EDS103_ACS and ACS LP Rotary Stages
Contents
1. meom Figure 1 5 ACS 200 3J Dimensions 10 Chapter 1 www aerotech com ACS and ACS LP Stages User s Manual Overview 126 0 20 24 APERTURE ACCEPTS 8 SIZES 19 0 0 75 HEX 27 0 20 28 THRU STAGE MOUNTING HOLES 75 0 2 95 SQ 4 PLACES 76 2 3 00 SQ DIMENSIONS MILLIMETERS INCHES 2 5 0 10 MAX STROKE M5x0 80 THD X 6 4 0 25 BOTH SIDES T Thr 8 PLACES 78 4 3 09 19 0 0 75 4 62 2 2 45 100 0 3 94 94 5 3 72 14 0 0 55 FLATS 25 0 0 98 130 0 5 12 Figure 1 6 ACS 100LP Dimensions 44 5 1 75 HEX 215 0 20 59 APERTURE ACCEPTS ER25 COLLET SIZES 101 6 4 00 100 0 3 94 A 27 0 20 28 THRU STAGE MOUNTING HOLES 4 PLACES 125 0 4 92 12701809 DIMENSIONS MILLIMETERS INCHES 150 0 5 91 50 9143 4 5 64 38 0 1 50 FLATS 5 0 80 THD X 7 6 0 30 BOTH SIDES 4 3 0 17 STROKE 8 PLACES 94 8 3 73 19 0 0 75 6221245 150 0 5 91 Figure 1 7 ACS 150LP Dimensions 25 0 0 98 37 5 1 48 8 0 0 32 75 0 2 95 177 8 7 00 www aerotech com Chapter 1 11 Overview ACS and ACS LP Stages User s Manual 25 0 20 98 APERTURE ACCEPTS ER40 COLLET SIZES 16 MM 30 MM PAYLOADS gt 24 5 MM EXTEND NO MORE THAN 70 MM BELOW TOP OF COLLET 27 0 20 28 SLOT THRU STAGE MO2. 23 3 1 Environmental 44 23 3 2 ACS Basic 24 3 3 ACS LP Basic 4 4 29 3 4 Limit Switch 0 42424 2 4 4 0 0 02201 31 3 5 Standard 2 44 50 32 3 6 Vacuum 44 22 2 22222 2 2 22 36 Chapter 4 37 4 1 Service and Inspection 4 37 4 2 Cleaning and 2 2 09 37 4 2 1 Collet and Collet Chuck Lubrication and 38 4 3 Seal 39 4 3 1 Piston Seal Change 2 00202 0 0200 22 39 4 3 2 Ringseal O ring Replacement ACS 42 4 3 3 Rotary Union Seals for Three Jaw Gripper Stages ACS
3. 41 Typical Ringseal with O ring cece e cece cece eccccceececcccceceeeeeeecee 42 Ringseal Removal Tool 2 0 43 Cross section View of Ringseal Showing Both 95 43 Exploded Drawing of Rear Seal 2 44 Cross section View of Rear Seal Showing Seal 5 45 Exploded View of Water Jacket Housing 46 Cross section View of Water Jacket Seal Showing Seal 47 Schematic of Collet Insertion Into and Removal from Collet Nut 49 Installation Procedure for 49 Exploded View of Collet 2 50 Gripper Mounting Hole Locations in ACS and ACS LP 52 Mounting Holes for Three Jaw 53 Air Inlets in Three Jaw 0000 53 www aerotech com V List of Figures vi ACS and ACS LP Stages User s Manual www aerotech com ACS and ACS LP Stages User s Manual List of Tables List of Tables
4. 58 www aerotech com vii List of Tables ACS and ACS LP Stages User s Manual viii www aerotech com ACS and ACS LP Stages User s Manual Overview Chapter 1 Overview Aerotech s ACS and ACS LP series rotary stages with integrated ER collet chuck or 3 jaw gripper con figuration provide automated material handling capability for a wide range of materials and applications This manual describes Aerotech s ACS and ACS LP series direct drive rotary positioning stages This chapter introduces standard and optional features of the ACS and ACS LPstages explains the model numbering system and gives general safety precautions Www aerotech com Chapter 1 1 Overview ACS and ACS LP Stages User s Manual 1 1 Standard Features All ACS and ACS LP stages come standard with a direct drive brushless motor An integral non contact rotary union is standard on the ACS 100 ACS 100LP ACS 150 and ACS 150LP stages These features combine to create a low friction low maintenance rotary stage capable of high accelerations and low posi tioning error With a non contact rotary union there are no seals to be replaced or lubricated allowing for a life time of maintenance free performance The brushless slotless motor design is useful for applications requiring good velocity control as it allows for smooth rotation without the presence of a torque ripple There are no brushes to wear no belts to tension and no gears to wear
5. 44 4 3 4 Water Jacket Seal Replacement ACS 46 4 4 Changing ACS and ACS LP Workholding 48 4 4 1 Availible Workholding 2 4 48 4 4 2 Collet Change 0 48 4 4 3 Changing Collet Chucks ACS 4 2 2 2 50 4 4 4 Gripper Configurations ACS 21 4 0 0 2 52 Appendix A Warranty and Field 55 Appendix B Technical 57 es M uL C E 59 Reader s Comments 61 www aerotech com Table of Contents ACS and ACS LP Stages User s Manual www aerotech com ACS and ACS LP Stages User s Manual List Of Figures List of Figures Figure 1 1 Figure 1 2 Figure 1 3 Figure 1 4 Figure 1 5 Figure 1 6 Figure 1 7 Figure 1 8 Figure 2 1 Figure 2 2 Figure 2 3 Figure 3 1 Figure 3 2 Figure 3 3 Figure 4 1 Figure 4 2 Figure 4 3 Figure 4 4 Figure 4 5 Figure 4 6 Figure 4 7 Figure 4 8 Figure 4 9 Figure 4 10 Figure 4 11 Figure 4 12 Figure 4 13 Figure 4 14 Figure 4 15 Figure 4 16 ACS 150 Rotary Stage with ER Collet and Thre
6. 22 4 4 4 222 1 1 1 Standard 2 2 2 4 2 2 2 2 2 2 1 1 1 ACS Optional 44 52 2 9 3 1 1 2 Model 2 4 4 52 20 0 02022 2222 4 TZ a DIMENSIONS eal ps suse 7 1 3 Safety Procedures and 6 22 22 2 2 2 2 4 202022 13 1 4 EC Declaration 0 02500 000000000 15 Chapter 2 _ 17 2 1 Unpacking and Handling the 42 0 4 0222 17 2 2 Preparing the Mounting 2 2222 22 18 2 3 Securing the Stage to the Mounting 19 2 4 Attaching the Payload to 2 4 21 2 5 Electrical Installation 0000000000000000000000 0000000000000000 aaao adaa aa oaao oaaao aaoo aaan 21 2 6 2 2 2 22 2 7 1 7 7 2 2 47 22 Chapter 3 Operating
7. een m eene om emma wm m wm Water Jacket Option ER25 Only Figure 1 3 ACS 150 ER Dimensions 8 Chapter 1 www aerotech com ACS and ACS LP Stages User s Manual Overview 06 6 Thru Stage Mounting Holes 4 Places 5 8 Thd x 11 0 Dp 3 Places One Each Jaw 93 0209 612 0 Aperture Thru 14 5 Detail T T Slot Typical 8 Places E Open Jaw 25 0 000 10 996 0011 C Jaw Stroke M6 1 0 Thd x 6 0 Dp 4 Places on Each Side Motor Connector Feedback Connector Gripper Air Input www wet s pu me ee stone ws emma Figure 1 4 ACS 150 3J Dimensions Www aerotech com Chapter 1 9 Overview ACS and ACS LP Stages User s Manual 06 6 Thru Stage Mounting Holes 935 0 4 Places 5 8 Thd x 11 0 Dp t One Each 93 009 053 0 sb 170 0 14 5 Sq 22109 petaiT 21150 T Slot Typical 8 Places 105962000 212 0 20 47 Aperture Thru 20 040 025 0850 28 0 E Open Jaw E Open Jaw 20 0 s C Jaw Stroke 10 15 020 025 Aperture 25 0 Thru M6 1 0 Thd x 12 0 Dp One Each Jaw 24 0057 6 1 0 Thd x 6 0 Dp 4 Places on Each Side Motor Connector Feedback Connector
8. Improper stage handling could adversely affect the stage s performance Use care when moving the stage Manually lifting or transporting stages can cause injury WARNING Lift the stage only by the base WARNING Do not use the ballscrew or motor as lifting points WARNING www aerotech com Chapter 2 17 Installation ACS and ACS LP Stages 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 ACS and ACS LP When an ACS or ACS LP series stage is mounted to a non flat sur face the stage can be distorted 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 within 1 um per 25 mm 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 E _____ Flat Mounting Surface Non Flat Mounting Surface Bm 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 is required it should be minimized t
9. Aerotech Inc 101 Zeta Drive Pittsburgh PA 15238 USA AEROTECH herewith declares that the product Aerotech Inc ACS and ACS LP 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 machinery 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 mberg Alex Weibel Cb Engineer Verifying Compliance Pittsburgh PA April 5 2011 www aerotech com Chapter 1 15 Overview ACS and ACS LP Stages User s Manual 16 Chapter 1 www aerotech com ACS and ACS LP
