load over a continuous time Maximum amount of torque a motor can deliver when the highest allowable peak currents are applied Root Mean Square is a mathematical method to determine a steadfast or average torque for a motor The maximum torque without burning out the motor In a servo system the process of optimizing loop gains usually PID terms to achieve the desired response from a stage or mechanism from an input command See Repeatability Motor driver or amplifier configuration where the input signal is commanding motor velocity Motors with analog tachometers are normally driven by this driver configuration An irregular non repeatable rocking or staggering motion ofthe table top of a rotary stage Wobble is defined as an angular error between the actual axis of rotation and the theoretical axis of rotation Rotation about the vertical axis perpendicularto the axis of travel Angular movement error that affects straight ness and positioning accuracy Positioning error resulting from
16. ASRT Series Stage User s Manual P N EDS167 Revision 1 00 00 Dedicated to the Science of Motion Aerotech Inc 101 Zeta Drive Pittsburgh PA 15238 ABHCITECH Phone 412 963 7470 Fax 412 963 7459 www aerotech com Product Registration Register online at http www aerotech com prodreg cfm Technical Support 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 History Revision 1 00 00 June 28 2010 Product names mentioned herein are used for identification purposes only and may be trademarks of their respective companies Aerotech Inc 2010 ASRT Series Stage User s Manual Table of Contents Table of Contents lable ofContents s ur lati iii List of Figures rionale EE V Eist or Tables 2203 25s ose ee DA I LRL E ED dee ea Er vii Chapter 1 Overview 1 1 1 Standard Features sss s cece cece ee ceeeeeeeeeeeeeeseees 2 1 2 Optional Features i lst Se od dba DETRITI Eine 3 1 2 1 Aperture OOO i 3 1 2 2 Encoder ODIOD secto cot area sade Scrat Pe fone nta 3 1
17. amming AC Brushless Servo Acceleration Accuracy Accuracy Grade ASCII Axial Runout Axis of Rota tion Back emf Kemf Backlash Ball Screw Ball Screw Lead Bandwidth Baud Rate BCD Bearing Bidirectional Repeatability CAM Profile www aerotech com The positioning error resulting from angular motion and an offset between the measuring device and the point of interest The value of the offset between the measuring device and the point of interest A move referenced to a known point or datum A positioning coordinate reference where all positions are specified relative to a reference or home position A servomotor with stationary windings in the stator assembly and permanent magnet rotor AC brushless gen erally refers to a sinusoidally wound motor such as BM series to be commutated via sinusoidal current wave form see DC brushless servo The change in velocity as a function of time An absolute measurement defining the difference between actual and commanded position In reference to an encoder grating accuracy grade isthe tolerance of the placement of the graduations on the encoder scale American Standard Code for Information Interchange This code assigns a number to each numeral and letter of the alphabet Information can then be transmitted between machines as a series of binary numbers Positioning error of the rotary stage in the vertical direction when the tabletop is oriented
18. crews securing the unit on the side of the housing as shown in fig In you have purchased the cover option you must remove the covers to access the cartridge Remove the cover s 12 button head screws and slide the covers off Replace the cartridge and covers The cartridge is sealed via a gasket The gasket must be in place between the cartridge flange and housing to assure adequate water jet and dust protection Contact the factory for replacement if the gasket is damaged WARNING 26 Chapter 4 www aerotech com ASRT Series Stage User s Manual Maintenance 4 2 Cleaning and Lubrication There are no elements on the ASRT that require added lubrication The bearings motors and encoders for the ASRT require no added lubrication or maintenance Periodic cleaning is recommended 4 2 1 Recommended Cleaning Solvents Before using a cleaning solvent on any part of the stage use compressed nitrogen or clean dry air to blow away small particles and dust You can clean any metal surface of the stage with isopropyl alcohol on a lint free cloth To minimize the possibility of bodily injury confirm that all electrical power is disconnected prior to making any mechanical adjustments DANGER www aerotech com Chapter 4 27 Maintenance 28 ASRT Series Stage User s Manual Chapter 4 www aerotech com ASRT Series Stage User s Manual Glossary Appendix A Glossary Abbe Error Abbe Offset Absolute Move Absolute Pro gr
