ABL8000 Series Stage User`s Manual
Contents
1. 15 Motor and Feedback Connections XY CMS Customer Hose option 15 Motor and Feedback Connection XY CMS Customer Cable amp Hose option 16 Air Fitting Location 16 Cantilevered Load Capability SC Construction 00 00 02 cece cece e cece e eee eee e eee 22 Cantilevered Load Capability LC Construction 0 00 0000 0cc cece eee ee eee cece eee eee 23 Cantilever Length Diagram 1 2 2 2 2 cccceeececcccceeccccccceceececcccceeeececccceeeeseeeees 24 Normally Closed NC and Normally Open NO Limit Switch Wiring 25 www aerotech com ABL8000 User s Manual Table of Contents List of Tables Table 1 1 Ordering Example ABL80050 LC M P NC LN50AS SINGLE CMS 3 Table 1 2 Model Numbers and Ordering Options 3 Table 3 1 Environmental Specifications 17 Table 3 2 Series Specifications ABL80020 ABL80040 sssssssssse nenne 18 Table 3 3 Series Specifications ABL80050 ABL80100 2 2 0 2 eee c cece cece ccceceeeececceeeees 19 Table 3 4 Electrical Specifications 20 Table 3 5 Recommended Controller esee eese s reser r sre 20 Table 3 6 ABL8000 Series Motor Specifications 21 Table 3 7 Motor Connector Pin Assignments 0 ccccccccccccccccccccececcccccceeeecccceeeees 26 Table 3 8 Feedback Connector Pin Assignments uuuusesessssssee eese 27 Table 4 1 Recommended Cleani2. 3 7 Vacuum Operation AR 1 6 7 O O O O O O O O O O O O 20000000000000 N a The ABL8000 is an air bearing stage and is not compatible with operation in a vacuum environment Contact Aerotech for alternate solutions www aerotech com Chapter 3 27 Operating Specifications ABL8000 User s Manual 28 Chapter 3 www aerotech com ABL8000 User s Manual Maintenance Chapter 4 Maintenance These 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 However it is important to clean the bearing surfaces and encoder strips to maintain the accuracy of the stage This chapter will detail the cleaning process and specify recommended cleaning solvents NOTE The bearing area must be kept free of foreign matter and moisture otherwise the performance and life expectancy of the stage will be reduced Referto Section 2 6 for air requirements NA nema 4 1 Service and Inspection Schedule Aerotech recommends that the ABL8000 stage be inspected once per month until a trend develops for the specific application and environment 4 2 Cleaning and Lubrication There are no elements on the ABL8000 that require lubrication Periodic cleaning to remove dust is rec ommended 4 2 1 Recommended Cleaning Solvents Before using a cleaning solvent on any part of the stage H is recommended that clean dry
3. Versus Non Flat Mounting NOTE The ABL8000 base 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 ABL8000 base Shimming should be avoided if possible If shimming is required it should be minimized to improve the rigidity of the system www aerotech com Chapter 2 11 Installation ABL8000 User s Manual 2 3 Securing the Stage to the Mounting Surface metal objects tools watches keys etc may cause personal injury and or damage to the equipment A ET Procedure for ABL8000 mounting DANGER Strong rare earth magnets are present in the linear motor magnet track Loose 1 Prepare the stone mounting surface and bottom of the stage base with precision flatstones to remove any burrs or high spots 2 Clean the mounting surface and bottom of the stage with the appropriate cleaners acetone or iso propyl alcohol for the stage bottom 3 Placethe stage on the mounting surface 4 Remove the lifting brackets and shipping bracket Figure 2 1 Turn on the air supply to the air bearing A See 6 Slide the air bearing carriage to one end of travel and screw down with M6 or 74 20 socket head cap screws and flat washers in the exposed mounting locations Do not fully tighten at this time but bring within 1 4 turn of screw head engagement Surface Mounting Holes P Stag
