ABRT Series Stage User`s Manual
Contents
1. 10 Figure 2 2 View of an ABRT 200P Stage Showing Mounting Holes 11 Figure 2 3 Side View of an ABRT 200 Stage Showing Tapped Mounting 12 www aerotech com V List of Figures vi ABRT Series Stage User s Manual www aerotech com ABRT Series Stage User s Manual List of Tables List of Tables Table 1 1 Model Numbering System 2 Table 3 1 Environmental Specifications 22 2 0 002 c cece cc ccccceecccccccececceececceeeceeeeeeerees 17 Table 3 2 ABRT Series Specifications 18 Table 3 3 ABRT Series Resolution 19 Table 3 4 ABRT Series Maximum Encoder Frequency 19 Table 3 5 ABRT Series Motor cece cece ccc ccccceecececccecceececeeeeeeeees 20 Table 3 6 ABRT Series Load c cece cece cece cece RR rrr rere 21 Table 3 7 Standard Wiring Connectors for ABRT 200MP 250MP and 300MP Stages 22 Table 3 8 Special Feedback Cable with Encoder Interface 23 Table 3 9 Motor Wiring Pinout Descriptions 2 2 0 0 2 24 Table B 1 Current Chang2. P LIMIT Optical encoder P limit output Q LIMIT Optical encoder Q limit output RED GREEN SERVO Monitors the IRED voltage of the optical encoder SIG SHLD Shield for feedback connector MTR SHLD Shield for motor wiring connector 3 6 Vacuum Operation The ABRT is an air bearing stage and is not compatible with operation in a vacuum environment Please con tact the factory for alternate solutions 24 Chapter 3 www aerotech com ABRT Series Stage User s Manual Maintenance Chapter 4 Maintenance The ABRT series stages are designed to be maintenance free positioning systems Due to the non contact air bearing design there are no friction surfaces or dynamic seals to wear or require lubrication The ABRT stages do not require any maintenance other than periodic cleaning Included in this chapter are rec ommended cleaning solvents NOTE The stage must be kept free of foreign matter and moisture otherwise the performance and life expectancy of the stage will be reduced 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 It is recommended that the ABRT stage be inspected once per month until a trend develops for the specific application and environment 4 1 1 Field Service In general repair and or replacement of damaged or malfunctioning components of the ABRT stage by A
3. 21 3 5 Standard Motor Wiring 000 000 22 3 6 Vacuum Operation 22 22 coo 24 Chapter 4 Maintenance _ cece cece cece a a a a 2221n 25 4 1 Service and Inspection cece cece cccececececccccceeececcccceeeceeccceeees 25 4 1 1 Field Service 2 2 cc cece e cece 25 4 2 Cleaning and ce cece eee e cece eese rrr rrr 25 4 2 1 Recommended Cleaning Solvents 25 Appendix A Warranty and Field 27 Appendix B Technical 29 31 Reader s 33 www aerotech com Table of Contents ABRT Series Stage User s Manual 17 www aerotech com ABRT Series Stage User s Manual List Of Figures List of Figures Figure 1 1 Standard ABRT 200 Rotary eeccccceecccccccececcccccceceeeecccceeeees 1 Figure 1 2 ABRT 150 0 3 Figure 1 3 ABRT 200 4 Figure 1 4 ABRT 260 0 5 Figure 2 1 Results of Flat Versus
4. 10 kg 18 kg Max Load Tilt 10 N m 20 N m Maximum loads are mutually exclusive 3 4 Limit Switch Wiring Standard ABRT stages do not include end of travel limits Please consult the factory for a custom solution www aerotech com Chapter 3 21 Operating Specifications ABRT Series Stage User s Manual 3 5 Standard Motor Wiring Stages come from the factory completely wired and assembled For reference connector pin outputs pin outs and general wiring information are given in the following figures Pinouts are defined in Table 3 9 Every ABRT stage is supplied with a special feedback cable that includes the optical encoder electronic interface box This interface box is required for processing the encoder signals and is necessary for both the sine wave output and the square wave digital output versions Connector pinouts and general wiring infor mation for this special ABRT feedback cable are given in Table 3 8 N OTE Refer to the other documentation accompanying your Aerotech equipment Call your Aerotech rep resentative if there are any questions on system configuration N OTE If you are using your own cables to connect the stage ensure that the motor and ground wires can handle current higher than the continuous current listed in Table 3 5 The voltage rating of the wire insulation must be greater than the maximum bus voltage listed in Table 3 5 Table 3 7 Standard Wiring Connectors for ABRT 200MP 250MP and 300MP