10. 3 8 Amp pk N m 0 37 0 88 1 74 2 60 3 08 4 60 Amp rms in Ib 53 0 84 5 7 8 15 4 23 0 27 3 40 7 Amp rms to line P 1 t 5 1 18 1 Performance is dependent upon heat sink configuration system cooling conditions and ambient temperature 2 Values shown 75 C rise above a 25 C ambient temperature with housed motor mounted to 330 mm x 330 mm x 13 mm alu minum heat sink 3 Peaktorque assumes correct rms current consult Aerotech 4 Torque Constant and Motor Constant specified at stall 5 All performance and electrical specifications 10 6 Losses due to bearings and aerodynamics considered negligible 7 Maximum winding temperature is 100 C Thermistor trips at 100 C 8 Ambient operating temperature range 0 C 25 C consult Aerotech for performance in elevated ambient temperatures 9 All Aerotech amplifiers are rated Apk use torque constant in N m Apk when sizing 28 Chapter 3 www aerotech com ACS and ACS LP Stages User s Manual Operating Specifications 3 3 ACS LP Basic Specifications ACS LP series rotary stage specifications are shown in 3 3 and ACS LP series stage maximum encoder frequencies are given in Table 3 8 Motor specifications are given in Table 3 9 Table 3 7 ACS LP Series Specifications Model AcS100P ACS 450lP 5 200 B Motor A B S 76 35 A S 76 35 S 130 39 A S 130 S 180 44 A S 180 39 B 44 B Bus Voltage Up t
11. NC normally closed or NO mally open 6 Restore power and air supply to the stage O Ring Groove Normally Open Hole Pattern O Ring Normally Closed Hole Pattern Figure 4 14 Gripper Mounting Hole Locations in ACS and ACS LP Shaft 52 Chapter 4 www aerotech com ACS and ACS LP Stages User s Manual Maintenance Gripper Mounting Screws Center Aperture ACS Shaft Figure 4 15 Mounting Holes Three Jaw Gripper Normally Closed Normally Open gt _ gt Mounting Holes Set Screw Mounting Holes Figure 4 16 Air Inlets in Three Jaw Grippers Www aerotech com Chapter 4 53 Maintenance ACS and ACS LP Stages User s Manual 54 Chapter 4 www aerotech com ACS and ACS LP Stages 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
12. ACS and ACS LP Stages User s Manual 4 3 4 Water Jacket Seal Replacement ACS Only On ACS stages with a water jacket there is a seal in the rear of the stage that requires periodic replacement Figure 4 9 shows an exploded view of all components involved and the procedure for replacement follows Water Jacket Water Inlet Housing g Seal Rear Cover 5 150 Seal Retainer Screws Water Jacket Housing Screws Seal Retainer Figure 4 9 Exploded View of Water Jacket Housing Assembly Remove power to the stage Remove the four water jacket housing screws from the rear end of the stage Carefully pull the water jacket housing off of the stage The seal and seal retainer will now be exposed Remove the ten seal retainer screws and remove the seal retainer Pry the seal from its housing using care not to damage the sealing surfaces og fF Wr gt Lubricate the new seal with o ring lubricant and press it into its housing Be sure to note the seal orien tation in Figure 4 10 Replace the seal retainer and tighten all screws to 1 8 to 2 0 Nm 16 to 18 in Ibs in a cross pattern Make sure the seal is lubricated and press the water jacket housing back over the shaft of the stage 9 Tighten the water jacket housing screws to 1 8 to 2 0 Nm 16 to 18 in Ibs 10 Restore power to the stage NOTE After installing new water jacket seals some initial leakage is typical until the new seal surface is
13. Table 1 1 ACS Model Numbering 4 4 Table 1 2 ACS LP Model Numbering 2 0 0 0 0 02 02 72 7 22 222 6 Table 3 1 Environmental 4 2 23 Table 3 2 5 100 Series 4 24 Table 3 3 ACS 150 Series 21 4244 4 4 2 25 Table 3 4 5 200 Series 4002020 26 Table 3 5 ACS Series Resolution 0 2 2 27 Table 3 6 ACS Motor 24 4 2 2 2 02 1 28 Table 3 7 ACS LP Series 4 29 Table 3 8 ACS LP Maximum Encoder 30 Table 3 9 ACS LP 4 4 2 0 0 0 30 Table 3 10 Motor Wiring Pinout 4 10 35 Table B 1 Current Changes 1 03 00 ee cece eee c cece RR RR RR rr rr e rehenes 57 Table B 2 Archived
14. clamped Never clamp material or tools that are larger than the specified range It is also important to have the material or tool inserted at least 2 3 the length of the collet bore Any less than this could cause per manent deformation of the collet and reduce accuracy 2 5 Electrical Installation Aerotech motion control systems are adjusted at the factory for optimum performance When the ACS or ACS LP series stage is part of a complete Aerotech motion control system setup involves connecting the stage to the appropriate drive chassis with the cables provided Connect the provided cables to the feedback and motor connectors on the stage Labels on the drive indicate the appropriate connections Refer to the appropriate drive 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 See Section 3 5 for more information on the electrical connections on the ACS and ACS LP stages Never connect or disconnect any electrical component or connecting cable while power is applied or serious damage may result WARNING If you are using cables other than those provided by Aerotech you must connect the pin in the motor connector carrying the stage s protective ground shown in Section 3 5 to a ground connection WARNING www aerotech com Chapter 2 21 Installation ACS and ACS LP Stages User s Manual 2 6 Ai
15. equivalent layout The procedure to change the seals is as follows Collet Piston Assembly ER Style Collet 7 7 Collet Cover Collet Nut Figure 4 1 Exploded View of Collet Assembly Remove power to the stage 2 Supply air to the stage in order to release the collet Remove the collet nut by turning it counterclockwise Spanner wrenches may be necessary for removal and are available from Aerotech 4 Remove air pressure from the stage This will allow the internal springs to relax slightly and ease further disassembly The collet cover is under tension from internal springs Removing the collet cover screws incorrectly can result in personal harm and damage to the equipment DANGER 5 Refer to Figure 4 1 Remove every other collet cover screw i e screws 1 3 5 and 7 All screws can not be removed at once as the cap is under tension from several springs and will be damaged or cause bodily harm if removed without caution 6 Obtain four M4 x 0 7 x 12 mm long socket head cap screws and thread them into the holes where the pre vious screws were removed Tighten each one until it bottoms out in its hole www aerotech com Chapter 4 39 Maintenance ACS and ACS LP Stages User s Manual 10 11 12 13 14 15 16 17 18 19 20 21 40 Loosen the four remaining collet cover screws 1 4 turn at a time Loosen the screws in a cross pattern i e loosen screw number 2 then screw number 6
16. holder normally closed supports tube diameters from 15 5 mm to 30 mm only available on ACS 150 XXX 3J 12 Air actuated 3 jaw gripper with 12 mm clear aperture 20 micron repeatability available on ACS 150 and ACS 200 3J 25 Air actuated 3 jaw gripper with 25 mm clear aperture 20 micron repeatability only available on ACS 200 4 Chapter 1 www aerotech com ACS and ACS LP Stages User s Manual Overview Table 1 1 Model Numbering System continued Position Transducer AS 1 Vpp sine wave output 360 arc sec resolution on ACS 150 and 240 arc sec resolution on ACS 200 X5 Square wave digital output 18 arc sec resolution on ACS 150 and 12 arc sec resolution on ACS 200 X10 Square wave digital output 9 arc sec resolution on ACS 150 and 6 arc sec resolution on ACS 200 X25 Square wave digital output 3 6 arc sec resolution on ACS 150 and 2 4 arc sec resolution on ACS 200 X50 Square wave digital output 1 8 arc sec resolution on ACS 150 and 1 2 arc sec resolution on ACS 200 5 Water jacket assembly for wet cutting applications seal diameter specified with Water Jacket Seal option only available with ER25 collet configuration ER Collet Size XX YYMM Electro polished DIN6499AA ER style collet supports tube diameters from XX to YY mm Water Jacket Seal X XXMM Water jacket seal assembly for nominal tube diameter X XX mm consult factory for available SIZES WRENCH 25 pin D style motor power and 25 pin D s
