AXR Series Stage User`s Manual
Contents
1. 36 Chapter 4 Maintenance 1 I l T 39 4 1 Service and Inspection Schedule 39 4 2 Cleaning and Lubrication 40 4 3 Troubleshooting 41 Appendix A Warranty and Field Service 43 Appendix B Revision History enses eied 45 Index 47 www aerotech com ill Table of Contents AXR Hardware Manual List of Figures Figure 1 1 Figure 1 2 Figure 2 1 Figure 2 2 Figure 2 3 Figure 2 4 Figure 3 1 Figure 3 2 Figure 3 3 Figure 3 4 Figure 3 5 Figure 3 6 Figure 3 7 Figure 3 8 Figure 3 9 Figure 3 10 Figure 3 11 Figure 3 12 Figure 3 13 Figure 3 14 Figure 3 15 Figure 3 16 Figure 3 17 AXR 100D Dimensions 5 AXR 150 Dimensions 2 lai 6 AXR With Shipping Bracket I IR RR RR rrr res 10 Mounting Hole Locations 12 Chuck Clamping Ranges 14 Electrical Connectors and Gr2. CUSTOMER PNEUMATIC SUPPLY TO TABLETOP 4MM OD FITTING MOTOR FEEDBACK pe 220 NOT AVAILABLE ON 125C A AXIS BRAKE SUPPLY PRESSURE 462 t 4MM OD FITTING 286 15 Limit B OPTION ONLY 135 105 Limit T 3 HS ai f 8 HS CIN 226 4 H gt wept Adi 8 MOTOR FEEDBACK B AXIS 82 377 D356 B AXIS RADIAL CLEARANCE WITH RESPECT TO A AXIS MOTION 13 e 5 xa 125 B AXIS TABLETOP MEASURED 0 B AXIS TABLETOP ON A AXIS CENTER OF ROTATION FROM CENTERLINE OF A AXIS 5 INCH MANUAL CHUCK ii OE B AXIS TABLETOP ON 125C TABLETOP OF CHUCK MEASURED A AXIS CENTER OF ROTATION WITH FROM CENTERLINE OF A AXIS EXTENDED YOKE COUNTERBALANCE DIMENSIONS MILLIMETERS Figure 1 2 AXR 150 Dimensions 6 Chapter 1 www aerotech com AXR Hardware Manual Overview 1 3 Safety Procedures and Warnings The following statements apply wherever the Warning or Danger symbol appears within this manual Failure to observe these precautions could result in serious injury to those individuals performing the procedures and or damage to the equipment DANGER This product contains potentially lethal voltages To reduce the possibility of electrical shock bodily injury or death the following precautions must be followed 1 2 A Access to all AXR and component parts must be restricted whi
3. 34 AXR150G160 125C Balance Chart 35 www aerotech com AXR Hardware Manual Table of Contents List of Tables Table 1 1 Model Numbering System 3 Table 2 1 Stage to Mounting Surface Hardware 12 Table 2 2 Clamping Ranges for Self Centering Scroll Chucks 14 Table 3 1 Environmental Specifications 17 Table 3 2 Series Specifications 18 Table 3 3 Motor Specifications 19 Table 3 4 Aerotech Motor and Feedback Cable Part Numbers 21 Table 3 5 Motor Pin Assignments for the A and B Axes 21 Table 3 6 Feedback Pin Assignments for the A Axis 22 Table 3 7 Feedback Pin Assignments for the B Axis _ 23 Table 3 8 Gear Drive Specifications 26 Table 3 9 Continuous Current and Torque Ratings 37 www ae
4. 42 Chapter 4 AXR Hardware Manual www aerotech com AXR Hardware Manual Warranty and Field Service Appendix A Warranty and Field Service Aerotech Inc warrants its products to be free from defects caused by faulty materials 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 subsequently 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 products 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 workmanship 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 Thi
5. D 90449 N mberg Name Cllr LL Lor Alex Weibel Position Engineer Verifying Compliance Location Pittsburgh PA Date April 17 2014 8 Chapter 1 www aerotech com AXR Hardware Manual Installation Chapter 2 Installation This chapter describes the installation procedure for the AXR stage including handling the stage preparing the mounting surface to accept the stage securing the stage to the mounting surface attaching the payload and making the electrical connections and any accompanying documentation Failure to follow these instructions could result in injury WARNING AXR installation must be in accordance to instructions provided by this manual damage to the equipment 2 1 Unpacking and Handling the Stage Carefully remove the AXR from the protective shipping container Before operating the AXR it is important to let the AXR stabilize at room temperature for at least 12 hours Allowing the AXR to stabilize to room temperature will ensure that all of the alignments preloads and tolerances are the same as they were when tested at Aerotech Use compressed nitrogen or clean dry oil less air to remove any dust or debris that has collected during shipping Set the AXR on a smooth flat and clean surface Each AXR 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 informati
6. Refer to www aerotech com for the most up to date information Table 3 2 Series Specifications AXR 100 AXR 150 Mechanical Tilt A Axis Yaw B Axis Tilt A Axis Tilt A Axis Yaw B Axis Specifications Direct Drive Direct Drive Direct Drive Gear Drive Direct Drive 145 urad 242 urad 145 prad Uncalibrated 145 prad 30 arc sec 30 arc sec 50 arc sec 30 arc sec Accuracy Calibrated 14 5 urad 3 14 5 urad 24 2 urad 14 5 urad idend ES arc See 30 arc sec 50 arc sec 30 arc sec ility 1 Bi Repeatability Bi 1 1 5 arc sec 1 Directional 51 1 Gear Ratio N A N A 101 1 N A 161 1 Maximum Speed 720 sec 1000 rpm 720 sec 600 rpm LATO e 4 18 N m 11 12 Nm 2 36 Continuous Load Capacity 15 kg 30 kg No Offset 0 216 2 0 211 kg m2 Rotor Inertia Offset 2 0 00107 0 178 kg m 0 174 kg m 0 00686 Unloaded Chuck kg m kg m 0 212 2 0 207 kg m Option No Offset 24 kg N A 45 5 kg Stage Mass Offset 24 4 kg N A 46 8 kg 6 Chuck Option 24 9 kg N A Material Aluminum Aluminum Mean Time Between Failure 20 000 Hours 20 000 Hours fos 20 000 Hours 1 Certified with each stage 2 On axis loading is listed 3 error motion specifications are measured at 60 rpm 4 For high speed operation customer payload must be balanced to G1 0 per ISO 1940 5 Max speed is listed for unloaded sta
7. products and introducing new products We are truly Dedicated to the Science of Motion Quality Aerotech is an ISO 9001 certified supplier with a rigorous quality program Application Experience Since 1970 Aerotech has completed thousands of motion control projects spanning an extensive range of applications Worldwide Presence Aerotech is committed to supporting customers worldwide We operate full sales and service facilities in the United Kingdom Germany Japan Taiwan and China We also maintain a growing number of direct field sales and application engineering offices throughput North America and work with representatives across the globe Corporate Headquarters Pittsburgh PA USA Aerotech UK Aerotech Germany Aerotech Japan Aerotech China Aerotech Taiwan Worldwide Training and Support Aerotech Inc U S A Aerotech Ltd United Kingdom Aerotech GmbH Germany Aerotech KK Japan Aerotech offers comprehensive worldwide training and customer service either at customer facilities or at one of our Aerotech training centers Our Training Program Features Standard and customized courses Hands on training with Aerotech positioning systems Interactive training with experienced instructors Comfortable spacious facilities Installation and Start up Commissioning Startup and commissioning services minimize startup tim