5. Square wave digital output 592 000 cycles per rev on ABRT 150 900 000 cycles per rev on ABRT 200 1 180 000 cycles per rev on ABRT 260 Note Digital output encoder signals are synthesized with a 40 MHz clock Care must be taken to ensure that the encoder sample rate on the controller is at least 40 MHz or higher Slower clock rates are available on request 2 Chapter 1 www aerotech com ABRT Series Stage User s Manual Overview 1 2 Dimensions 60 20 APERTURE 75 50 5 0 8 7 5 12 PLACES AS SHOWN 07 DRILL THRU 11 C BORE AS SHOWN 4 PLACES STAGE MOUNTING HOLES 125 SQ M6x1 THD X 9 DP 4 PLACES AS SHOWN DIMENSIONS MILLIMETERS 0137 REFERENCE SCALE 100 TABLETOP TT AR Ps Y o M6x1 THD X 6 DP 145 8 SQ 4 PLACES ON EACH SIDE 37 5 AIR INLET FEEDBACK AND FITTING FOR MOTOR POWER 4MM OR 5 32 CONNECTORS OD TUBING Figure 1 2 ABRT 150 Dimensions Www aerotech com Chapter 1 3 Overview ABRT Series Stage User s Manual 60 30 H6 APERTURE 125 B C 87 5 B C 50 B C M5x0 8 THD X 7 5 DP 18 PLACES AS SHOWN DRILL THRU 11 C BORE AS SHOWN 4 PLACES STAGE MOUNTING HOLES M6x1 THD X 9 DP 4 PLACES AS SHOWN DIMENSIONS MILLIMETERS 187 REFERENCE SCALE 145 TABLETOP E E M6x1 THD X 6 DP 196 2 SQ 4 PLACES
6. 6 191 1 417 8 tinuous Electrical Specifications 9 BEMF Constant line to Volts pk krpm 10 9 163 6 line max os indb Amp rms Motor Constant 2 4 N m VW 0 039 0 383 0 524 dn4b W 464 Resistance 25 line to line ee ee Pp 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 a 330 mm x 330 mm x 13 mm alu minum heat sink 20 3 Peak torque 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 use torque constant in N m Apk when sizing Chapter 3 www aerotech com ABRT Series Stage User s Manual Operating Specifications 3 3 Load Capability The ABRT rotary stage loading specifications are shown in Table 3 6 Table 3 6 ABRT Series Load Capability ABRT Series ABRT 150 ABRT 200 ABRT 260 Max Load Axial 20 kg 40 kg 70 kg Max Load
7. ON EACH SIDE m 6 5 AIR INLET FEEDBACK AND FITTING FOR MOTOR POWER 4MM OR 5 32 CONNECTORS OD TUBING Figure 1 3 ABRT 200 Dimensions 4 Chapter 1 www aerotech com ABRT Series Stage User s Manual Overview 60 050 H6 APERTURE 175 B C 125 B C 75 B C M6x1 THD X 9 DP 18 PLACES AS SHOWN M6x1 THD X 9 DP 8 PLACES AS SHOWN 150 TYP DRILL THRU 11 C BORE AS SHOWN 220 TYP 4 PLACES STAGE MOUNTING HOLES DIMENSIONS MILLIMETERS 230 SQ REFERENCE SCALE 200 TABLETOP M6x1 THD X 6 DP 4 PLACES ON EACH SIDE SER T AIR INLET FITTING FOR 4MM OR 5 32 OD TUBING 41 FEEDBACK AND MOTOR POWER CONNECTORS Figure 1 4 ABRT 260 Dimensions Www aerotech com Chapter 1 5 Overview ABRT Series Stage User s Manual 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 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
8. Stages 2 kee SSS ENC 5V LMT 5V RESERVED ENC COM RED GREEN Q LIMIT SIN SIN N TH MKR 22 Chapter 3 www aerotech com ABRT Series Stage User s Manual Operating Specifications Table 3 8 Special Feedback Cable with Encoder Interface Box FEEDBACK CABLE 10M MAX LENGTH TO CONTROLLER SPECIAL FEEDBACK CABLE WITH ENCODER INTERFACE Pinout of To Controller Connector sesos Gases 3 pM fe 8958 ge 6 wm a SSS www aerotech com Chapter 3 23 Operating Specifications ABRT Series Stage User s Manual Table 3 9 Motor Wiring Pinout Descriptions PinOuput INNER Shield for optical encoder cable SHLD LMT 5v 5 V supply input for optical limit switch boards Typical requirementis 50 mA LMT COM Common ground for limit switch MKR Marker Incremental encoder output pulse given once per revolution Typically used for home ref erence 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 SIN Sine Incremental encoder output either TTL line driven or amplified sign wave type signal SIN N Incremental encoder output Complement of sin T Positive lead for motor thermistor to motion controller T
9. of electrical shock and bodily injury or death when any electrical circuit is in use ensure that no person comes in contact with the circuitry when the stage is connected to a power source To minimize the possibility of bodily injury or death disconnect all electrical power prior to making any mechanical adjustments Moving parts of the stage can cause crushing or shearing injuries All personnel must remain clear of any moving parts Improper use of the stage can cause damage shock injury or death Read and understand this manual before operating the stage If the stage is used in a manner not specified by the manufacturer the protection provided by the stage can be impaired Stage cables can pose a tripping hazard Securely mount and position all stage cables to avoid potential hazards Chapter 1 www aerotech com ABRT Series Stage User s Manual Overview 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 unin