19. ed during acceleration and deceleration of the move profile The peakforce is used in conjunction with the continuous force and duty cycle to calculate the rms force required by the application The resistance to motion between two surfaces in contact with each other A standard protocol analogous to RS 232 for transmitting digital information The G P I B interface IEEE 488 transmits data in parallel instead of serial format See IEEE 488 Comparison or ratio ofthe output signal and the input signal In general the higher the system gain the higher the response Actual distance between graduations on an encoder Feedback device HED used in a brushless servo system to provide information for the amplifier to electronically commutate the motor Hall Effect Device See Hall Effect Sensors Reference position for all absolute positioning movements Usually defined by a home limit switch and or encoder marker A sensor used to determine an accurate starting position for the home cycle A component of bidirectional repeatability Hysteresis is the deviation between actual and commanded position and is created by the elastic forces in the drive systems Input Output The reception and transmission of information between control devices using discrete connection points A set of codes and formats to be used by devices connected via a parallel bus system This standard also defines communication protocols that are neces
20. er 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 B 35 Warranty and Field Service On site Warranty Repair On site Non warranty 36 Repair Company Address ASRT Series Stage User s Manual If an Aerotech product cannot be made functional by telephone assistance or by sending and having the customer install replacement parts and cannot 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
21. ernal brushes provide the attached payload with up to 20 amps of grounding capability The grounding system is designed to protect against electrical shock and eliminate RF re radiation and housing grounding points are included Circular sealed connectors are included All ASRT stages can handle between 66 and 400 Ib of axial load All ASRT stages are design to operate in harsh environments The stage can operate in environments with dust fluid jets or cutting fluids Internal mechanics and electronics are enclosed in a IP66 rated housing Fur thermore the stage is capable of operating in temperatures ranging from 20 C to 70 C 2 Chapter 1 www aerotech com ASRT Series Stage User s Manual Overview 1 2 Optional Features 1 2 1 Aperture Option The optional aperture in the ASRT series ranges from 30 mm to 130 mm in diameter 1 2 2 Encoder Option The ASRT series of rotary stages are available with either optical or magnetic encoder systems Optical encoders provide outstanding accuracy and repeatability while magnetic encoders provide exceptional envi ronmental protection 1 2 3 Accessories Several accessories are available for the ASRT series They include e Desiccant Cartridge A re usable desiccant cartridge is available for high humidity applications e Air Purge Fitting For maximum operating temperature ranges an air purge fitting provides access to the interior of the stage A minimum of 10 psi of clean dry nitr
22. esult in serious injury to those performing the procedures and or damage to the equipment To minimize the possibility of electrical shock and bodily injury confirm that all electrical power is disconnected prior to making any electrical connections To minimize the possibility of electrical shock and bodily injury 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 DANGER To minimize the possibility of bodily injury confirm that all electrical power is disconnected prior to making any mechanical adjustments Care must be exercised that all personnel remain clear of any moving parts 8 Chapter 1 www aerotech com ASRT Series Stage User s Manual Installation Chapter 2 Installation This chapter describes the installation procedure for the ASRT stage including handling the stage properly preparing the stage environment securing the stage to the mounting surface attaching the payload and mak ing the electrical connections 2 1 Unpacking and Handling the Stage Carefully remove the stage from the protective shipping container Blow the stage off with compressed nitrogen or clean oil less air Before operating the stage it is important to let the stage stabilize at room tem perature for at least 12 hours Each stage has a label listing the system part number and serial number These numbers contain information necessary for maintai