8. 250 Balanced Upper Limit Payload CG above Tabletop mm Figure 3 17 AXR150G160 125C Balance Chart www aerotech com Chapter 3 35 Operating Specifications AXR Hardware Manual 3 9 4 Balancing the A Axis Sizing 1 Determine the mass and center of gravity location of the payload 2 Consult the balancing charts in Section 3 9 3 to see if the payload can be balanced 3 If you do not have a properly sized counter balance kit contact your Aerotech sales representative Direct Drive Balancing WARNING Do not make mechanical adjustments to the counterbalance or stage in general when the axes are under servo control Ensure that power is removed from the stage and that the stage motion path is clear of all obstructions 2 For OE options mount the payload to the B axis first For other options mount the counterbalance kit first 3 Forthe 0E option mount the counterbalance kit For other options mount the payload Check the balance by hand by rotating the A axis a few degrees and then letting go of the axis If the balance is off the axis will rotate back to the bottom of travel Adjust the counterbalance as required so that the A axis stays in position when rotated by hand 5 The counterbalance can be further optimized by monitoring motor current with the servo controller Balancing is achieved when the holding current of the A axis motor is no longer a function of the A axis position Gear Drive Balancing WARNING Donot
9. Limit Balanced Lower Limit Payload Mass Kg Balanced Upper Limit 50 100 0 Payload CG above Tabletop mm Figure 3 8 AXR100D 100C Balance Chart 30 Chapter 3 www aerotech com AXR Hardware Manual Payload Mass Kg 50 100 Payload CG above Tabletop mm 30 20 Payload Mass Kg a 0 0 Payload CG above Tabletop mm Figure 3 10 www aerotech com Figure 3 9 100 Operating Specifications mn Balance Zone r Unbalanced Zone 2596 of Motor 25 Limit of Motor Balanced Lower Limit Balanced Upper Limit AXR150D 125 Balance Chart E Balance Zone r Unbalanced Zone 2596 of Motor 25 Limit of Motor Balanced Lower Limit Balanced Upper Limit AXR150D 125C Balance Chart Chapter 3 31 Operating Specifications AXR Hardware Manual mam Balance Zone Unbalanced Zone 2596 of Motor 25 Limit of Motor Payload Mass Kg Balanced Lower Limit i Balanced Upper Limit 0 100 200 Payload CG above Tabletop mm Figure 3 11 AXR150D 0E Balance Chart mam Balance Zone 30 25 r Unbalanced Zone lt 25 S 180 69 o x 20 D 25 Limit of S 180 69 15 E 8 gt 10 Balanced Lower Limit 5 o 0 100 200 Balanced Upper Limit Payload CG above Tabletop mm Figure 3 12 AXR150G50 125 Balance Chart 32 Chapter 3 www aerotech com AXR Hardware Manual Ope
10. Section 3 9 3 determine if application falls within balance limits www aerotech com Chapter 1 3 Overview AXR Hardware Manual 1 1 1 A Axis Tilt Drive Type Option The AXR has both direct drive and gear driven tilt A axis configurations The direct drive version provides the highest possible operating speed and accuracy for demanding applications For large load applications the gear drive units provide significantly higher continuous torque output while the drive mechanism limits motion in the power off state The precision anti backlash gearing enables this higher torque output while still maintaining excellent accuracy and repeatability performance Both the direct drive and gear drive versions of the A axis have the same footprint and mounting pattern so a common design will interface with either stage 1 1 2 B Axis Yaw Mounting Location Two different B axis mounting locations are available to accommodate various payload sizes as well as workpiece holding This option allows the B axis interface surface to be either inline with the A tilt axis of rotation or above the A axis of rotation These orientations are referred to as inline and offset mounting respectively in the remainder of this manual You can use the balancing charts in Section 3 9 3 to determine the merits of each mounting option 1 1 3 Brake Option The direct drive Tilt axis can be equipped with a brake to hold the axis in position when power is rem
11. bolted on counterweights The counterweights bolt onto a section of extended yoke that attaches the Yaw axis to the Tilt axis This type of yoke is an option 0E limited to direct drive systems Each extended yoke contains pockets for mounting counterweights inside These counterweights can be bolted together forming a large stack Unlike the offset option each counterweight balances a single portion of payload By stacking the weights the payload can be balanced Each supplied kit contains several weights so a wide range of payloads can be balanced These kits also come in the form of counterweight sleeves or covers Counterweight Locations Counterweight Sleeve d Figure 3 5 Adjustable Counterweight Locations 0E Option 28 Chapter 3 www aerotech com AXR Hardware Manual Operating Specifications 3 9 3 Balancing Charts Use the following sets of balancing charts as balancing guidelines for a particular size payload Each AXR configuration has an associated chart Each chart consists of two regions a Balanced zone and a Unbalanced zone The balanced zone in grey indicates that a particular payload can be perfectly balanced Within this zone combinations of counterbalance kits can be used to achieve balance Contact your Aerotech sales representative to determine which kits will work best for individual applications The Unbalanced zone is separated into two areas depending on motor capability The area shaded blue is an operat
12. make mechanical adjustments to the counterbalance or stage in general when the axes are under servo control 1 Mount the payload and counterbalance kit 2 Checkthe balance by monitoring the motor current with the servo controller Adjust the counterbalance if necessary to keep the motor current as even as possible throughout A axis travel 36 Chapter 3 www aerotech com AXR Hardware Manual Operating Specifications Imbalance and Motor Currents As a general rule Aerotech recommends operating the system with the A axis balanced If imbalance of the A axis is necessary Aerotech recommends keeping the imbalance on the A axis less than 25 percent of the continuous torque rating of the A axis motor These values are listed in Table 3 9 For the direct drive stage if the A axis is imbalanced the axis will rotate due to gravity loading when it is disabled or no longer under servo control This can also cause motion on other axes in the system depending on their relationship to the AXR axes In this situation Aerotech recommends the brake option to minimize motion when the A axis is disabled Table 3 9 Continuous Current and Torque Ratings Stage 25 Percent of Continuous Current 25 Percent of Continuous Torque TON www aerotech com Chapter 3 37 Operating Specifications AXR Hardware Manual 38 Chapter 3 www aerotech com AXR Hardware Manual Maintenance Chapter 4 Maintenance The AXR series stages are designed
13. securely Improper mounting can result in injury and damage to the equipment Figure 2 2 Mounting Hole Locations 12 Chapter 2 www aerotech com AXR Hardware Manual Installation 2 4 Attaching the Payload to the Stage The payload attachment method varies depending on whether the B axis is equipped with a tabletop or with a three jaw chuck Section 2 4 1 and Section 2 4 2 explain the different attachment methods in more detail AXR stages typically require some level of payload balancing to keep the holding torque required of the A axis drive train to an acceptable level Depending on the options of the unit is possible that before you can run the stage you must install a payload to match the balancing of the system as it was shipped Aerotech recommends starting the stage for the first time using a dummy payload attached that has the same mass and center of gravity as the final payload that is to be used with the system Once the servo tuning and operating parameters are set to satisfaction then the final payload should be installed For high speed operation of the B axis payloads must be balanced to G1 0 per ISO 1940 2 4 1 B Axis With Tabletop Option Payloads can be bolted to the B axis tabletop via the threaded holes with Helicoil inserts Hole pattern details are shown in Figure 1 1 and Figure 1 2 NOTE For valid system performance the mounting interface should be flat within 10 microns or less Screw extending through th