17. or thin screwdriver will be nec essary to remove the o ring and replace it Re insert the ringseal into the inner collet housing and tighten it into position Replace collet and collet nut Chapter 4 www aerotech com ACS and ACS LP Stages User s Manual Maintenance 75mm 27 Figure 4 5 Ringseal Removal Tool Dimensions Collet Sleeve Ringseal Ringseal Threads O Ring O Ring Two Piece Design on Some Ringseals Figure 4 6 Cross section View of Ringseal Showing Both O rings Www aerotech com Chapter 4 43 Maintenance ACS and ACS LP Stages User s Manual 4 3 3 Rotary Union Seals for Three Jaw Gripper Stages ACS Only This section applies only to the ACS 200 and ACS 150 stages equipped with the three jaw gripper chuck option Unlike ACS stages with ER collet holders stages equipped with three jaw grippers include a sealed rotary union Due to friction of the seals on the shaft wear can occur over a period of time and the seals may require replacement Figure 4 7 shows an exploded view of the rotary union assembly The following is the procedure for replacing the rotary union seals ACS Base Rear Seal Housing Retaining Ring Three Jaw Gripper Seal Rear Cover Plate Retaining Ring Rear Seal Housing Retaining Screws Seal Figure 4 7 Exploded Drawing of Rear Seal Components Disconnect Power and air pressure to the stage Remove the air line from the air input Remove the four rear s
18. 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 Table 1 1 Model Numbering System ACS Series Direct Drive Rotary Stage Direct drive rotary stage with integral pneumatic collet chuck or 3 jaw gripper and rotary union 100 85 100 mm diameter direct drive rotary stage with 0 4 N m continuous torque and integral rotary union 100 135 100 mm diameter direct drive rotary stage with 1 9 N m continuous torque and integral rotary union 150 115 150 mm diameter direct drive rotary stage with 3 6 N m continuous torque and integral rotary union 150 135 150 mm diameter direct drive rotary stage with 6 5 N m continuous torque and integral rotary union 150 185 150 mm diameter direct drive rotary stage with 11 4 N m continuous torque and integral rotary union 200 155 200 mm diameter direct drive rotary stage with 16 9 N m continuous torque and integral rotary union 200 285 200 mm diameter direct drive rotary stage with 24 9 N m continuous torque and integral rotary union Fixture Type ER8 Air actuated 8 collet holder normally closed supports tube diameters from 0 5 mm to 5 mm only available on ACS 100 XXX ER25 Air actuated ER25 collet holder normally closed supports tube diameters from 1 mm to 16 mm only available on ACS 150 XXX ER40 Air actuated ER40 collet
19. resulting in a completely maintenance free motor All ACS LP stages come standard with ER collet chucking 2 Chapter 1 www aerotech com ACS and ACS LP Stages User s Manual Overview 1 1 1 ACS Optional Features The ACS series stages can be equipped with an integrated ER collet chuck or a three jaw gripper chuck See Table 1 1 for more information regarding available options for each stage Both the ACS 100 and ACS 150 have available ER collet chucks Collets are available from machine tool component suppliers in sizes that support tube diameters from 0 5 mm to 30 mm The collet is retained with a threaded collet nut enabling quick changeover It is configured in a fail safe normally closed mode where full clamping force is applied when no air pressure is present The ACS 100 accepts an 8 collet capable of holding tube diameters from 0 5 mm to 5 0 mm The ACS 150 can be configured to accept either ER25 or ERAO series collets Aerotech recommends using an ER25 collet for holding requirements of 1 mm to 16 mm and using an ER40 collet for holding requirements of 15 5 mm to 30 mm The ER25 also has an optional sealed water jacket configuration that can be used for fluid delivery in wet laser cutting applications NOTE While the ER40 collet can support tubes up to 30 mm in diameter tubes greater than 24 5 mm in diameter cannot extend more than 70 mm below the top of the collet Both the ACS 150 and ACS 200 support three jaw grippers w
20. safe to remove the collet cover retaining ring This can be done with a flat head screwdriver or a pair of needle nosed pliers Remove the collet cover and the springs from the collet piston Remove the collet sleeve and collet sleeve O ring Thoroughly clean the new collet sleeve and nut as well as all old components Inspect the seals and O ring for damage or excessive wear and replace if necessary Insert the collet sleeve O ring into its groove Place the new collet sleeve into the shaft The collet sleeve is piloted to ease assembly Finger tighten all eight screws then tighten in a cross pattern to a torque of 1 8 to 2 0 Nm 16 to 18 in Ibs Reinstall the collet piston assembly into its housing It is recommended that O ring lubricant is used dur ing reassembly see Section 4 2 for recommended lubricants There are chamfers to help guide the pis ton into place but use caution not to twist or damage the seals Replace the collet piston assembly Installation of the collet cover is the reverse of removal Begin with the four 12mm long screws in every other hole and tighten until they bottom out in their respective holes Then install the shorter original screws into the remaining holes and tighten in a cross pattem until the collet cover is seated against the shaft Install the remaining four original screws Torque all screws to a final torque of 1 8 to 2 0 Nm 16 to 18 in lbs Apply air pressure to the stage in order to install
21. then screw number 8 then screw number 4 then return to screw number 2 Repeat this process until the longer screws are supporting the tension of the springs entirely It is then safe to remove the remaining collet cover screws completely Using the same method as in step 7 remove the longer screws until the spring tension is completely relieved Carefully slide the collet piston assembly out from its housing Use caution not to tilt the piston assembly in its housing as this could cause damage to the housing seals or piston It is now safe to remove the collet cover retaining ring This can be done with a flat head screwdriver ora pair of needle nosed pliers Remove the collet cover and the springs from the collet piston There are two seals on the piston itself One is an external seal that seals the piston against its housing the other is an internal seal that seals the piston against the collet sleeve To remove the seals carefully pry them out of their housings with a small screwdriver or pick Use caution not to scratch the surface of the piston Thoroughly clean seal mounting surfaces the chamfers and all surfaces that the new seals may come in contact with Even small particles or debris can damage the seals during installation Lubricate the new seals with o ring lubricant as specified in Section 4 2 Press the new seals over the chamfer and into their respective grooves See Figure 4 2 for installation procedure Be sure to a