23. h 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 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 ord
24. ions This chapter contains general technical information about ASRT series stages Included are basic product specifications resolution information and motor wiring diagrams 3 1 Accuracy and Temperature Effects ASRT series stages are tested for accuracy in a 20 C 68 F environment Operating at other temperatures will cause the accuracy to deviate from the specifications listed in this manual www aerotech com Chapter 3 15 Operating Specifications ASRT Series Stage User s Manual 3 2 Basic Specifications The ASRT series rotary stage specifications are shown in Table 3 1 Torque capacities are given in Figure 3 1 and current capacities are given in Figure 3 2 Table 3 1 ASRT Series Specifications eaa Uncalibrated Opa oa Calbratd Opal Accuracy Uncalibrated Magnetic 1 1 Accuracies repeatability and tilt errors are at 20 C 2 Speeds may be limited below 0 C depending on application Maximum speed based on stage capability maximum application velocity may be limited by system data rate resolution and bus voltage 3 Range is consistent with 500x multiplication 4 Unloaded inertia 16 Chapter 3 www aerotech com ASRT Series Stage User s Manual Operating Specifications ASRT Motor Torque Capacities VS Ambient Temperature 14 70 12 60 10 50 E pa 40 3 3 E 6 30 o o Temperature C Figure 3 1 ASRT Series Torque Capacity ASRT Mo
25. ity refers to the value established by moving toward a position in the same or opposite direction The smallest change in distance that a device can measure An optical element with the property that an input light beam is reflected and returns along the same angle as the input beam Used with laser interferometers Angular motion of a carriage around an axis parallel to the motion direction and perpendicular to the yaw axis Positioning error resulting from a roll motion The rotating part of a magnetic structure In a motor the rotor is connected to the motor shaft Industry standard for sending signals utilizing a single ended driver receiver circuit As such the maximum dis tance is limited based on the baud rate setting but is typically 50 100 feet This standard defines pin assignments handshaking and signal levels for receiving and sending devices Industry standard programming language Also referred to as G code machine programming Acommand set specific for the machine tool industry that defines geometric moves Industry communication standard for sending signals over distances up to 4000 feet Standard line driver encoder interfaces utilize RS 422 because of the noise immunity The deviation from the desired form of a surface during full rotation 360 degrees about an axis Runout is meas ured as total indicated reading TIR For arotary stage axis runout refers to the deviation of the axis of rotation from the theoretical
26. lar to the motion achieved with mechanical cams Appendix A 29 Glossary Cantilevered Load Closed Loop CNC Coefficient of Friction Cogging Commutation Commutation 6 Step Commutation Modified 6 Step Commutation Sinusoidal Connectorized Ports Coordinated Motion Critical Speed Current Com mand Current Peak Current rms Cycle DC Brushless Servo Deceleration 30 ASRT Series Stage User s Manual A load not symmetrically mounted on a stage A broad term relating to any system where the output is measured and compared to the input Output is adjusted to reach the desired condition Computer Numerical Control A computer based motion control device programmable in numerical word address format Defined as the ratio of the force required to move a given load to the magnitude of that load Nonuniform angular linear velocity Cogging appears as a jerkiness especially at low speeds and is due to mag netic poles attracting to steel laminations The action of steering currents to the proper motor phases to produce optimum motor torque force In brush type motors commutation is done electromechanically via the brushes and commutator A brushless motor is electronically commutated using a position feedback device such as an encoder or Hall effect devices Stepping motors are electronically commutated without feedback in an open loop fashion Also referred to astrapezoidal commutati