14. seen 14 2 5 Electrical Installation _ 15 Chapter 3 Operating Specifications 17 3 1 Environmental Specifications 17 3 2 Accuracy and Temperature Effects e e e ceeeeeeees 17 3 3 Basic Specifications _ 18 3 4 Standard Motor Wiring 20 3 5 Limit Switches _ 24 3 6 Air Line Access 25 3 7 Brake Option 26 3 8 Drive Types 26 3 9 Counterbalance System 27 3 9 1 Offset Mounting Counterbalancing 27 3 9 2 Inline Mounting Counterbalancing 28 3 9 3 Balancing Charts 29 3 9 4 Balancing the A Axis
15. signal when a stage has reached its maximum useable CW Positive or CCW Negative travel distance The limit switches are open collector TTL compatible active devices that are factory configured as Normally Closed NC The limit switches can be interfaced to 5V logic inputs Assuming a controller with a 5V input and an NC stage current sinking mode limit configuration the switch state is closed or logic 0 typical 0 4V 12 8 mA when no limit condition is present When the limit switch is activated it opens and a 5V source through a pull up resistor on the controller causes a logic 1 typically 4 8 5 V to be seen by the controller input The switch represented in Figure 3 1 is a PNP transistor stop Although the operating speed of the AXR may be relatively slow impacting the WARNING If the is driven beyond the electrical limit it will encounter a mechanical AN mechanical stop could cause damage to the stage CW MACHINE DIRECTION A Axis Tilt 5 VDC __ 25 mA A Machine Direction terminology is per Aerotech standards for motor systems and may not correspond to program direction Figure 3 1 Limit Switch Wiring 24 Chapter 3 www aerotech com AXR Hardware Manual Operating Specifications 3 6 Air Line Access AXR series stages are provided with a internal air line for a single pneumatic control signal up to the Yaw axis tabletop Access to the air line is located in the rear of the Tilt axis as shown in
16. to require minimum maintenance There are some items that may require preventative maintenance during the lifetime of the stage This chapter will cover information about component maintenance and replacement intervals between lubrication detail the lubrication and inspection process and specify recommended lubricants and cleaning solvents AN WARNING Failure to follow the maintenance procedures outlined in this section will result in voiding stage warranty 4 1 Service and Inspection Schedule Inspect the AXR once per month until a trend develops for the specific application and environment Longer or shorter intervals may be required to maintain the cleanliness of the stage The cleaning interval depends on conditions such as duty cycle speed and the environment In general stages operating in a clean environment should be cleaned annually For stages operating under conditions involving excessive debris stages should be cleaned every six months With proper cleanliness of the stage the bearing will not require lubrication or maintenance for the life of the stage Visually inspect the stage motor and cables once per month to e Re tighten loose connectors e Replace or repair damaged cables e Clean the AXR and any components and cables if needed e Repair any damage before operating the AXR www aerotech com Chapter 4 39 Maintenance AXR Hardware Manual 4 2 Cleaning and Lubrication N Cleaning Befor
17. 8 for gear drive specifications Table 3 8 Gear Drive Specifications Modi MaxSpeed AXR150650 305 Nem AXR150G100 101 1 605 N m AXR150G160 161 3 964 N m 26 Chapter 3 www aerotech com AXR Hardware Manual Operating Specifications 3 9 Counterbalance System For applications requiring balancing such as direct drive systems Aerotech has designed a system of counterweights to allow maximum balance flexibility Counterbalancing strategies depend on the type of mounting Offset or Inline Aerotech offers a counterweight adjustment wrench Part Number MFF04234 Contact the factory for more details 3 9 1 Offset Mounting Counterbalancing The counterbalancing system for the two offset mounting configurations offset tabletop and chuck consists of kits of threaded counterweights The counterweights thread into deep bores on the underside of the Yaw axis The depth of the bores is much longer than the length of the counterweight providing a range of adjustability per weight Each supplied kit contains several weights so a wide range of payloads can be balanced Figure 3 4 shows this system of weights Counterweight Locations Figure 3 4 Adjustable Counterweight Locations Offset and Chuck Options www aerotech com Chapter 3 27 Operating Specifications AXR Hardware Manual 3 9 2 Inline Mounting Counterbalancing The counterbalancing system for the inline mounting configuration consists of kits of
18. AXR Series Stage Hardware Manual P N EDS168 Revision 1 02 00 Dedicated to the Science of Motion Aerotech Inc 101 Zeta Drive AEROTECH Pittsburgh PA 15238 2897 Phone 1 412 963 7470 Fax 1 412 963 7459 www aerotech com Technical Support Go to www aerotech com service and support aspx for information and support about your Aerotech products The website provides downloadable resources such as up to date software product manuals and Help files training schedules and PC to PC remote technical support You can also complete Product Return RMA forms and get information about repairs and spare or replacement parts For immediate help contact a service office or your sales representative Have your customer order number available before you call or include it in your email Uni Phone 1 412 967 6440 101 Zeta Drive nited States c 1 412 967 6870 Pittsburgh PA 15238 2897 World Headquarters Email service aerotech com www aerotech com United Kingdom Japan Phone 44 0 1256 855055 Phone 81 0 47 489 1741 Fax 44 0 1256 855649 Fax 81 0 47 489 1743 Email service aerotech co uk Email service aerotechkk com jp Germany Phone 49 0 911 967 9370 Fax 49 0 911 967 93720 Email service aerotechgmbh de China Phone 86 21 3319 7715 Email saleschina aerotech com France Taiwan Phone 33 1 64 93 58 67 Phone 886 0 2 8751 6690 Email sales aerotech co uk Email service aerotech tw NOTE Aerotec