22. 25 or ER40 collets ACS 150LP stages are equipped with a ER25 collet ACS 200 series stages only come equipped with 3 jaw chucks and ACS 200LP stages are equipped with a ER40 collet 4 4 2 Collet Change Procedure 1 Remove power to the stage 2 Apply air pressure to release the collet 3 Oncethe collet has been released unscrew the collet nut If necessary use a spanner wrench available from Aerotech Use caution when removing the collet nut as the collet may fall from its housing and be damaged 4 Oncethe collet nut has been removed remove the collet from the nut Figure 4 11 shows the proper installation and removal pcedures 5 Cleanthe collet housing collet nut threads collet nut and new collet and then insert the collet into the nut acetone or isopropyl alcohol may be used to clean the metal components The insertion method is shown in Figure 4 11 and is the reverse of removal A small amount of grease can be applied to the taper to reduce wear 6 Guide the collet and nut into the stage making sure that the collet seats properly in its taper See Figure 4 12 Be sure that air pressure is still being supplied to the stage so the collet chuck is in the open posi tion 7 Tighten the collet nut tightening by hand is sufficient because the clamping force is not determined by the torque of the nut but by the force of internal springs Spanner wrenches may be used if desired 8 Restore powerto the stage To minimize
23. ACS and ACS LP Series Rotary Stages User s Manual P N EDS103 Revision 1 03 00 Dedicated to the Science of Motion Aerotech Inc 101 Zeta Drive Pittsburgh PA 15238 Phone 412 963 7470 Fax 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 03 00 April 5 2011 Revision 1 02 00 August 10 2010 Revision 1 01 00 February 16 2010 Revision 1 00 00 February 10 2006 Product names mentioned herein are used for identification purposes only and may be trademarks of their respective companies Aerotech Inc 2011 ACS and ACS LP Stages User s Manual Table of Contents Table of Contents Tableor Contents es iii LiStiOf FIQUIOS ERR EE V Eist or Tables 55 vii Chapter 1
24. 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 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 o
25. B 44 4 6 HB with Commoning Strips _ _ 14 D 25 E BACKSHELL SHLD PIN WIRE SIGNAL A RED MR A WHT FRM GND DRAIN Motor Connector Figure 3 2 Standard Wiring Connectors for ACS 100 and ACS 100LP Stages Www aerotech com Chapter 3 33 Operating Specifications ACS and ACS LP Stages User s Manual M SIGNAL TO BACKS HELL SHEILD mu FEM GND REMOVED PIN REMOVED PIN aay 143 716 ____17 ____ x 19 REMOVEDHEN ___ 2 REMOYEDHN WANN GNOME UM WHT YEL COS N RED MTRGB 2 ERO 1 230 i2 a BACKSHELL SHLD REMOVED e e bag se Feedback Connector with Commoning Strips 4 DE ee Motor Connector with Gold Jumpers Figure 3 3 Optional Wiring Connectors for ACS 100 Stages 34 Chapter 3 www aerotech com ACS and ACS LP Stages User s Manual Operating Specifications Table 3 10 Motor Wiring Pinout Descriptions Pin Output Description motor B Hall Effect B Brushless motor commutation track output TTL line driven sign
26. CS LP Stages User s Manual On site Warranty Repair On site Non warranty 56 Repair Company Address 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 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
27. Specifications ACS and ACS LP Stages User s Manual 3 2 ACS Basic Specifications ACS series rotary stage specifications are shown in Table 3 2 Table 3 3 and Table 3 4 Encoder resolution information is given in Table 3 5 Motor specifications are given in Table 3 6 Table 3 2 ACS 100 Series Specifications ACS Series ACS 100 85 ACS 100 135 Total Travel X360 Continuous R8 Three Jaw Grippler Travel 3J 12 NA Repeatability 29 urad 6 arc sec Radial Runout 15 Wobble 48 5 yrad 10 arc sec Aperture NA NA NA Axial Runout 15 i 3J 25 24 Chapter 3 www aerotech com ACS and ACS LP Stages User s Manual Operating Specifications Table 3 3 ACS 150 Series Specifications um UNA S www aerotech com Chapter 3 25 Operating Specifications ACS and ACS LP Stages User s Manual Table 3 4 5 200 Series Specifications ACS Series ACS 200 155 ACS 200 185 Total Travel 360 Continuous Gripper Collet Option 3 12 j 25 Three Jaw Grippler Travel Torque Output Continuous Current Stall 3J 12 3J 25 Peak Continuous Ak A m Radial Runout 30 Axial Runout 30 Wobble 72 7 26 arc sec Repeatability 29 urad 6 arc sec ER8 ER25 ER40 3J 12 3J 25 12 mm 26 Chapter 3 www aerotech com ACS and ACS LP Stages User s Manual Operating Specifications Table 3 5 ACS Series Resolution Information Coun
28. Stages User s Manual Installation Chapter 2 Installation This chapter describes the installation procedure for the ACS and ACS LP stages including handling the stage properly preparing the mounting surface to accept the stage securing the stage to the mounting sur face attaching the payload and making the electrical connections Installation must follow the instructions in this chapter Failure to follow these instruction could result in injury and damage to the equipment WARNING 2 1 Unpacking and Handling the Stage Carefully remove the stage from the protective shipping container Use compressed nitrogen or clean dry air to remove any dust or debris that has collected during shipping Before operating the stage it is important to let the stage stabilize at room temperature for at least 12 hours This soak out time is required because of thermal expansion and contraction of the parts used to build the stage Allowing the stage to stabilize at room temperature will ensure that all of the alignments preloads and tolerances are the same as they were when tested at Aerotech Set the stage on a smooth flat and clean sur face 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
29. UNTING HOLES 4 PLACES 150 0 5 91 SQ DIMENSIONS MILLIMETERS INCHES 152 4 6 00 SQ 5 0 0 20 MAX STROKE 5 0 80 THD X 7 6 0 30 BOTH SIDES 8 PLACES 113 1 4 45 8 0 0 31 62 2 2 45 E 200 0 7 87 Figure 1 8 ACS 200LP Dimensions 25 0 0 98 50 0 1 97 100 0 3 94 230 0 9 06 12 Chapter 1 www aerotech com ACS and ACS LP Stages User s Manual Overview 1 3 Safety Procedures and 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 13 To 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 ca
30. X5 X10 1500 rpm 600 rpm 600 rpm Table 3 9 ACS LP Motor Specifications A A winging Designation A a 39 Performance Specifications 1 5 peak Tous 7398 Rated Power Output watts 166 3 277 2 493 4 986 9 313 8 627 7 Continuous Electrical Specifications 9 BEMF Constant line to Volts pk 32 1 16 0 75 1 37 5 268 7 134 4 line max krpm 2 22 57 Torque Constant 9 N m 0 26 0 13 0 62 0 31 1 11 Amp pk 37 5 18 8 5 5 2 7 19 7 Amp pk 0 37 0 19 0 88 0 44 3 14 1 57 Amp rms 53 0 26 5 7 8 3 9 27 8 13 9 Amp rms Motor Constant 2 4 N m NW 0 083 0 265 0 628 to line NmbeoPoes P v e 1 Performance is dependent upon heat sink configuration system cooling conditions and ambient temperature 2 Values shown 75 C rise above a 25 C ambient temperature with housed motor mounted to 330 mm x 330 mm x 13 mm alu minum heat sink 3 Peaktorque assumes correct rms current consult Aerotech 4 Torque Constant and Motor Constant specified at stall 5 All performance and electrical specifications 10 6 Losses due to bearings and aerodynamics considered negligible 7 Maximum winding temperature is 100 C Thermistor trips at 100 C 8 Ambient operating temperature range 0 C 25 C consult Aerotech for performance in elevated ambient temperatures 9 All Aerotech amplifiers are rated Apk use torque constant in N m Apk when sizing 30 Chapter 3 www aerote