10. 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 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 expedit
11. 55 arc 0 174 urad 0 036 arc 0 133 urad 0 027 arc Sec Sec Sec Max Speed 1200 rpm 800 rpm 600 rpm Repeatability 1 arc sec Radial Error syn 150 nm chronous Axial Error asyn 20 nm chronous Radial Error asyn 20 nm chronous Finish Hard Coating 62 Rockwell Hardness 1 Maximum resolution presumes A3200 controller using MXH500 multiplication and accounts for controller quadrature 2 Maximum speed based on stage capability Maximum application velocity may be limited by system data rate and system res olution 18 Chapter 3 www aerotech com ABRT Series Stage User s Manual Operating Specifications Table 3 3 Series Resolution Information Po ABRT 150 ABRT 200 ABRT 260 AS ney Fundamental resolution of sine wave output from encoder Up to x500 available with Aerotech controller Table 3 4 ABRT Series Maximum Encoder Frequency Resolution Speed ABRT 150 ABRT 200 ABRT 260 1200 rpm 800 rpm 600 rpm NONE The encoders used on all ABRS series stages come standard with a 40 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 19 Operating Specifications ABRT Series Stage User s Manual Table 3 5 Series Motor Specifications Stage OO oOo o o y O RO ABRT 200 ABRT 260 Performance 1 5 Li E Rated Power Output Con watts 71
12. ABRT Series Stage User s Manual P N EDS126 Revision 1 04 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 AEROTECH 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 04 00 April 5 2011 Revision 1 03 00 June 10 2009 Revision 1 02 00 January 5 2009 Revision 1 01 00 March 10 2008 Revision 1 00 00 September 4 2007 Product names mentioned herein are used for identification purposes only and may be trademarks of their respective companies Aerotech Inc 2011 ABRT Series Stage User s Manual Table of Contents Table of Contents Tableor Contents es iii LiStiOf FIQUIOS ERR EE V Eist or Tables eh D E ED E EE Er vii Chapter 1 Overview III cece ceeeeeeeeeeseseeneeseseaeaees 1 1 1 Standa
13. RT 200P Stage Showing Mounting Holes www aerotech com Chapter 2 11 Installation ABRT Series Stage User s Manual Tapped Mounting Holes Figure 2 3 Side View ofan ABRT 200 Stage Showing Tapped Mounting Holes 12 Chapter 2 www aerotech com ABRT Series Stage 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 payload is mounted to the stage tabletop 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 Electrical Installation section later in this chapter the documentation of the motion con trol system delivered with the stage and the wiring drawings in Chapter 3 Operating Specifications The payload must be flat rigid and comparable to the stage in quality For valid accuracy the mounting inter face should be flat within 2um TIR Additionally the payload must be reasonably balanced in order to main tain stage accuracy Please consult the factory to determine if the payload may potentially result in any deterioration of stage performance There are several mounting holes provided on the stage tabletop to mount payloads The payload mounting holes are M5x0 8 or M6x1 0 depending on the particular stage model and have reinforced threads to allow frequen
14. ation 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 Chapter 1 www aerotech com ABRT Series Stage User s Manual Installation Chapter 2 Installation This chapter describes the installation procedure for the ABRT stage including handling the stage properly preparing the mounting surface to accept the stage securing the stage to the mounting surface attaching the payload and making the electrical connections Installation must follow the instruction in this chapter Failure to follow these instructions 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 Blow the stage off with compressed nitrogen or clean dry air Before operating the stage it is important to let the stage stabilize at room tem perature for at least 12 hours Set the stage on a smooth flat and clean surface Before the stage can be operated the shipping clamps must be removed These are the only red anodized parts on the stage and must all be removed 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 inf