4. are rated Apk use torque constant in N m Apk when sizing www aerotech com Chapter 3 21 Operating Specifications ABL8000 User s Manual 3 4 Load Capability Application loads should be symmetrically distributed whenever possible The payload should be centered on the stage table and the entire stage should be centered on the support structure With the stage lying flat horizontal and the application load vertically applied and symmetrically distributed the maximum vertical load carrying capacity is kg for ABL8000 SC stages and 120 kg for ABL8000 LC stages If cantilevered loads are applied refer to Figure 3 1 or Figure 3 2 to find the maximum allowable load 130 120 110 Horizontal 100 Side 90 80 Y o o o Load kg 40 30 20 0 25 50 75 100 125 150 175 200 225 250 275 300 Distance of Load C G from Tabletop Centerline mm Figure 3 1 Cantilevered Load Capability SC Construction 22 Chapter 3 www aerotech com ABL8000 User s Manual Operating Specifications 130 120 110 Horizontal 100 Side 90 N o Load kg o o a o S o wo e 0 25 50 75 100 125 150 175 200 225 250 275 300 Distance of Load C G from Tab
5. 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 the 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 31 Warranty and Field Service ABL8000 User s Manual On site Warranty Repair If an Aerotech product cannot be made functional by telephone assistance or by send On site Non warranty Repair Company Address 32 ing 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
6. is 400 mm 3 Maximum speed based on stage capability maximum application velocity may be limited by system data rate and system res olution 4 Maximum load based on bearing capability maximum application load may be limited by acceleration requirements 5 Thermallimitations of positioning stage with respect to performance may limit continuous force output 6 Force may be limited by amplifier output 7 Available with Aerotech controllers 8 Requires environmental compensation 9 To protect air bearing against under pressure an in line pressure switch tied to controller ESTOP input is recommended 10 Air supply must be clean dry to 0 F dewpoint and filtered to 0 25 uim or better recommend nitrogen at 99 9 purity 11 Specifications are for single axis systems measured 50 mm above the tabletop Performance of multi axis systems is payload and workpoint dependent Consult factory for multi axis or non standard applications www aerotech com Chapter 3 19 Operating Specifications ABL8000 User s Manual Table 3 4 Electrical Specifications een Drive System SC BLM 142 A BLM 264 A SC Feedback Incremental encoder 4 um fundamental period LT AT Incremental encoder 20 um fundamental period Maximum Bus Valtage o Table 3 5 Recommended Controller ee Multi Axis A3200 Ndrive MP Ndrive CP Ndrive HLe Npaq MXR Ensemble MP Ensemble CP Ensemble HLe Epaq Single Axis SoloistMP Soloi
7. motor and limits ABL80075 750 mm 30 in travel linear air bearing stage with linear motor and limits ABL80100 1000 mm 40 in travel linear air bearing stage with linear motor and limits SC 250 mm 10 in length carriage single axis or y axis use only requires 5 motor LC 400 mm 16 in length carriage required for x axis in XY configuration requires 10 motor ET 5 N NO Normally open end of travel limit switches Linear Encoders LNAS Linear encoder amplified sine output at 4 um fundamental period LTAS High accuracy linear encoder amplified sine output at 20 um fundamental period SINGLE CMS Cable management system for single axis applications SINGLE CUST HOSE Single CMS 0 25 inch customer hose SINGLE CUST CABLE Single CMS one customer cable SINGLE CUST CABLE amp Single CMS once customer cable and 0 25 inch hose HOSE XY CMS Cable management system for X Y assembly order with each axis XY CUST HOSE XY CMS customer hose XY CUST CABLE XY CMS customer cable XY CUST CABLE amp HOSE XY CMS customer cable amp hose www aerotech com Chapter 1 3 Overview ABL8000 User s Manual 1 2 Dimensions M8 1 25 Thru 254 0 10 00 M6 1 0 Thd 375 16 Thru 250 20 Thd Stage Mtg 231 9 9 13 Top Mtg Holes D Holes 8 63 1 2 48 406 4 16 00 A 63 1 2 48 Stage Air Line Connection X a Stage Motor Connection Stage Feedback Connection Cust