31. al specifications for the ACS and ACS LP are listed in the following table Table 3 1 Environmental Specifications Ambient Operating 10 to 35 C 50 to 95 F Temperature The optimal operating temperature is 20 C 2 68 4 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 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 m or 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 Dust Expo The ACS and ACS LP stages are not suited for dusty or wet environments This equates to an sure ingress protection rating of IPOO Humidity Operating 40 percent to 60 percent RH The optimal operating humidity is 50 percent RH 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 www aerotech com Chapter 3 23 Operating
32. al with rotary motor Hall Effect C Brushless motor commutation track output TTL line driven signal with rotary motor MKR Marker Incremental encoder output pulse given once per revolution Typically used for home reference cycle 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 H H H www aerotech com Chapter 3 35 Operating Specifications ACS and ACS LP Stages User s Manual 3 6 Vacuum Operation Contact the factory for information regarding operation in a vacuum environment 36 Chapter 3 www aerotech com ACS and ACS LP Stages User s Manual Maintenance Chapter 4 Maintenance Although the ACS and ACS LP series stages are designed to be low in maintenance there are a few items that may require preventative maintenance during the lifetime of the stage This chapter will detail the lubri cation inspection and replacement process of various components 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 Seal inspection and replacement in ACS and ACS LP series stages depends on conditions such as duty cycle speed and the environment A frequent inspection interval is recommended until a trend develops for the application As part of this inspection interval the seals sh
33. amt Chamfer 77 N inner Seal Outer Seal Figure 4 2 Piston Seal Installation Procedure Open Edge of Seal Collet Nut Threads Detail A Spring Pockets Outer Seal Inner Seal Figure 4 3 Cross section View of Piston Showing Seal Orientation www aerotech com Chapter 4 41 Maintenance ACS and ACS LP Stages User s Manual 4 3 2 Ringseal O ring Replacement ACS Only On ACS stages equipped with a water jacket it may be necessary to change the ringseal o rings A typical ringseal insert is shown in Figure 4 4 Depending on the size the ringseal may be one or two pieces The ring seal screws into the center of the collet sleeve and is replaced by the following steps 42 Installation Slots Ringseal Retaining Threads Figure 4 4 Typical Ringseal with O ring Installed Remove power to the stage Release the collet Since the collet holder is in the normally closed position this will require air pressure supplied to the air inlet Once the collet has been released unscrew the collet nut If necessary use a spanner wrench available from Aerotech With the collet and collet nut removed the ringseal will now be exposed Using a tool dimensioned in Fig ure 4 5 unscrew the ringseal from the collet sleeve Remove the o ring on the ringseal itself and replace it with a properly lubricated new item The second o ring is within the collet sleeve as shown in Figure 4 6 A long pick
34. ation of Incorporation 15 Water Jacket 46 0 2 22 2 31 Electrical 21 Environmental 23 L 37 38 Lubrication 37 Optional 3 Preparing the Mounting 18 R Ringseal 42 Rotary Union 44 S safety 13 Securing the Stage to the Mounting Surface 19 Specifications ACS 24 www aerotech com Index 59 ACS and ACS LP Stages User s Manual Index 60 Index www aerotech com Reader s Comments ACS and ACS LP Series Stage Manual P N EDS103 April 5 2011 Revision 1 03 00 Please answer the questions below and add any suggestions for improving this doc ument Is the manual Adequate to the subject Well organized Clearly presented Well illustrated i 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 e
35. c resolution on ACS 100LP and 240 arc sec on ACS 150 200LP 5 2 Square wave digital output 18 arc sec resolution on ACS 100LP and 6 arc sec resolution on ACS 150 200LP 10 Square wave digital output 9 arc sec resolution ACS 100LP and 3 arc sec resolution on ACS 150 200LP X25 2 Square wave digital output 3 6 arc sec resolution on ACS 100LP and 2 4 arc sec resolution on ACS 150 200LP 50 Square wave digital output 1 8 arc sec resolution ACS 100LP and 1 2 arc sec resolution on ACS 150 200LP Construction Options WRENCH SET Spanner wrench for changing ER collets DIN6499 AA collet Consult factory for available sizes 1 Collet holder requires dry 0 C dewpoint oil less filtered air 0 25 micron or 99 99 pure filtered nitrogen 0 25 micron 2 Requires a controller with a 16 MHz encoder sample rate 6 Chapter 1 www aerotech com ACS and ACS LP Stages User s Manual Overview 1 2 Dimensions 5 8Thru Stage Mounting Holes 4 Places ER COLLET 136 9 Aperture Range C Thru M6 1 0 Thd x 6 0 Dp 4 Places on Each Side r 2 5 Maximum Stroke COLLET AIR INPUT 22 2 Motor Connector Feedback Connector 13 5 ipe 4 ems tthe E ___ Dimensions Millimeters Figure 1 2 5 100 Dimensions www aerotech com Chapter 1 7 Overview ACS and ACS LP Stages User s Manual M6 1 0 Thd x 6 0 Dp
36. ch com ACS and ACS LP Stages User s Manual Operating Specifications 3 4 Limit Switch Wiring Standard ACS and ACS LP stages do not include end of travel limits Please consult the factory for custom solutions www aerotech com Chapter 3 31 Operating Specifications ACS and ACS LP Stages User s Manual 3 5 Standard Motor Wiring For reference connector pin outputs and general wiring information are given in the following figures Pin out puts are defined in Table 3 10 NOTE Refertothe other documentation accompanying your Aerotech equipment for more information Call your Aerotech representative if you have any questions on system configuration NOTE If you are using your own cables to connect the stage ensure that motor and ground wires can handle current higher than the continuous current listed in Table 3 6 and Table 3 9 The voltage rating of the wire insulation must be greater than the maximum bus voltage 1 PINK 14 ___ cos 23 ENCELT Motor Connector pis todd eoo0 901027002 25 20 21 Feedback Connector with Commoning Strips Figure 3 1 Standard Wiring Connectors for ACS 150 200 and ACS 150LP 200LP Stages 32 Chapter 3 www aerotech com ACS and ACS LP Stages User s Manual Operating Specifications 12 9696 8 WHT GRN RESERVED 2 GRY i WHTBLU Feedback Connector e ied 2
37. e Jaw 3 ACS 100 DIMENSIONS t ck i cR il i Deb i mo fu 7 ACS 150 ER Dimensions 2 2 0 2 2 ec ceececeececccccccecccccccceeecccceceeeeccecececeeeees 8 ACS 150 3J 4 4 2 22 9 ACS 200 3J 0 10 ACS 100LP 2 0 11 ACS 150LP 2 0 000 2 11 ACS 200LP 2 12 Results of Flat Versus Non Flat 24 2 20 22 18 Front view of a Typical ACS 150 Stage Showing End Mounting 19 Typical ACS 150 Stage Showing Side Mounting Holes and T Slot Detail 20 Standard Wiring Connectors for ACS 150 200 and ACS 150LP 200LP Stages 32 Standard Wiring Connectors for ACS 100 and ACS 100LP Stages 33 Optional Wiring Connectors for ACS 100 34 Exploded View of Collet 4 4 0 02020 2 2 7 7 39 Piston Seal Installation 0200 222 41 Cross section View of Piston Showing Seal