27. ning 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 Improperstage handling could adversely affect the stage s performance Use care when mov ing the stage Lift the stage only by the base Do not use the tabletop or wiring connections to support the stage www aerotech com Chapter 2 9 Installation ASRT Series Stage User s Manual 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 ASRT When an ASRT series stage is mounted to a non flat surface the stage can be dis torted as the mounting screws are tightened This distortion will decrease the overall accuracy of the stage To maintain accuracy the mounting surface should be flat to 13 uim 0 0005 in WARNING Adjustments to the mounting surface must be done before the stage is secured The effects of flatness on mounting are illustrated in Figure 2 1 Curved Mounting Surface Exaggerated Figure 2 1 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
28. nside of Rear Cover with attached Brushes Figure 4 1 Rear Cover and Brushes Location Www aerotech com Chapter 4 25 Maintenance ASRT Series Stage User s Manual e Aperture Option Leaf style spring loaded brushes are used with the ASRT rotary table with the aperture option You can access them by removing the screws securing the shaft rear cover The brushes are mounted to the inside surface of the rear housing Replace brushes if the brush contact material is less than 1 16 thick To replace a brush remove the two screws securing each leaf spring brush Clean surrounding parts of brush debris with isopropyl alcohol and install new brushes Replace the rear shaft cover by applying pressure while twisting the cover Insert screws but do not tighten them Rotate the shaft one turn to make sure the cover does rub against the hous ing and then tighten the screws Stage Without Rear Shaft Cover t SS Rear Shaft Cover Figure 4 2 Rear Shaft Cover and Brushes Location e Desiccant Cartridge You should periodically inspect the desiccant inside the cartridge Desiccant turns from blue to clear pinkish white when saturated The time required for this change to take place depends on application humidity levels Two replacement options are available You can contact the fac tory for replacement cartridges or bake the cartridge at 350 F for two hours or until the desiccant turns blue again You can remove the cartridge by removing the four s
29. ogen applied to the interior prevents con densation and provides a means to operate the stage in extreme temperature ranges 20 C to 70 C e Mounting Flange For applications requiring easy access to mounting hardware the mounting flange provides a convenient method to do so e Covers For horizontal mounting applications in hostile environments a set of covers are available to fur ther protect the stage These covers add another barrier from incoming water jets and dust 1 2 4 Color Scheme A polymer based paint on the housing and a hard coated tabletop is standard for corrosion protection The stage has optional Desert Tan Army Green Navy Grey Black and White paint colors Www aerotech com Chapter 1 3 Overview ASRT Series Stage User s Manual 1 3 Model Numbers The stage model number indicates the optional features on a particular stage To determine the options on your stage refer to Table 1 1 for an explanation of the numbering system Table 1 1 Model Numbering System A High accuracy encoder option 1 Vpp output M C Cover for horizontal axis orientation Color Scheme 4 Chapter 1 www aerotech com ASRT Series Stage User s Manual Overview 1 4 Dimensions M6X1 0 y 12 8X EQUALLY SPACED ON B C 8X 7 THRU ALL Flange Accessory 30 Aperture 200 Typ Option Accessory 25 Typ Flange 100 BC 4X 7 THRU ALL LJD 12 7 Y 75 Ground Lug 150 9 4x M6x1 0 Sa
30. on A term used in the specification of a lead screw or ball screw indicating the maximum rotation speed before res onanceoccurs This speed limitis a function ofthe screw diameter distance between support bearings and bear ing rigidity Motor driver or amplifier configuration where the input signal is commanding motor current directly which trans lates to motor torque force at the motor output Brushless motors can be commutated directly from a controller that can output current phase A and B commands An allowable current to run a motor above its rated load usually during starting conditions Peak current listed on a data sheet is usually the highest current safely allowed to the motor Root Mean Square Average of effective currents over an amount of time This current is calculated based on the load and duty cycle of the application When motion is repeated move and dwell such as repetitive back and forth motion A servomotor with stationary windings in the stator assembly and permanent magnet rotor See AC Brushless Servo The change in velocity as a function of time Appendix A www aerotech com ASRT Series Stage User s Manual Duty Cycle Dwell Time Efficiency Electronic Gearing Encoder Marker Encoder Res olution Encoder Incre mental Feedback Flatness of travel Force Con tinuous Force Peak Friction G P I B Gain Grating Period Hall Effect Sensors HED Home