19. Figure 3 2 This quick connect air fitting is sized for 4 mm tubing The pressure range for the pneumatic line runs from vacuum up to 100 psig NOTE Theairline is not available with the Three Jaw Chuck Option Figure 3 2 Air Line Access www aerotech com Chapter 3 25 Operating Specifications AXR Hardware Manual 3 7 Brake Option AXR stages with a direct drive Tilt axis can be provided with a pneumatic brake Access to the brake air line is located in the rear of the Tilt axis as shown in Figure 3 3 The figure shows the case with the pneumatic control output air line and the brake air line This quick connect air fitting is sized for 4 mm tubing The brake is spring actuated such that with no air supply the brake is engaged To disengage the brake supply 80 psig air to the brake fitting Figure 3 3 Brake Option Air Line Access 3 8 Drive Types The AXR has both direct drive and gear driven Tilt axis configurations The direct drive version provides the highest possible operating acceleration speed and accuracy However the payload must be balanced for this drive type to maximize performance For large load applications the gear drive units provide significantly higher continuous torque output while the drive mechanism limits motion in the power off state The gear drive offers the advantage that the payload does not necessarily require balancing to maximize performance However the gear drive is speed limited See Table 3
20. UPPLY TO TABLETOP 4MM OD FITTING 3757 NOT AVAILABLE ON 100C i MOTOR FEEDBACK A AXIS 103 Limit 100 f l 7 2 HS TE zs sos 8 Hi p aN UN gi E V A Aa MOTOR FEEDBACK B AXIS 320 7 54 0E BRAKE SUPPLY PRESSURE 55 100 100C 4MM OD FITTING B AXIS RADIAL CLEARANCE WITH RESPECT TO A AXIS MOTION 289 0 0E 291 100 100 14 14 pi 1 24 100 E i si dL o d lo i 100 B AXIS TABLETOP 100MM FROM 0 B AXIS TABLETOP ON A AXIS CENTER OF ROTATION A AXIS CENTER OF ROTATION 3 INCH MANUAL CHUCK 14 100 Y 1 7 ns 0E B AXIS TABLETOP ON 100 TABLETOP OF CHUCK 100MM FROM A AXIS CENTER OF ROTATION WITH A AXIS CENTER OF ROTATION EXTENDED YOKE COUNTERBALANCE DIMENSIONS MILLIMETERS Figure 1 1 AXR 100D Dimensions www aerotech com Chapter 1 Overview AXR Hardware Manual CUSTOMER PNEUMATIC SUPPLY M5x0 8 THREAD 4XL J 15 SLOTTED NOT AVAILABLE ON 125C 7 THRU STAGE MOUNTING HOLES CUSTOMER MOUNTING 8X M6 1 0 HELICOIL y 6 0 DETAILA EQUALLY SPACED ON SCALE 2 15
21. anufacturer the protection provided by the AXR can be impaired and result in damage shock injury or death Operators must be trained before operating this equipment and all service and maintenance must be performed by qualified personnel All service and maintenance must be performed by qualified personnel www aerotech com Chapter 1 7 Overview AXR Hardware Manual 1 4 EC Declaration of Incorporation Manufacturer Aerotech Inc 101 Zeta Drive Pittsburgh PA 15238 2897 USA herewith declares that the product AXR 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 Safety of machinery Basic concepts general principles for design EN 60204 1 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 AEROTECH GmbH S d West Park 90
22. axis configurations to meet the performance requirements of your specific application The direct drive version provides the highest possible operating speed and accuracy for demanding applications A modular counterbalance system and different yaw mounting heights are available to balance offset loads The tilt axis can be equipped with a brake to hold axis position when power is removed For large load applications the gear drive units provide significantly higher continuous torque output while the drive mechanism limits motion in the power off state The precision anti backlash gearing enables this higher torque output while still maintaining excellent accuracy and repeatability performance www aerotech com Chapter 1 1 Overview AXR Hardware Manual Material Handling The AXR comes standard with an integral rotary union that provides a single pneumatic control signal to the yaw axis tabletop for customer supplied air or vacuum actuated tooling The AXR can also be outfitted with a 3 jaw manual chuck for maximum part holding flexibility Scalable Product Solutions With both direct drive and gear driven platforms various yaw table locations a scalable counterbalance standard pneumatic feed through and an optional 3 jaw chuck the AXR can be configured to meet the requirements of most two axis rotary assemblies This chapter introduces standard and optional features of the AXR A B combination stage and gives general safety precautions Th
23. ce 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 purchased 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 covering all transportation and subsistence costs and the prevailing labor cost including travel time necessary to complete the repair Aerotech Inc Phone 1 412 963 7470 101 Zeta Drive Fax 1 412 963 7459 Pittsburgh PA 15238 2897 USA Appendix A www aerotech com AXR Hardware Manual Revision History Appendix B Revision History Revision 1 02 00 April 17 2014 September 21 2010 www aerotech com General Information General revision Updated safety and warning information Updated dimension drawings Section 1 2 Added Limit Switch section Section 3 5 Added Troubleshooting section Section 4 3 Added section Section 1 4 Added section Section 3 1 Added safety information and warnings Added information on counterbalance adjustment wrench Section 3 9 Added mot
24. cient to hold the part in place before operating the stage 14 Chapter 2 www aerotech com AXR Hardware Manual Installation 2 5 Electrical Installation AN WARNING Electrical installation must be performed by properly qualified personnel Aerotech motion control systems are adjusted at the factory for optimum performance When the AXR is part of a complete Aerotech motion control system setup usually involves connecting a stage to the appropriate drive chassis with the cables provided Labels on the system components usually indicate the appropriate connections Refer to the appropriate system manuals and documentation included on the software DVD for additional installation and operation information If the system is uniquely configured a drawing showing system interconnects is supplied The electrical wiring from the motor and encoder are integrated at the factory Refer to Section 3 4 for standard motor wiring and connector pin outputs WARNING Applications requiring access to the stage while it is energized will require additional grounding and safeguards The System Integrator or qualified installer is responsible for determining and meeting all safety and compliance requirements necessary for the integration of this stage into the final application gt WARNING Operator access to the base and table top must be restricted while connected to a power source Failure to do so may cause electric shock A Axis Motor Power Co
25. e AXR is a two axis rotary assembly with pitch and yaw orientation 2 Chapter 1 www aerotech com AXR Hardware Manual Overview 1 1 Model Options NOTE Aerotech continually improves its product offerings listed options may be superseded at any time Refer to www aerotech com for the most up to date information Table 1 1 Model Numbering System Stage Size 100D Direct drive tilt A axis and yaw B axis rated for 15 kg maximum load 150D Direct drive tilt A axis and yaw B axis rated for 30 kg maximum load 150G Gear drive tilt A axis with direct drive yaw B axis rated for 30 kg maximum load Yaw Axis Configuration Yaw B axis tabletop height of AXR100D and AXR150x located at the center of rotation of the tilt A axis no counterweight attachment supported Yaw B axis tabletop height of AXR100D and AXR150D located at the center of rotation of the tilt A axis includes attachment features for counterweights to balance offset loads NOTE OE option not available on gear driven AXRs 150G Gearbox has sufficient holding torque to balance maximum moment load Yaw B axis tabletop height for AXR100D is located 100 mm above the center of rotation of the tilt A axis includes attachment features for counterweights to balance offset loads Yaw B axis with 3 jaw 3 25 inch 82 6 mm diameter manual scroll chuck chuck jaws of 100C AXR100D are located 100 mm above the center of rotation of the tilt A axis includes attachme