38. eal housing retaining screws and carefully pull the rear seal housing straight off of the main shaft of the stage 4 Remove the two retaining rings using a small screwdriver or needle nosed pliers Be careful not to dam age the rear seal housing 5 Pry the air seals from their housings This may require a small screwdriver or pick Use caution not to damage the seal housings 6 Cleanall surfaces before reassembly See Section 4 2 for recommended cleaning solvents 7 Lubricate the new seals with o ring lubricant see Section 4 2 and press them into the rear seal hous ing Note the orientation of the seals in Figure 4 8 Check to make sure that the seals are seated com pletely by running a fingernail along the edge If the seal is seated improperly a leak may result Replace the retaining rings Lubricate the sealing surfaces and carefully press the rear seal housing back onto the stage base Use care when replacing the rear seal housing as the seals can be easily damaged 10 Replace the rear seal housing retaining screws to a torque of 1 8 to 2 0 Nm 16 to 18 in Ibs 11 Replace the airline and reconnect power 44 Chapter 4 www aerotech com ACS and ACS LP Stages User s Manual Maintenance Axis of Rotation Retaining Ring Seal Air Inlet Rear Seal Housing Retaining Ring Figure 4 8 Cross section View of Rear Seal Showing Seal Orientations Www aerotech com Chapter 4 45 Maintenance
39. f 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 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 55 Warranty and Field Service ACS and A
40. ion Figure 2 3 20 ACS and ACS LP Stages User s Manual Dimensioned View of Mounting T Slots mm M6 x 6mm Deep Mounting Holes Typical ACS 150 Stage Showing Side Mounting Holes and T Slot Detail Chapter 2 www aerotech com ACS and ACS LP Stages User s Manual Installation 2 4 Attaching the Payload to the Stage To prevent damage to the stage or parts test the operation of the stage before any material is held in the col let or gripper Proceed with the electrical installation and test the motion control system in accordance with the system documentation Document all results for future reference For information on electrical con nections refer to the documentation of the motion control system or the wiring drawings in Chapter 3 Oper ating Specifications To operate the collet clean compressed air or nitrogen must be supplied to the stage The one touch air inlet fitting accepts 74 inch OD plastic airline Simply push the airline into the fitting and supply airto the stage Aerotech can provide valves fittings and airlines to create a custom collet system Contact the factory for more details Once air is supplied material of the appropriate size can be placed in the collet All collets supplied by Aero tech are clearly labeled with their clamping size range and collet style Be sure to use only the correct size material in the collet The accuracy of the collet could be compromised if the incorrect material size is
41. ith clear apertures for product feed through gripper assemblies are configurable as either normally open or normally closed with various jaw strokes to support a wide range of material sizes The gripper can be fitted with custom jaws for the handling of mate rials with non round profiles such as square or hexagonal bar stock The normally open and normally closed options also provide the ability to grip either the O D or I D of the material Feedback Connector Motor Connector Gripper Air Inlet Collet Air Inlet Mounting T slots Collet Nut Three Jaw Gripper Counterbored Holes for Mounting M6 x 1 0 Tapped Mounting Holes ACS Housing Figure 1 1 5 150 Rotary Stage with ER Collet and Three Jaw Gripper www aerotech com Chapter 1 3 Overview ACS and ACS LP Stages User s Manual 1 1 2 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 ACS numbering system and Table 1 2 for an expla nation of the ACS LP numbering system Example ACS 150 115 3J 12 AS NC 10 NS This designates an ACS and ACS LP 150 stage with 150 mm direct drive motor 1 Vpp amplified sine posi tion transducer normally closed 10 mm stroke three jaw gripper and no rear seal The table below lists the available options in the order they appear in the example above Aerotech con tinually improves its
42. 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 A www aerotech com ACS and ACS LP Stages User s Manual Technical Changes Appendix B Technical Changes Table B 1 Current Changes 1 03 00 Section s Affected General Information Section 3 5 Changed pin 8 to reserved www aerotech com Appendix B 57 Technical Changes ACS and ACS LP Stages User s Manual Table B 2 Archived Changes Chapter 2 Installation Sec Added safety information and warnings tion 2 1 Section 2 3 Sec tion 2 5 and Section 1 3 1 02 00 Section 3 2 and Section 3 3 Added motor specifications 1 02 00 Section 3 5 Added note about current and voltage requirements of wires 1 01 00 Section 4 2 1 Section added 10000 Newmaud 58 Appendix B www aerotech com Index ACS and ACS LP Stages User s Manual Index 29 Standard 2 Attaching the 21 T Three Jaw 5 52 21 U 37 Unpacking and Handling the Stage 17 38 D Warnlngs 022225 13 Declar
43. lign the seals such that the open end when looking at a cross section is facing away from the collet as shown in Figure 4 3 The direction of the seal is extremely important in sealing the piston Make sure that the seals seat into their mounting grooves by running a fingernail around the edge If the seal is tilted or twisted slightly its function will be severely compromised Reinstall the springs Place the collet cover over the piston and reinstall the collet cover retaining ring Reinstall the collet piston assembly into its housing There are chamfers to help guide the piston into place but use caution not to twist or damage the seals It is recommended that a small amount of o ring lubricant is used Installation of the collet cover is the reverse of removal Begin by inserting the four 12 mm long screws in every other hole and tightening until they bottom out in their respective holes Then install the shorter original screws into the remaining holes and tighten in a cross pattern until the collet cover is seated against the shaft Install the remaining four original screws Torque all screws to a final torque of 1 8 to 2 0 Nm 16 to 18 in Ibs Apply air pressure to the stage in order to install the collet Install the new collet as described in Section 4 4 2 Restore the air supply to the original settings and restore power to the stage Chapter 4 www aerotech com ACS and ACS LP Stages User s Manual Maintenance Piston s