31. on The process of switching motor phase current based on three Hall effectsignals spaced 120 electrical degrees beginning 30 degreesinto the electrical cycle This method is the eas iest for commutation of brushless motors Also referred to as modified sine commutation The process of switching motor phase current based on three Halleffect signals spaced 120 electricaldegrees beginning at 0 electrical degrees This method is slightly more dif ficult to implement than standard 6 step but more closely approximates the motor s back emf The result is smoother control and less ripple Aerotech s BA series self commutate using this method The process of switching motor phase current based on motor position information usually from an encoder In this method the three phase currents are switched in very small increments that closely resemble the motor s back emf Sinusoidal commutation requires digital signal processing to convert position information into three phase current values and consequently is most expensive to implement The result however is the best pos sible control All Aerotech controllers as well as the BAS series amplifiers commutate using this method Machined features in the back of the motor which support connector hardware Multi axis motion where the position of each axis is dependent on the other axis such that the path and velocity of a move can be accurately controlled Drawing a circle requires coordinated moti
32. s and GrOounde e esses 14 ASRT Series Torque Capaciy me eese sess 17 ASRT Series Current Capacity 17 Motor Power Connector esses sess erri riri iiir liil ll l22 18 Motor Feedback Connector e eese reser rsen 18 Housing Ground Lug Location 20 Tabletop Ground Lug Location esee en RR Rr rrr rre 20 Desiccant Cartridge Access SCrewS 0 es e e nonnene 21 Air Purge Fitting ACCeSSONY eme eee ceci 22 External Cover Removal 23 Drainage Plug Location eR e ehem Rer ester rre 23 Rear Cover and Brushes Location 25 Rear Shaft Cover and Brushes Location se 26 www aerotech com V List of Figures vi ASRT Series Stage User s Manual www aerotech com ASRT Series Stage User s Manual List of Tables List of Tables Table 1 1 Model Numbering System 2 22 cece cee eccccccceeccccececeeccccccceeeccccceceeeeeeucees 4 Table 3 1 ASRT Series Specifications 2 2 0 0 cece ceccccceeeecccccccccceceeecccceeceeererteeeeeees 16 Table 3 2 Motor Power Connector Pin Assignment e e mesh sse 18 Table 3 3 Motor Feedback Connector Pin Assignment e een 19 Table C 1 Current Changes 1 00 00 22 2 0 oo occ iene 37 Table C 2 Archived Changes cece cece cece cece RR RR Rr e erre rrr rrr e rrr rrr rr rr 38 www aerotech com vii List of Tables ASRT Series Stage User s Manual viii www aerotech com ASRT Series Stage User s Manual Overview
33. s used to enter instructions into a machine See HMI or MMI A linear or angular position feedback device using light fringes to develop position information System or circuit that transmits signal with no direct electrical connections using photoelectric coupling between elements The condition of a surface or axis perpendicular offset 90 to a second surface or axis Orthogonality spec ification refers to the error from 90 from which two surfaces of axes are aligned In a servo system referred to the amount of velocity and or position overrun from the input command Overshoot isa result of many factors including mechanical structure tuning gains servo controller capability and inertial mis Appendix A www aerotech com ASRT Series Stage User s Manual PID Pitch of travel Pitch Error PLC PWM Quadrature Radial Runout Ramp Time Range RDC Repeatability Resolution Retroreflector Roll of travel Roll Error Rotor RS 232C RS 274 RS 422 Runout Servo System www aerotech com Glossary match A group of gain terms in classical control theory Proportional Integral Derivative used in compensation of a closed loop system The terms are optimally adjusted to have the output response equal the input command Aerotech controllers utilize the more sophisticated PID FVFA loop which incorporates additional terms for greater system performance Angular motion of a carriage around an a