15. bly at the fac tory If machining is required to achieve the desired flatness it should be performed on the mounting sur face rather than the stage base Shimming should be avoided if possible If shimming is required it should be minimized to improve the rigidity of the system It is recommended that the stage be mounted with the axis of rotation in the vertical direction Mounting the stage with the axis of rotation in a horizontal orientation is generally acceptable as well but this arrangement can potentially have a negative effect on performance Please consult the factory for more information regard ing stage performance in a horizontal axis of rotation configuration 10 Chapter 2 www aerotech com ABRT Series Stage User s Manual Installation 2 3 Securing the Stage to the Mounting Surface ABRT series stages have counterbored mounting holes available to secure the stage to a mounting surface Figure 2 2 shows these mounting holes in the base of the stage These counterbored holes are designed for 6mm socket head cap screws Additionally the sides of the stage are equipped with several M6x1 0 tapped holes with reinforced threaded inserts see Figure 2 3 These tapped holes may also be used for mounting the stage depending on customer requirements The stage must be mounted securely Improper mounting can result in injury and damage to the equipment WARNING Counterbored Mounting Holes Figure 2 2 View of an AB
16. dequate to the subject 11555 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 examples Aerotech Subsidiary Email Order Maiyourcommentsto Farto Aerotech Inc 412 967 6870 101 Zeta Drive Pittsburgh PA 15238 U S A service aerotech com
17. e 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 27 Warranty and Field Service On site Warranty Repair On site Non warranty 28 Repair Company Address ABRT 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 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 f
18. ero tech field service personnel is not possible Stage repair typically requires that the unit be returned to the fac tory Please contact Aerotech Technical Support for more information 4 2 Cleaning and Lubrication There are no elements of the ABRT series stages that require lubrication Periodic cleaning to remove dust is recommended 4 2 1 Recommended Cleaning Solvents Before using a cleaning solvent on any part of the stage it is recommended that compressed nitrogen or clean dry air be used to blow away small particles and dust Any metal surface of the stage may be cleaned with isopropyl alcohol on a lint free cloth Avoid getting excess cleaning solvent the surfaces as it could damage the delicate electronics inside 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 25 Maintenance 26 ABRT Series Stage User s Manual Chapter 4 www aerotech com ABRT Series Stage User s Manual Warranty and Field Service Appendix A Warranty and Field Service Aerotech Inc warrants its products to be free from defects caused by faulty mate rials or poor workmanship for a minimum period of one year from date of shipment from Aerotech Aerotech s liability is limited to replacing repairing or issuing credit at its option for any products that are returned by the original purchaser during the warran
19. es 1 04 00 e cece cece cece I RR RR RI rr rr rere rrr rrr 29 Table B 2 Archived cece cece cece cece cceccccccccecceccecccceececeeeeeeeeeeeere 30 www aerotech com vii List of Tables ABRT Series Stage User s Manual viii www aerotech com ABRT Series Stage User s Manual Overview Chapter 1 Overview This chapter introduces standard and optional features of the ABRT stages explains the model numbering system and gives general safety precautions 1 1 Standard Features All ABRT stages stages incorporate completely non contact air bearing surfaces direct drive brushless motors and feedback devices to provide a completely maintenance free stage There is no mechanical con tact to become worn or require lubrication making these stages ideal for clean room and medical appli cations The ABRT features large air bearing surfaces and active preloading for high stiffness and load capacity The direct drive design is optimum for continuous production environments due to the maintenance free design of the motor The direct drive and slotless motor design combine to create outstanding velocity control This is especially useful in scanning applications where a torque ripple cannot be tolerated 1 1 1 Optional Features All AABRT stages incorporate a center aperture ranging in size from 20 mm to 50 mm diameter The table tops can be built with either metric or custom hole pattems dependin