26. e stage table can affect travel and damage the stage Refer to WARNING Donot attach a payload to the stage table with screws that are too long A A Section 1 2 for maximum thread dimensions You can access the pneumatic line via the M5 tapped hole in the center of the table top An o ring 568A 015 is also available as a static thrust seal on the table top for direct feed through of the pneumatic line to a payload www aerotech com Chapter 2 13 Installation AXR Hardware Manual 2 4 2 B Axis With Manual Three Jaw Chuck The three jaw chuck option consists of a manual scroll chuck with three stepped jaws The chuck is centered on the B axis at the factory to within 13 microns Figure 1 1 and Figure 1 2 show the general stage layout with the 100C and 150C chuck options The jaws can be positioned to provide a wide range of clamping capacity as shown in Figure 2 3 and Table 2 2 A scroll key is provided with the stage for opening and closing the jaws Jaw Position Flipped Jaws Figure 2 3 Chuck Clamping Ranges Table 2 2 Clamping Ranges for Self Centering Scroll Chucks PRES Chuck Diameter 2 a da ds ne u ii s AXR100 31 4 80 2 01026 9 22 1t046 0 45 0to69 1 24 9to 50 0 48 0to 71 1 AXR150 5 125 3 0t050 0 34 8t073 9 71 9to 115 1 39 1t083 1 80 0t0 125 0 Allowable clamping force varies with the structure of the payload Be sure that the clamping force imparted on the workpiece is suffi
27. e using a cleaning solvent on any part of the AXR blow away small particles and dust with clean dry compressed air Any metal surface of the AXR can be cleaned with isopropyl alcohol on a lint free cloth WARNING Make sure that all solvent has completely evaporated before attempting to move the stage Lubrication There are no elements on the AXR that require lubrication If the application process uses only a small portion of travel for most of the duty cycle periodically drive the stage through full travel to redistribute the lubrication in the bearings 40 Chapter 4 www aerotech com AXR Hardware Manual Maintenance 4 3 Troubleshooting This section provides some information regarding typical problems Stage will not move e Brake not released if equipped with brake refer to stage documentation e In Limit condition Check limits refer to Section 3 5 and refer to controller documentation for polarity and compatibility requirements Example voltage requirements e Controller trap or fault refer to controller documentation Stage moves e Encoder sine and cosine signal connections refer to Section 3 4 and uncontrollably Controller documentation e Motor Connections refer to Section 3 4 and Controller documentation Stage oscillates or e Gains misadjusted refer to the controller documentation squeals e Encoder signals refer to the controller documentation www aerotech com Chapter 4 41 Maintenance
28. ective ground connection must be properly installed to minimize the possibility of electric shock WARNING Operator access to the base and table top must be restricted while connected to a power source Failure to do so may cause electric shock CAUTION The stage controller must provide over current and over speed protection Failure to do so may result in permanent damage to the motor and stage components 20 Chapter 3 www aerotech com AXR Hardware Manual Operating Specifications For cable drawings refer to the software DVD that shipped with your system For cables drives or configurations not shown in Table 3 4 consult Aerotech Table 3 4 Aerotech Motor and Feedback Cable Part Numbers HPeHLeCP CLML MP NpaqMR Epaq MR Motor Feedback Motor Feedback Motor Feedback C16501 19 C16501 19 19803 C16501 19 C165011 11 21491 C165011 11 C1980403 C165011 11 C16505 12 215116 C16505 12 198020 C16505 12 C16507 14 220910 C16507 14 0201110 C16507 14 C16501009 C165010 15 C165010 15 1 6 Lutze Hi Flex 5 A 12 Standard lt 240 dm 17 To Aux I O Sec Encoder 2 Standard 7 Gore Hi Flex Life 13 Standard lt 400 dm 18 CMD 9 to 25D Adapter 3 Standard lt 450 dm 8 Standard 10 A 14 Lutze Hi Flex Life 19 25D Fdbk to Stage Combo D 4 5 C19360 1 C19363 2 C19364 3 C21031 4 Over Molded Preferred Hi Flex Life 10 Standard lt 120 dm 15 Lut
29. es reduce cost and accelerate time to production By combining our product knowledge with your process and application expertise new systems and applications can be completed faster at a reduced overall cost Engineering Support Aerotech provides complete engineering support for our products including on site support and maintenance and remote support via phone fax website and or WebEx software As a manufacturer staffed by engineers we understand the unacceptability of downtime Training Comprehensive training classes are designed to help our customers realize the full potential of our products By demonstrating all of a product s features and how to use them customers have been able to reduce startup time and quickly optimize their applications Our classes have been developed and continually upgraded using feedback from our customers Since 1970 Aerotech has designed motion control and positioning systems and components with an unsurpassed track record of reliability When you make the choice to purchase from Aerotech we urge you to learn how to get the most from your new products We provides both on site your facility and or in house our facility training for our customers convenience
30. ges Max speed of gear drive unit is a function of gear ratio Speeds are 10 rpm 5 rpm and 3 rpm 6 Stage mass listed as system mass 18 Chapter 3 www aerotech com AXR Hardware Manual Operating Specifications Table 3 3 Motor Specifications xs Wire aste Axis Axis Motor Current 2 Current 2 Axis Wire Axis Wire Motor 1 1 Cont Peak Cont Peak Gauge Hoo S 13060A S7635AH 186 2 8 o 1 All motors rated for 340 VDC 2 All currents listed in Apk www aerotech com Chapter 3 19 Operating Specifications AXR Hardware Manual 3 4 Standard Motor Wiring Stages fitted with standard motors and encoders come from the factory completely wired and assembled NOTE Referto the other documentation accompanying your Aerotech equipment Call your Aerotech representative if there are any questions on system configuration NOTE If using standard Aerotech motors and cables motor and encoder connection adjustments are not required The AXR s protective ground connection provides motor frame ground protection only Additional grounding and safety safeguards are required for applications requiring access to the stage while it is energized The System Integrator or qualified installer is responsible for determining and meeting all safety and compliance requirements necessary for the integration of this stage into the final application WARNING The prot