8. 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 service is rendered at times other than normal work periods then special service rates apply If during the on site repair it is determined the problem is not warranty related then the terms and conditions stated in the following On Site Non Warranty Repair section apply If any Aerotech product cannot be made functional by telephone assistance or pur chased replacement parts and cannot be returned to the Aerotech service center for repair then the following field service policy applies Aerotech will provide an on site field service representative in a reasonable amount of time provided that the customer issues a valid purchase order to Aerotech covering all transportation and subsistence costs and the prevailing labor cost including travel time necessary to complete the repair Aerotech Inc Phone 412 963 7470 101 Zeta Drive Fax 412 963 7459 Pittsburgh PA 15238 USA Appendix A www aerotech com ABL8000 User s Manual Revision History Appendix B Revision History Rw Dae Description 10000 March 12 2012 www aerotech com Appendix B 33 Revision History ABL8000 User s Manual 34 Appendix B www aerotech com Index ABL8000 User s Manual Index P A Preparing t
9. 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
10. ABL8000 Series Stage User s Manual P N EDS178 Revision 1 00 00 Dedicated to the Science of Motion Aerotech Inc 101 Zeta Drive e Pittsburgh PA 15238 AEROTECH Phone 412 963 7470 Fax 412 963 7459 www aerotech com Technical Support Go to www aerotech com service and support aspx for information and support about your Aerotech prod ucts 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 United States Phone 412 967 6440 101 Zeta Drive Id Head Fax 412 967 6870 Pittsburgh PA 15238 O Jude Email service aerotech com www aerotech com United Kingdom Japan Phone 44 118 940 9400 Phone 81 0 47 489 1742 Fax 44 118 940 9401 Fax 81 0 47 489 1743 Email service a aerotech co uk Email service aerotechkk com jp Germany China Phone 49 911 967 9370 Fax 49 911 967 93720 Email service aerotechgmbh de Phone 852 3793 3488 Email saleschina aerotech com France Taiwan Phone 33 238970830 Phone 886 0 2 8502 6651 Email sales aerotech co uk Email service aerotech tw NOTE Aerotech continually improves its product offeri
11. LINE H M CONNECTION Figure 2 8 Motor and Feedback Connections XY CMS Customer Hose option www aerotech com Chapter 2 15 Installation ABL8000 User s Manual e To To To To Te Te Te Joy Air Encoder and Motor connections for the upper and lower axes are the same as on the XY CMS option SL of of of olo o CUSTOMER CABLE f CONNECTION CUSTOMER AIR LINE CONNECTION Figure 2 9 Motor and Feedback Connection XY CMS Customer Cable amp Hose option 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 0 F dewpoint and oil free If nitrogen is used it must be 99 99 pure and filtered to 0 25 microns The filtration requirement is to prevent particles from clogging the air bearing ori fices It is necessary to supply air pressure in the range of 517 kPa to 551 kPa 75 psi to 80 psi Air should be supplied through a 1 4 outside diameter polyurethane air hose A pressure switch should be installed to remove power from the air bearing if pressure drops below 40 psi to prevent damage to the bearing surfaces For the SC construction an airflow rate of between 30 to 36 SLPM standard liters per minute at 551 kPa should be observed single axis For the LC construction an airflow rate of between 48 to 53 SLPM stand ard liters per minute at 551 kPa should be observed single axis ECK SUP
12. OTAL DIMENSIONS MILLIMETERS MODEL TRAVEL ABL80020 LC 200 0 8 00 685 8 27 00 228 6 9 00 CONES CN ABL80030 LC 300 0 12 00 787 4 31 00 228 6 9 00 if e EEE E memor zeno fe Figure 1 4 ABL8000 Stage Dimensions LC Option www aerotech com Chapter 1 5 Overview ABL8000 User s Manual 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 Operators should be trained before operating this equipment DANGER Tominimize the possibility of electrical shock and bodily injury or death dis connect all electrical power prior to making any electrical connections DANGER Tominimize the possibility of electrical shock and bodily injury or death when any electrical circuit is in use ensure that no person comes in contact with the circuitry when the ABL8000 is connected to a power source DANGER Tominimize the possibility of bodily injury or death disconnect all electrical power prior to making any mechanical adjustments DANGER Moving parts of the ABL8000 can cause crushing or shearing injuries All per sonnel must remain clear of any moving parts WARNING If the ABL8000 is used in a manner not specified by the manufacturer the pro tection provided by the ABL8000 can be impa