44. o 320 VDC Resolution 0 87 87 3 urad 0 315 31 5 urad 0 065 6 5 arc sec 0 18 18 arc sec Max Speed 1500 rpm 600 rpm 400 rpm Accuracy Uncalibrated 388 urad 80 arc sec Calibrated 4 29 1 urad 6 arc sec 48 5 urad 10 arc 48 5 urad 10 arc Sec Sec Repeatability 14 6 urad 3 arc sec 19 4 4 arc 19 4 4 arc Sec Sec Load Axial 70 N 157 Ib 200 N 45 Ib 400 N 89 9 Ib Tilt Error Motion 48 5 urad 10 arc 97 yrad 20 arc 97 20 arc sec sec Sec Inertia Unloaded 0 00038 kg m 0 00242 kg m 0 00843 kg m Total Mass 2 0 kg 4 3 kg 7 6 kg Finish Tabletop Hardcoat Stage Black Anodize 1 Requires Rego Fix electropolished collet for proper operation 2 Air supply for collet actuation must be clean and dry to 0 F dewpoint and filtered to 0 25 uim or better Nitrogen at 99 9 purity may also be used 3 Maximum speed is based on stage capability Actual speed may depend on encoder resolution load amplifier bus voltage and motor See the S series rotary motor for more information 4 With HALAR 5 Maximum loads are mutually exclusive 6 Runout measured with a precision collet and precision gage pin at a position 6 mm from the face ofthe collet ayo E www aerotech com Chapter 3 29 Operating Specifications ACS and ACS LP Stages User s Manual Table 3 8 ACS LP Maximum Encoder Frequency Resolution Speed ACS 100LP ACS 150LP ACS 200LP AS
45. o improve the rigidity of the system 18 Chapter 2 www aerotech com ACS and ACS LP Stages User s Manual Installation 2 3 Securing the Stage to the Mounting Surface ACS and ACS LP series stages have numerous mounting holes available to secure the stage to the mounting surface Figure 2 2 shows the mounting holes at the rear of the stage On ACS 150 ACS 150LP ACS 200 and ACS 200LP stages these are 7 mm diameter holes designed for either 6 mm or 74 inch socket head screws The sides of the stage are equipped with several M6 x 1 0 tapped holes Eight T slots are included as a standard feature on the ACS 150 ACS 150LP ACS 200 and ACS 200LP models The dimensions of these T slots are identical for ACS 150 ACS 150LP ACS 200 and ACS 200LP stages and are detailed in Figure 2 3 ACS 100 and ACS 100 LP stages the rear mounting holes are designed for either a 5 mm 10 socket head cap screw and the side holes are tapped M5 x 0 8 x 5 mm deep T slots are not available on the ACS 100 and ACS 100 LP series stages Figure 2 2 and Figure 2 3 show ACS stages On ACS LP stages the mounting holes are located in equivalent places The stage must be mounted securely Improper mounting can result in injury and damage to the equipment WARNING 7mm Diameter ounting Holes 7mm Diameter Mounting Holes Figure 2 2 Front view ofa Typical ACS 150 Stage Showing End Mounting Holes Www aerotech com Chapter 2 19 Installat
46. ould be examined for excessive air or water leakage The application will determine the required replacement interval for the seals The bearings motor and encoder for the ACS and ACS LP series require no lubrication or maintenance 4 2 Cleaning and Lubrication O rings and collet piston seals should be lubricated with Dow Corning Molykote 55 O ring Lubricant or an equivalent O ring lubricant Any metal parts can be cleaned with either acetone or isopropyl alcohol Seals and O rings can be wiped with a small amount of isopropyl alcohol if necessary Never use acetone on O rings WARNING www aerotech com Chapter 4 37 Maintenance ACS and ACS LP Stages User s Manual 4 2 1 Collet and Collet Chuck Lubrication and Cleaning For the collet chuck and collet to operate properly preventative maintenance and regular cleaning is required Failure to lubricate and clean the collet interface surfaces will cause premature failure and wear that may void the warranty WARNING Before inserting any collet into the chuck clean the chuck taper and the collet with acetone or isopropyl alco hol with a lint free cloth or rag If required compressed air can be used to clean out the collet grooves Inspect the collet and the chuck interface surfaces to be sure no wear marks are present If wear or fret marks copper colored oxide marks are present the taper can be lightly polished with a fine grit crocus cloth The goal is to clean the surface of
47. r Requirements The air pressure supplied to the collet holder or gripper is important in ensuring that the material or tool is released properly or for the optional normally open NO gripper ACS only that the material is held securely If compressed air is used it must be filtered to 0 25 microns dry to 0 F dew point and oil free If nitrogen is used it must be 99 99 percent pure and filtered to 0 25 microns For stages equipped with a three jaw gripper air must be regulated to between 3 and 7 bar 45 and 100 psig Higher pressures could cause damage to the gripper assembly and should be avoided For stages equipped with an ER collet chuck the chuck becomes fully open at approximately 4 7 bar 60 100 psig depending on the collet size Higher pres sures will not cause damage to the rotary union but high flow rates will result Because of the noncontact rotary union design on collet equipped stages a small amount of leakage will occur Approximate leakage rates of between 10 Lpm 0 5 CFM and 40 Lpm 1 4 CFM depending on pressure will be observed when the collet is open 22 Chapter 2 www aerotech com ACS and ACS LP Stages User s Manual Operating Specifications Chapter 3 Operating Specifications This chapter contains general technical information about ACS and ACS LP series stages Included are basic product specifications load capacities and ratings and motor wiring diagrams 3 1 Environmental Specifications The environment
48. the collet Install the new collet and collet nut as described in Section 4 4 2 Restore the air supply to the original settings and restore power to the stage www aerotech com Chapter 4 51 Maintenance ACS and ACS LP Stages User s Manual 4 4 4 Gripper Configurations ACS Only This section gives information on three jaw grippers available on ACS 150 and ACS 200 stages The grippers are configurable in both normally closed and normally open modes The center shaft of the ACS stages has two sets of mounting holes for the three jaw grippers one for a normally open configuration and one for a normally closed configuration See Figure 4 14 for locations of these holes Figure 4 15 shows the mounting screw locations on the gripper itself The following is the procedure to change configurations Remove power to the stage and disconnect air supply Remove the three gripper mounting screws Figure 4 16 shows the locations of the set screws in the gripper based on which configuration is desired Move the set screws as necessary 4 It will be necessary to move an O Ring on the shaft Figure 4 14 shows two O Rings and the three O Ring grooves One O Ring should always be around the air inlet hole and the other must be moved to help seal the gripper Move the O Ring as necessary so that the set screw in the gripper will be sur rounded by an O Ring when it is bolted to the stage 5 Bolt the gripper to the stage shaft using the holes labeled either
49. the possibility of bodily injury confirm that all electrical power is disconnected prior to making any mechanical adjustments DANGER 48 Chapter 4 www aerotech com ACS and ACS LP Stages User s Manual Maintenance Collet Collet Nut Removal Collet Nut Installation Figure 4 11 Schematic of Collet Insertion Into and Removal from Collet Nut Collet Nut Collet Nut Figure 4 12 Installation Procedure for Collet Figure 4 12 shows an ACS stage The same procedure applies to ACS LP stages www aerotech com Chapter 4 49 Maintenance ACS and ACS LP Stages User s Manual 4 4 3 Changing Collet Chucks ACS Only ACS 150 series stages are configurable with ER collet chucks for both ER 25 and ER 40 collets In order to Switch from the ER 25 to the ER 40 or vice versa some disassembly is required This section outlines the procedure Collet Sleeve O Ring Collet Sleeve Collet Cover Collet Cover Retaining Ring 1 2 e dii Collet Sleeve Screws ER Ae Collet Piston Assembly D Cover Screws Collet Nut Figure 4 13 Exploded View of Collet Assembly Remove power to the stage 2 Supply air to the stage in order to release the collet Remove the collet nut by turning it counterclockwise Spanner wrenches may be necessary for removal and are available from Aerotech Remove air pressure from the stage This will allow the internal springs to relax slightly and ease further disassembl