31. h continually improves its product offerings listed options may be superseded at any time Referto www aerotech com for the most up to date information NOTE All drawings and illustrations are for reference only and were complete and accurate as of this manual s release The most recent system drawings and schematics can be found on your software DVD oronwww aerotech com NOTE Read this manual in its entirety before installing operating or servicing this product If you do not understand the information contained herein contact an Aerotech representative before proceeding Strictly adhere to the statements given in this section and other handling use and operational information given throughout the manual to avoid injury to you and damage to the equipment NOTE This product is intended for light industrial manufacturing or laboratory use This manual contains proprietary information and may not be reproduced disclosed or used in whole or in part without the express written permission of Aerotech Inc Product names mentioned herein are used for identification purposes only and may be trademarks of their respective companies Copyright 2010 2014 Aerotech Inc All rights reserved AXR Hardware Manual Table of Contents Table of Contents Table of Contents ccc cece DALL eee e cece cee aLaaa aLa ili LIST OF FIQUIES L uuu ee I e Ein iv EiSEOP Tables dii ade dire an V Chap
32. he cost of the repair and freight warranty Determination or authorize the product s to be shipped back as is atthe buyer s 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 components are warranted for one year from date of shipment At times the buyer may desire to expedite a repair Regardless of warranty or out of Rush Service warranty status the buyer must issue a valid purchase order to cover the added rush service cost Rush service is subjectto Aerotech s approval www aerotech com Appendix A 43 Warranty and Field Service AXR Hardware Manual On site Warranty Repair On site Non warranty Repair Company Address 44 If an Aerotech product cannot be made functional by telephone assistance or by sending and having the customer install replacement parts and cannotbe 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 covering all transportation and subsistence costs For warranty field repairs the customer will not be charged for the cost of labor and material If servi
33. ing zone were the unbalance is within 25 percent of the continuous torque rating of the Tilt axis motor This is an acceptable region of motor operation but the system will move during power down A brake can be considered if this is a concern Unshaded regions indicate that the application payload unbalance is too large for the particular configuration of AXR In this case Aerotech recommends choosing a different AXR configuration Contact your Aerotech sales representative to determine which configuration will work best There are no balancing weights on the AXR100D 0 and AXR150D 0 stages The AXR100D 0 has a system imbalance of 290 1 kg mm and the AXR150D 0 has a system imbalance of 719 8 kg mm mam Balance Zone r Permitted Unbalanced Zone 25 Motor Limit Balanced Lower Limit Payload Mass Kg N O N c Balanced Upper Limit 0 20 40 60 80 100 Payload CG above Tabletop mm Figure 3 6 AXR100D 100 Balance Chart www aerotech com Chapter 3 29 Operating Specifications AXR Hardware Manual mam Balance Zone 15 4 13 is r Unbalanced Zone 2596 5 10 of Motor v 9 B8 m 2 TAR 25 Limit of Motor no 8 6 5 2 3 Balanced Lower Limit 2 4 1 0 2 Balanced Upper Limit 0 50 100 150 200 250 Payload CG above Tabletop mm Figure 3 7 AXR100D 0E Balance Chart mam Balance Zone Permitted Unbalanced Zone 25 Motor
34. le connected to a power source Do not connect or disconnect any electrical components or connecting cables while connected to a power source Disconnect electrical power before making any mechanical adjustments or performing maintenance Make sure AXR and all components are properly grounded in accordance with local electrical safety requirements Operator safeguarding requirements must be addressed during final integration of the product WARNING To minimize the possibility of electrical shock bodily injury or death the following precautions must be followed 1 2 At Moving parts can cause crushing or shearing injuries Access to all stage and motor parts must be restricted while connected to a power source Cables can pose a tripping hazard Securely mount and position all system cables to avoid potential hazards Do not expose the AXR to environments or conditions outside the specified range of operating environments Operation in conditions other than those specified can cause damage to the equipment The AXR must be mounted securely Improper mounting can result in injury and damage to the equipment Use care when moving the AXR Lifting or transporting the AXR can result in injury or damage to the AXR The AXR is intended for light industrial manufacturing or laboratory use Use of the AXR for unintended applications can result in injury and damage to the equipment If the AXR is used in a manner not specified by the m
35. n order to achieve the maximum performance from the AXR When the AXR is mounted to a non flat surface the stage can be distorted as the mounting screws are tightened This distortion will decrease the overall accuracy of the stage Adjustments to the mounting surface must be done before the stage is secured NOTE To maintain accuracy the mounting surface must be flat within 1 um per 50 mm NOTE The AXR is precision machined and verified for flatness prior to product assembly at the factory If machining is required to achieve the desired flatness it should be performed on the mounting surface rather than the AXR Shimming should be avoided if possible If shimming is required it should be minimized to improve the rigidity of the system WARNING Make sure that all moving parts are secure before moving the Unsecured moving parts may shift and cause bodily injury www aerotech com Chapter 2 11 Installation AXR Hardware Manual 2 3 Securing the Stage to the Mounting Surface AXR series stages have a fixed mounting pattern in the housing of the stage as shown in Figure 2 2 and Section 1 2 Referto Table 2 1 for mounting hardware information Table 2 1 Stage to Mounting Surface Hardware Mounting Hardware Quantity M6x1 0 x 20 mm long 1 4 20 x 3 4 in long SHCS 1 Li 8 0 N m 6 6 ft lb 1 SocketHeadCap Screw 2 Refer to Section 1 2 for specific model mounting locations and dimensions WARNING The AXR must be mounted
36. nnector NI _ Power Connector Figure 2 4 Electrical Connectors and Grounds NOTE Refer to the controller documentation to adjust servo gains for optimum velocity and position stability www aerotech com Chapter 2 15 Installation AXR Hardware Manual 16 Chapter 2 www aerotech com AXR Hardware Manual Operating Specifications Chapter 3 Operating Specifications The surrounding environment and operating conditions can affect the performance and service life of the stage This chapter provides information on ideal environmental and operating conditions as well as general technical information about AXR series stages 3 1 Environmental Specifications The environmental specifications for the AXR 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 C 68 F 4 F If at any time the operating temperature deviates from 20 C degradation in performance could occur Contact Aerotech for information regarding your specific application and environment Storage 0 to 40 C 32 to 104 F in original shipping packaging Humidity Operating 20 to 60 RH Storage 10 to 70 RH non condensing in original packaging Altitude Operating 0 m to 2 000 m 0 ft 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