34. sary for message exchanges and further defines common commands and characteristics See G P 1 B A move referenced from its starting point relative move Appendix A Glossary Move Inertia Lead Error Lead Screw Life Limit Switch Limits Linear Motor Load Carrying Capability Master Slave Motion Profile Motor Brush Motor Brush less Motor Step ping NC NEMA Non Volatile Memory Open Col lector Open Loop Operator Inter face Optical Encoder Opto isolated Orthogonality Overshoot 32 ASRT Series Stage User s Manual The physical property of an object to resist changes in velocity when acted upon by an outside force Inertia is dependent upon the mass and shape of an object The deviation of a lead screw or ball screw from its nominal pitch Adevice for translating rotarymotion into linear motion Unitconsists of an externallythreaded screw and an inter nally threaded carriage nut See Ball Screw The minimum rated lifetime of a stage at maximum payload while maintaining positioning specifications A sensor used to determine the end of travel on a linear motion assembly Sensors called limits that alert the control electronics that the physical end of travel is being approached and motion should stop Amotor consisting of 2 parts typically a moving coil and stationary magnet track When driven with a standard servo amplifier it creates a thrust force along
35. should inspect the ASRT a minimum of once per month until a trend develops for the specific application and environment You should periodically inspect or service the following stage features e Drainage Plumbing The ASRT rotary table has an internal channel to allow water buildup that can occur in some environments You should purge water from this area by removing four drainage plugs located on the four sides of the ASRT housing see Figure 3 10 Supply dry nitrogen at a minimum pres sure of 10 psi to the interior of the stage by means of the factory supplied optional air purge fitting or by removing the 1 8 NPT plug see Figure 3 8 and supplying nitrogen to the opening Reinstall all plugs after flushing trapped water e Ground Brushes Periodic inspection and replacement of the ground brushes is necessary to maintain adequate electrical protection The grounding brushes differ depending on the options purchased e Standard Option Plunger style spring loaded brushes are used with the standard ASRT rotary table You can access them by removing the screws securing the housing rear cover The brushes are located on the inside surface of the cover Replace brushes if the brush stroke is less than 1 8 To replace a brush remove the support bracket from the cover loosen the set screws securing the brush assemblies and slide the brushes out of the holder Clean surrounding parts of brush debris with isopropyl alcohol and install new brushes I
36. tation of the motion control system or the wiring drawings in Chapter 3 Operating Spec ifications www aerotech com Chapter 2 13 Installation ASRT Series Stage User s Manual 2 5 Electrical Installation Aerotech motion control systems are adjusted at the factory for optimum performance When the ASRT series stage is part of a complete Aerotech motion control system setup involves connecting a stage and motor combination to the appropriate drive chassis with the cables provided Connect the provided cables to the appropriate electrical connectors and grounds on the ASRT shown in Figure 2 5 Labels on the drive indi cate the drive connector locations Refer to your drive manuals and documentation for additional installation and operation information Motor Feedback Connector L 4 gt i AJ S5 Stage Ground o Figure 2 5 Electrical Connectors and Grounds In some cases if the system is uniquely configured a drawing showing system interconnects is supplied See Section 3 3 for more information on the electrical connections on the ASRT including pinouts Never connect or disconnect any electrical component or connecting cable while power is applied or serious damage may result WARNING NOTE Refertothe controller documentation to adjust servo gains for optimum velocity and position sta bility 14 Chapter 2 www aerotech com ASRT Series Stage User s Manual Operating Specifications Chapter 3 Operating Specificat
37. the longitudinal axis of the magnet track The maximum recommended payload that does not degrade the listed specifications for a mechanical stage Type of coordinated motion control where the master axis position is used to generate one or more slave axis position commands Amethod of describing a process in terms of velocity time and position The conductive element in a DC brush type motor used to transfer current to the internal windings Type of direct current motor that utilizes electronic commutation rather than brushes to transfer current Specialized motor that allows discrete positioning without feedback Used for noncritical low power applications since positional information is easily lost if acceleration or velocity limits are exceeded Numerical Control Automated equipment or process used for contouring or positioning See CNC National Electrical Manufacturer s Association Sets standards for motors and other industrial electrical equip ment Memory in a system that maintains information when power is removed Asignal output that is performed with a transistor Open collector output acts like a switch closure with one end of the switch at circuit common potential and the other end of the switch accessible Control circuit that has an input signal only and thus cannot make any corrections based on external influences Device that allows the operator to communicate with a machine A keyboard or thumbwheel i