50. the taper and not to remove an excessive amount of material If the wear marks are large or excessive polishing is required to remove these marks the taper and the collet may need to be replaced Contact Aerotech Customer Service for more information Finally grease the chuck taper and collet taper with a small amount of lubricant and insert the collet Aerotech recommends the following lubricants or equivalent Vede Mem Description Henkel Technologies 80209 Silver Grade Anti Seize Henkel Technologies 51168 Food Grade Anti Seize Jet Lube White Knight 16404 Food Grade Anti Seize Lubricant inspection and replenishment depends on conditions such as collet chuck duty cycle and the machining environment An inspection interval of once every 8 hours is recommended until a trend develops for the application Longer or shorter intervals may be required to maintain a film of lubricant on the collet taper It is also recommended that every time a collet is removed the collet and the chuck interface surfaces are cleaned inspected and greased 38 Chapter 4 www aerotech com ACS and ACS LP Stages User s Manual Maintenance 4 3 Seal Replacement 4 3 1 Piston Seal Change Procedure The seals on the collet piston may be replaced if a leak or excess wear becomes apparent Figure 4 1 shows an exploded view of the assembly and includes all parts involved in the process Figure 4 1 shows an ACS stage ACS LP stages have an
51. ts per Rev Position Transducer olution Le 35 588 1 E Las 39 E me s wat 388 5 388 se As see i 2997 ess A fe Dx 9e m aa i68 awo 1 29 ss 1 Assumes quadrature x4 interpolation by controller 2 Amplified Sine resolution depends on controller multiplier used NOTE The encoders used on all ACS series stages come standard with a 16 MHz clock rate Aerotech can provide slower or faster clock rates to match the controller being used Consult the factory for more information www aerotech com Chapter 3 27 perating Specifications ACS and ACS LP Stages User s Manual Table 3 6 Motor Specifications Model S 76 S 76 130 S 130 S 130 S 180 S 180 ES E Ex ES BE unl Winding Designation Designation Performance Specifications 1 9 __ ds UR MELDE NE Rated Power Rated Speed 166 3 381 2 493 4 437 9 4 1 9 Continuous Electrical Specifications 9 BEMF Constant line to Volts pk 32 1 57 0 75 1 148 9 222 7 263 9 393 4 line max krpm 107 107 144 139 Torque Constant 9 N m 0 26 ECA 42 ECA 62 18 E 25 Amp pk in lb 7 5
52. tyle feedback 1 Digital output encoder signals are synthesized with a 16 MHz clock Care must be taken to ensure that the encoder sample rate on the controller is at least 16 MHz or higher Slower clock rates are available on request 2 Available only with 3 jaw gripper option www aerotech com Chapter 1 5 Overview ACS and ACS LP Stages User s Manual Table 1 2 ACS LP Model Numbering System ACS LP Series Direct Drive Rotary Stage Direct drive rotary stage with integral pneumatic collet chuck Frame Size and Fixture Type Frame Size and Fixture Type 100 mm wide direct drive rotary stage with 1 8 N m peak torque output and integral rotary union air actuated ER8 collet holder normally closed supports tube diameters from 0 7 mm to 5 mm 150LP 150 mm wide direct drive rotary stage with 11 7 N m peak torque output and integral rotary union air actuated 25 collet holder normally closed supports tube diameters from 1 mm to 16 mm 200LP 200 mm wide direct drive rotary stage with 30 N m peak torque output and integral rotary union air actuated 40 collet holder normally closed supports tube diameters from 16 mm to 30 mm Tubes with a diameter greater than 24 5 mm cannot extend more than 70 mm below the top of the collet Winding Options Standard motor winding Optional motor winding consult Aerotech for availability Position Transducer AS Standard feedback device 1 Vpp sine wave output 360 arc se
53. use 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 A A A A A A 2 2 2 2 2 2 Z Z 2 2 2 Z 14 ACS and ACS LP Stages 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 ACS and ACS LP Stages User s Manual Overview 1 4 EC Declaration of Incorporation Manufactorer
54. worn in Aerotech recommends that the stage is run dry for approximately one hour to help seat the seal against the sealing surface 46 Chapter 4 www aerotech com ACS and ACS LP Stages User s Manual Maintenance Rear Cover Seal Retainer Seal Retainer Screws Seal Water Jacket Housing a UN 3 4 NPT Thread Axis of Rotation Figure 4 10 Cross section View of Water Jacket Seal Showing Seal Orientation www aerotech com Chapter 4 47 Maintenance ACS and ACS LP Stages User s Manual 4 4 Changing ACS and ACS LP Workholding Devices ACS and ACS LP series stages are equipped with either an ER style collet or a three jaw gripper chuck It may be necessary to change the style of collet or gripper This chapter will detail the process of changing col lets show how to change the style of collet and cover removal and installation methods for the available three jaw grippers 4 4 1 Availible Workholding Devices The ACS 100 and ACS 100LP series rotary stages are all equipped with an ER8 style collet holder Various grip diameters are commonly available and can be interchanged following the collet removal and installation procedure detailed in Section 4 4 2 ACS 150 stages can be equipped with an ER25 collet ER40 collet or 3J 12 three jaw gripper It is important that only those collets designed for a particular collet holder are used If necessary check the part number on the stage to determine if the collet holder is designed for ER
55. xamples Nam seria 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
56. y The collet cover is under tension from internal springs Removing the collet cover screws incorrectly can result in personal harm and damage to the equipment DANGER 5 Refer to Figure 4 13 Remove every other collet cover screw i e screws 1 3 5 and 7 All screws can 6 50 not be removed at once as the cap is under tension from several springs and will be damaged or cause bodily harm if removed without caution Obtain four M4 x 0 7 x 12 mm long socket head cap screws and thread them into the holes where the col let cover screws were removed Tighten each one until it bottoms out in its hole Chapter 4 www aerotech com ACS and ACS LP Stages User s Manual Maintenance 10 11 12 13 14 15 16 17 18 19 20 Loosen the four remaining collet cover screws 1 4 turn at a time Loosen the screws in a cross pattern For example loosen screw number 2 then screw number 6 then screw number 8 then screw number 4 then return to screw number 2 Repeat this process until the longer screws are supporting the tension of the springs entirely It is then safe to remove the shorter screws completely Using the same method as in step 7 remove the longer screws until the spring tension is completely relieved Carefully slide the collet piston assembly out from its housing Use caution not to tilt the piston assembly in its housing as this could cause damage to the housing seals or piston itself It is now
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