20. ex ABRT Series Stage User s Manual Index U A Unpacking and Handling the Stage 9 air requirements cece eee ee eee es 15 Attaching the Payload 13 5 6 1 25 Declaration of Incorporation 8 5 3 E Electrical Installation 14 Environmental 17 L limit 5 21 Lubrication cece eee eee 25 lubrication schedule 25 M model numbers 9 Optional Features 1 Preparing the Mounting 10 safety procedures 6 Securing the Stage to the Mounting Surface 11 Specifications 18 Standard Features 1 www aerotech com Index 31 ABRT Series Stage User s Manual Index 32 Index www aerotech com Reader s Comments ABRT Series Stage Manual P N EDS126 April 5 2011 Revision 1 04 00 Please answer the questions below and add any suggestions for improving this doc ument AEROTECH Is the manual A
21. g on requirements Additionally the encoder can be configured for either square wave or amplified sine output Center Aperture Tabletop Graduated Motor Reference Connector Sale Feedback Connector Air Inlet Stage Base Figure 1 1 Standard ABRT 200 Rotary Stage www aerotech com Chapter 1 1 Overview ABRT Series Stage 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 numbering system Example ABRT 150 AS This designates an ABRT 150 stage with direct drive motor and 1vpp sine wave encoder Aerotech continually improves its product offerings and listed options may be superseded at any time Refer to the most recent edition of the Aerotech Motion Control Product Guide for the most current product infor mation at www aerotech com Table 1 1 Model Numbering System ABRT Series Direct Drive Rotary Stage ABRT 150 150 mm wide air bearing rotary stage with 1 4 N m peak torque output ABRT 200 200 mm wide air bearing rotary stage with 14 6 N m peak torque output ABRT 260 260 mm wide air bearing rotary stage with 26 6 N m peak torque output Mounting Pattern Metric dimension mounting pattern and holes Position Transducer Standard feedback device sine wave output 11 840 cycles per rev on ABRT 150 18 000 cycles per rev on ABRT 200 23 600 cycles per rev on ABRT 260
22. oint and oil free If nitrogen is used it must be 99 99 pure and fil tered to 0 25 microns The filtration requirement is to prevent particles from clogging the air bearing orifices which can be as small as a few thousandths of an inch in diameter Air pressure of 80 psi 5 psi is necessary for use Air should be supplied via 4 mm OD or 5 32 OD poly urethane air hose It is recommended that a pressure switch be installed to remove power from the air bearing if pressure drops below 40 psi because the bearing surfaces could be damaged An air flow rate of less than 2 SCFM should be observed single axis www aerotech com Chapter 2 15 Installation ABRT Series Stage User s Manual 16 Chapter 2 www aerotech com ABRT Series Stage User s Manual Operating Specifications Chapter 3 Operating Specifications This chapter contains general technical information about ABRT series stages Included are basic product specifications resolution information and motor wiring diagrams 3 1 Environmental Specifications The environmental specifications for the ABRT are listed in the following table Table 3 1 Environmental Specifications Ambient Operating 16 to 25 C 61 to 77 F Temperature The optimal operating temperature is 20 C 2 C 68 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 en
23. ollowing 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 A www aerotech com ABRT Series Stage User s Manual Technical Changes Appendix B Technical Changes Table B 1 Current Changes 1 04 00 Section s Affected General Information Section 1 4 Added section Section 3 1 Added section Chapter 2 Installation Section 2 1 Added safety information and warnings Section 2 3 Section 2 5 and Sec tion 1 3 Section 1 1 2 Corrected peak output torque values Section 3 2 Added motor specifications Section 3 5 Added note about current requirements of motor and ground wires changed pin 8 to reserved www aerotech com Appendix B 29 Technical Changes ABRT Series Stage User s Manual Table B 2 Archived Changes Section s Revision Affected General Information 1 03 00 Table 3 2 Unloaded inertia is now 2300 kg mm was 2700 1 02 00 Section 1 2 Dimensions section added 1 01 00 Table 3 2 Specifications for the ABRT 150 updated Stall Torque Peak Torque BEMF and Torque Constant 30 Appendix B www aerotech com Ind