38. ther TTL line driven or amplified sine wave type signal COS leads SIN for CW motor rotation SIN N Incremental encoder output Complement of sine 5 MKR Marker Incremental encoder output pulse given once per revolution Typically used for home reference cycle MKR N Marker N Incremental encoder output either the complement of Marker with a line driven TTL type encoder or 2 5 V DC bias level with amplified sine wave type encoder HALL A Hall Effect A Brushless motor commutation track output TTL line driven signal with rotary motor 10 HALL B Hall Effect B Brushless motor commutation track output TTL line driven signal with rotary motor 11 HALL C Hall Effect C Brushless motor commutation track output TTL line driven signal with rotary motor 12 THERM Motor thermistor ISTOR CW LMT Clockwise end of travel limit option CCW LMT Counterclockwise end of travel limit option OUTER SHLD Shield for feedback connector 20 ENCODER 5 V supply input for optical encoders Typical requirement is 250 mA 5V ENCODER 5 V return for optical encoders ground COM HALL COM Return for hall effects ground HALL 5V 5 V supply for hall effects 26 THERM Return for motor thermistor ground ISTOR COM LIMIT COM Common ground for limit switch LIMIT 5V 5 supply for limit switch 31 ENCODER 5 V supply input for optical encoders Typical requirement is 250 mA 5V ENCODER V return for optical encoders ground
39. tor Current Limits VS Ambient Temperature Continuous Current Amp 185 Continuous Current ASRT 245 Continuous Current ASRT 300 Continuous Current ASRT 185 Peak Current ASRT 245 Peak Current ASRT 300 Peak Current 40 30 20 10 0 10 20 30 40 50 60 70 Temperature C Figure 3 2 ASRT Series Current Capacity www aerotech com Chapter 3 17 Operating Specifications ASRT Series Stage User s Manual 3 3 Standard Motor Wiring Stages come from the factory completely wired and assembled For reference connector pin assignments and general wiring information are given in the following figures and tables NOTE Referto the other documentation accompanying your Aerotech equipment Call your Aerotech rep resentative if there are any questions on system configuration Figure 3 3 Motor Power Connector Table 3 2 Motor Power Connector Pin Assignment Fink PinOutput Description O 8 wiRes_ H gt smeD SWeWirmobrwmngcnmsor Figure 3 4 Motor Feedback Connector 18 Chapter 3 www aerotech com ASRT Series Stage User s Manual Operating Specifications Table 3 3 Motor Feedback Connector Pin Assignment Fin Pin Output Description S Cosine Incremental encoder output either TTL line driven or amplified sine wave type signal COS leads SIN for CW motor rotation 1 COS N Incremental encoder output Complement of cos 3 Sine Incremental encoder output ei
40. xis perpendicular to the motion direction and perpendicular to the yaw axis Positioning error resulting from a pitching motion Programmable Logic Controller A programmable device that utilizes ladder logic to controla number of input and output discrete devices Pulse Width Modulation Switch mode technique used in amplifiers and drivers to control motor current The out put voltage is constant and switched at the bus value 160 VDC with a 115 VAC input line Refers to the property of position transducers that allows them to detect direction of motion using the phase rela tionship of two signal channels A 1000 line encoder will yield 4000 counts via quadrature Positioning error of the rotary stage in the horizontal direction when the tabletop is oriented in the horizontal plane Radial runout is defined as the total indicator reading on a spherical ball positioned 50 mm above the table top and centered on the axis of rotation Time it takes to accelerate from one velocity to another The maximum allowable travel of a positioning stage Resolver to Digital Converter Electronic component that converts the analog signals from a resolver transmitter type into a digital word representing angular position The maximum deviation from the mean each side when repeatedly approaching a position Unidirectional repeatability refers to the value established by moving toward a position in the same direction Bidirectional repeatabil
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