37. nt features for counterweights to balance offset loads and 3 jaw manual chuck Yaw B axis tabletop height for AXR150x is located 125 mm above the center of rotation of the tilt A axis includes attachment features for counterweights to balance offset loads Yaw B axis with 3 jaw 5 inch 127 mm diameter manual scroll chuck chuck jaws of 125C AXR150x are located 125 mm above the center of rotation ofthe tilt A axis includes attachment features for counterweights to balance offset loads and 3 jaw manual chuck Brake Configuration Optional B Holding brake for tilt A axis only available on 100D and 150D configurations Sealing Configuration Optional Seals on the tilt A and yaw B axes to prevent ingress of airborne particulates into the stage the seal does not protect the AXR system from contact with fluids Counterweight Configuration Optional Counterweight kit for AXR100 100 100C for offset loads ranging from 100 23 5 N m to 338 100c 48 N m to 242 N m Counterweight kit for AXR100 100 100C for offset loads ranging from 100 1 4 N m to 48 N m 100c 6 N m to 36 CCWS CCW6 i 0E 100 125 CCW7 Counterweight kit for AXR100 OE for offset loads of 15 7 N m CCW8 Counterweight kit for AXR100 0E for offset loads of 13 1 N m 1 Offset loads include both the payload and stage unbalance 2 Alinear combination of counterweight kits can be employed to achieve balance Refer to
38. on for later reference If any damage has occurred during shipping report it immediately All AXR series stages are packaged with shipping brackets installed to prevent unwanted stage motion and potential damage from occurring during shipment The brackets are red anodized aluminum the only red anodized pieces Aerotech uses that bolt the stage table to the base and they must be removed from the stage before the stage can be operated The shipping bracket is located on the cable side of the A axis refer to Figure 2 1 Retain the brackets for future use WARNING Make sure that all moving parts are secure before moving the AXR Unsecured moving parts may shift and cause bodily injury WARNING Lift the AXR only by the base Improper handling could adversely affect the AXR s performance WARNING Donotuse the tabletop or cable as lifting points WARNING Usecare when moving the AXR Lifting or transporting the AXR can result in injury or damage to the AXR PP P gt www aerotech com Chapter 2 9 Installation AXR Hardware Manual em Figure 2 1 AXR With Shipping Bracket NOTE Retain any shipping brackets for future use In the event the stage requires service at the factory the shipping bracket should be reattached to ensure the stage ships safely 10 Chapter 2 www aerotech com AXR Hardware Manual Installation 2 2 Preparing the Mounting Surface The mounting surface must be flat and have adequate stiffness i
39. or specifications table Section 3 3 Added note about current requirements of motor and ground wires Section 3 4 1 00 00 June 29 2010 Appendix C 45 Revision History 46 Appendix C AXR Hardware Manual www aerotech com AXR Hardware Manual Index A Axis Tilt Drive Type Air Line alcohol Altitude Ambient Temperature Attaching the Payload B B Axis Yaw Mounting Location Balancing Brake Cable Part Numbers Cleaning cleaning solvent Counterbalancing D Declaration of Incorporation Dimensions Dust Exposure Electrical Installation encoders Environmental Specifications H Humidity I Inline Mounting inspect isopropyl alcohol L label www aerotech com 25 40 17 17 13 29 36 4 26 21 40 40 4 27 17 15 20 17 17 28 39 40 lubrication Lubrication maintenance Manual Three Jaw Chuck Motor Specifications Mounting Location mounting surface partnumber Preparing the Mounting Surface protective ground connection R red anodized aluminum safety procedures Seal Securing the Stage to the Mounting Surface serial number Shimming shipping brackets solvents Specifications stabilize stage distortion Technical Support Temperature Effects U Unpacking and Handling the Stage V Vibration Appendix D Index 40 40 39 4 14 19 11 11 20 11 40 18 11 17 17 47 Index Warnings Warranty and Field Se
40. ounds 15 Limit Switch Wiring 24 Air Line ACCESS qM MRCPKM 25 Brake Option Air Line Access 26 Adjustable Counterweight Locations Offset and Chuck Options 27 Adjustable Counterweight Locations OE Option 28 AXR100D 100 Balance Chart 29 AXR100D 0E Balance Chart eese esee Reels erro 30 AXR100D 100C Balance Chart 30 AXR150D 125 Balance Chart 31 AXR150D 125C Balance Chart 31 AXR150D 0E Balance Chart 32 AXR150G50 125 Balance Chart esse eee esser eser rli 32 AXR150G100 125 Balance Chart 33 AXR150G160 125 Balance Chart 33 AXR150G50 125C Balance Chart 34 AXR150G100 125C Balance Chart
41. oved This option does not affect the footprint of the product 1 1 4 Seal Option The AXR series stages are available with optional internal sealing to provide IP60 level dust protection AXR stages are not rated for exposure to liquids These seals are internal and do not require maintenance 1 1 5 Counterbalancing Kits A modular counterbalance system is available to balance offset loads These ktis are intended to balance the combined mass of the B axis stage and the customer payload about the axis of rotation of the A axis NOTE These kits are necessary for the direct drive Tilt axis and to a lesser extent the gear drive Tilt axis 1 1 6 Manual Three Jaw Chuck The AXR can be outfitted with a three jaw manual chuck for maximum part holding flexibility This option provides an payload interface offset at the same elevation as that of the standard tabletop 4 Chapter 1 www aerotech com AXR Hardware Manual Overview 1 2 Dimensions NOTE Aerotech continually improves its product offerings listed options may be superseded at any time Refer to www aerotech com for the most up to date information CUSTOMER PNEUMATIC SUPPLY 4X L 15 SLOTTED M5 0 8 THREAD 97 THRU NOT AVAILABLE ON 100C STAGE MOUNTING HOLES 85 B C CUSTOMER MOUNTING 8X M5 0 8 HELICOIL y 5 0 70 a 100 1 EQUALLY SPACED ON B C DETAIL A SCALE 1 5 CUSTOMER PNEUMATIC S
42. rating Specifications mam Balance Zone r Unbalanced Zone lt 25 S 180 69 25 Limit of S 180 69 Payload Mass Kg Balanced Lower Limit Balanced Upper Limit 0 100 200 Payload CG above Tabletop mm Figure 3 13 AXR150G100 125 Balance Chart ma Balance Zone r Unbalanced Zone lt 25 S 180 69 25 Limit of S 180 69 Payload Mass Kg Balanced Lower Limit 0 50 100 450 200 250 Balanced Upper Limit Payload CG above Tabletop mm Figure 3 14 AXR150G160 125 Balance Chart www aerotech com Chapter 3 33 Operating Specifications Payload Mass Kg 0 50 Payload CG above Tabletop mm Figure 3 15 Payload Mass Kg 0 50 Payload CG above Tabletop mm Figure 3 16 34 100 100 150 200 250 AXR Hardware Manual mam Balance Zone Unbalanced Zone lt 25 S 180 69 25 Limit of S 180 69 Balanced Lower Limit Balanced Upper Limit AXR150G50 125C Balance Chart 150 200 250 mw Balance Zone r Unbalanced Zone lt 25 S 180 69 25 Limit of S 180 69 Balanced Lower Limit Balanced Upper Limit AXR150G100 125C Balance Chart Chapter 3 www aerotech com AXR Hardware Manual Operating Specifications mam Balance Zone r Unbalanced Zone lt 25 S 180 69 25 Limit of S 180 69 Payload Mass Kg Balanced Lower Limit 0 50 100 480 200