24. or mation for later reference If any damage has occurred during shipping report it immediately Improper stage handling could adversely affect the stage s performance Therefore use care when moving the stage Manually lifting or transporting the stage can cause injury WARNING Lift the stage only by the base Do not use the tabletop or wiring connections to support the stage WARNING Do not attempt to rotate the stage table until the air supply detailed in Section 2 6 has been installed Moving the stage table without air supplied can cause permanent damage to the stage WARNING www aerotech com Chapter 2 9 Installation ABRT 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 ABRT When an ABRT 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 within 2um TIR Adjustments to the mounting sur face must be done before the stage is secured The effects of flatness on mounting are illustrated in Figure 2 1 Flat Mounting Surface Non flat Mounting Surface Figure 2 1 Results of Flat Versus Non Flat Mounting NOTE The stage base is precision machined and verified for flatness prior to stage assem
25. rd Features 1 1 1 1 Optional 1 1 1 2 Model e 2 2 DiM ON toe 3 1 3 Safety Procedures and Warnings 22 2 0 6 1 4 EC Declaration of Incorporation 0 0 00 8 Chapter 2 Installation 9 2 1 Unpacking and Handling the Stage 2 022 0000 9 2 2 Preparing the Mounting 10 2 3 Securing the Stage to the Mounting Surface 11 2 4 Attaching the Payload to the Stage 222 22 oo 13 2 5 Electrical Installation 00 0000 cece cece cece cece cece eee eececceecesceeeeees 14 2 6 c cece eee ccc 15 Chapter 3 Operating 17 3 1 Environmental Specifications 2 2 2 2 2 02 22 cece 17 3 2 Basic Specifications 2 2 2 2 2222 een eee eee cece cee cece cece cc ceeeeeceeeeccceeeeeeeeees 18 3 3 Load Capability 22 2220 21 3 4 Limit Switch Wiring
26. t removal and installation of mounting screws www aerotech com Chapter 2 13 Installation ABRT Series Stage User s Manual 2 5 Electrical Installation Aerotech motion control systems are adjusted at the factory for optimum performance When the ABRT 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 cable to the feedback and motor connectors on the stage Labels on the drive indicate the appropriate connections Refer to your drive system manuals and documentation for additional installation and operation information In some cases if the system is uniquely configured a drawing showing system interconnects is supplied Refer to Section 3 5 for standard motor wiring and connector pin outputs Never connect or disconnect any electrical component or connecting cable while power is applied or serious damage may result WARNING The stage s protective ground is located on pin A4 of the motor connector If you are using cables other than those provided by Aerotech you must connect pin A4 to a ground con nection WARNING 14 Chapter 2 www aerotech com ABRT Series Stage User s Manual Installation 2 6 Air Requirements The air supply to the air bearing is important for the operation of the system If compressed air is used it must be filtered to 0 25 microns dry to dew p
27. tended 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 A A A A A A 2 2 2 2 2 2 Z Z 2 2 2 Z www aerotech com Chapter 1 7 Overview ABRT Series Stage User s Manual 1 4 EC Declaration of Incorporation Manufactorer Aerotech Inc 101 Zeta Drive Pittsburgh PA 15238 USA AEROTECH 4 herewith declares that the product Aerotech Inc ABRT 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 Declar
28. ty 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 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
29. vironment 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 Vibration 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 ABRT stages are not suited for dusty or wet environments This equates to an ingress pro sure Humidity Operating 40 percent to 60 percent RH The optimal operating humidity is 50 percent RH tection rating of IPOO 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 17 Operating Specifications ABRT Series Stage User s Manual 3 2 Basic Specifications The ABRT series rotary stage specifications are shown in Table 3 2 Encoder resolution information is given in Table 3 3 and speed limitations are given in Table 3 4 Motor specifications are given in Table 3 5 Table 3 2 Series Specifications ABRT Series Width Height Motor Direct Drive Brushless Servomotor Resolution 0 267 urad 0 0
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