43. rotech com V Table of Contents AXR Hardware Manual vi www aerotech com AXR Hardware Manual Overview Chapter 1 Overview Aerotech s AXR integrated two axis rotary assembly provides high speed machining capabilities for complex 3D part geometries The precision aligned system allows accurate positioning on a hemispherical surface Multiple frame sizes with direct or gear driven options provide a wide range of load carrying capability A Axis Tilt B Axis Yaw es e Multiple configurations support a range of load and accuracy requirements e Integral rotary union for vacuum or air activated tooling e High speed yaw axis provides up to 1000 rpm e High load gear drive or high speed direct drive tilt axis configurations e Optional sealing protects the system from airborne particulates e Brake available to limit stage motion in the unpowered state Direct Drive Yaw Axis All AXR series rotary combinations feature a direct drive yaw B axis Direct drive motors exhibit significantly higher throughput and maintenance free operation when compared to gear and screw driven technology With peak rotation speeds of up to 1000 rpm the AXR is capable of supporting high speed machining processes A high resolution encoder enables the axis to run at extremely slow speeds while maintaining excellent velocity regulation and positioning accuracy High Capacity Tilt Axis The AXR has both direct drive and gear driven tilt A
44. rvice 48 43 Appendix D AXR Hardware Manual www aerotech com Why Partner with Aerotech Aerotech offers its customers a number of important advantages as a single source provider Vertical Integration Our expertise in motors amps controls and stages enables us to provide a complete optimized solution Interconnectability Aerotech systems are designed to work together This allows you to spend time and resources on your process not on system integration System Checkout Prior to shipment all systems are fully assembled and checked out All system parameters are factory set based on your specifications Documentation All systems are fully documented System interconnect drawings specification sheets and stage certification plots are included with every system Support amp Service Because all system elements are designed and manufactured by Aerotech we provide the highest level of technical knowledge available Unlike companies that only manufacture part of the system Aerotech manufactures all of the system components minimizing service time R amp D Our engineering teams are dedicated to product development and continuous improvement Single Source Solution Aerotech designs and manufactures precision stages motors drives and controllers giving you all of the components needed for a complete system Technology Leader Aerotech engineers are continuously updating existing
45. s 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 by Return Procedure 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 without first obtaining approval from Aerotech No credit will be given nor repairs made for products returned without such approval Any returned product s must be accompanied by a return authorization number The return authorization number may be obtained by calling an Aerotech service center Products must be returned prepaid to an Aerotech service center no C O D or Collect Freight accepted The status of any product returned later than 30 days after the issuance ofa return authorization number will be subject to review After Aerotech s examination warranty or out of warranty status will be determined If Returned Product upon Aerotech s examination a warranted defect exists then the product s will be Warranty repaired at no charge and shipped prepaid back to the buyer If the buyer desires an Determination 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 time Returned Product Non the buyer must issue a valid purchase order to cover t
46. system in a low vibration environment Excessive floor or acoustical vibration can affect system performance Contact Aerotech for information regarding your specific application Dust Exposure With the seal option AXR stages are dust sealed but should not be exposed to water This equates to an ingress protection rating of IP60 Without the seal option AXR stages are not suited for dusty or wet environments This equates to an ingress protection rating of IPOO Uss Indooruse 1 WARNING Donot expose the AXR to environments or conditions outside the specified range of operating environments Operation in conditions other than those specified can cause damage to the equipment 3 2 Accuracy and Temperature Effects Aerotech products are designed for and built in a 20 C 68 F environment Extreme temperature changes could cause a decrease in performance or permanent damage to the AXR The environmental temperature must be controlled to within 0 25 C per 24 hours to ensure the AXR specifications are repeatable over an extended period of time The severity of temperature effects on all specifications depends on many different environmental conditions including how the AXR is mounted Contact the factory for more details www aerotech com Chapter 3 17 Operating Specifications AXR Hardware Manual 3 3 Basic Specifications NOTE Aerotech continually improves its product offerings listed options may be superseded at any time
47. ter 1 Overview ccc cc ccececececececcececececececececaccecececececeeereeeeess 1 1 1 Model Options 3 1 1 1 A Axis Tilt Drive Type Option 4 1 1 2 B Axis Yaw Mounting Location eese 4 1 1 3 Brake Option 4 1 1 4 Seal Option scere ee rtr ero e OR erc Aene e repo eni 4 1 1 5 Counterbalancing Kits _ 4 1 1 6 Manual Three Jaw Chuck ss es essem rell sri e sli 4 1 2 DIRORSIOS vio eee u ii eee 5 1 3 Safety Procedures and Warnings sss n eer sln 7 1 4 EC Declaration of Incorporation eese ess s erri 8 Chapter 2 Installation 0 l T 9 2 1 Unpacking and Handling the Stage seen 9 2 2 Preparing the Mounting Surface sss e essen sli 11 2 3 Securing the Stage to the Mounting Surface c cece cece ee ceeeeeeeeees 12 2 4 Attaching the Payload to the Stage ss ese sr lsen 13 2 4 1 B Axis With Tabletop Option c cece eee cceceeeccceccccceee 13 2 4 2 B Axis With Manual Three Jaw Chuck
48. ze Hi Flex Life Configured Hi Flex Life lt 450 dm 11 Configured lt 120 dm 16 Standard Configured lt 225 dm Table 3 5 Motor Pin Assignments for the A and B Axes Description Pin MTR A Motor Phase A MTR B Motor Phase B MTR C Motor Phase C Motor Shield EMI shield Reserved Not Used Reserved Not Used Reserved Not Used Reserved Not Used Frame Ground motor protective ground www aerotech com Chapter 3 21 Operating Specifications AXR Hardware Manual Table 3 6 Feedback Pin Assignments for the A Axis Pin Description ooo Connector Signal shield connection Over Temperature Thermistor sensor 5 V power supply input internally connected to Pin 16 the typical requirement is 250 mA 6 1 Pins not listed are RESERVED Backshell ECK00656 Amphenol 17 1726 2 ECK00300 Cinch DB 25S 22 Chapter 3 www aerotech com AXR Hardware Manual Operating Specifications Table 3 7 Feedback Pin Assignments for the B Axis Pin Description SSCS Connector Signal shield connection Over Temperature Thermistor sensor 3 5 V power supply input internally connected to Pin 16 the typical requirement is 250 mA NOTE Pins not listed are RESERVED Backshell ECK00656 Amphenol 17 1726 2 Connector ECK00300 Cinch DB 25S www aerotech com Chapter 3 23 Operating Specifications AXR Hardware Manual 3 5 Limit Switches Limit switches
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