13. PLY FITTING Figure 2 10 Air Fitting Location 16 Chapter 2 www aerotech com ABL8000 User s Manual Operating Specifications Chapter 3 Operating Specifications The surrounding environment and operating conditions can affect the performance and service life of the ABL8000 This chapter contains general technical information on ideal environmental operating and basic product specifications 3 1 Environmental Specifications The environmental specifications are listed in the table below Table 3 1 Environmental Specifications Ambient Operating 16 to 25 C 61 to 77 F Tem The optimal operating temperature is 20 C 2 C 68 F 4 F If at any time the operating tem perature perature deviates from 20 C degradation in performance could occur Contact Aerotech for information regarding your specific application and environment Storage 0 to 40 C 32 to 104 F in original shipping packaging Humidity Operating 40 percent to 60 percent RH The optimal operating humidity is 50 percent RH Storage 30 percent to 60 percent RH non condensing in original packaging 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 Contact Aerotech for information regarding your specific application Dust Expo ABL8000 stages are not suited to dusty or wet environments Thi
14. am Since they are open collector devices they may be interfaced to 24Volt logic inputs Each limit switch is mounted on a small printed circuit board Standard stages include limit switch wiring integrated into the feedback con nector Assuming an NC limit configuration the input to the controller is seen as a logic 0 usually 0 4V 12 8mA when no limit condition is present When the limit switch is activated a 5V source through a pull up resistor causes a logic 1 usually 4 8 5V to be seen by the controller input The limit switch operation for a NO limit configuration is the exact opposite as described above See Figure 3 4 for a diagram of limit switch wiring Normally Closed Normally Open 5V Pull Up Resistor Pull Up Resistor Limit Input Limit Input to Controller to Controller Normally Closed Normally Open Limit Switch NC Limit Switch NO Figure 3 4 Normally Closed NC and Normally Open NO Limit Switch Wiring www aerotech com Chapter 3 25 Operating Specifications ABL8000 User s Manual 3 6 Standard Motor Wiring The ABL8000 comes from the factory completely wired and assembled Each ABL8000 is shipped with doc umentation regarding the wiring controller interface connectors and specifications NOTE If you are using your own cables to connect the stage ensure that motor and ground wires can handle current higher than the continuous motor current listed in Section 3 3 The voltage rating of the wire in
15. ance of the ABL8000 coupled with the air on air bearing type results in a stage with out standing stiffness that is ideal for heavy or offset loading The brushless linear motor uses an ironless forcer which means there is zero cogging and no attractive forces resulting in unsurpassed smoothness of motion This is especially useful in applications where velocity control is important AIR BEARING SURFACES STAGE TABLE ya gt x et pro t CABLE MANAGEMENT MAGNET TRACK Figure 1 2 ABL8000 Series Stage 2 Chapter 1 www aerotech com ABL8000 User s Manual Overview 1 1 1 Optional Features The ABL8000 can be readily customized to meet the needs of individual applications Common examples include cable management for stage mounted payloads custom tabletops and granite bases Contact the Aerotech factory for details Table 1 1 Ordering Example ABL80050 LC M P NC LN50AS SINGLE CMS Mounting and Grid Pat Linear Travel mm Carriage tern Limits Encoder ABLBO Table 1 2 Model Numbers and Ordering Options NC LN50AS SINGLE CMS ABL8000 Series Linear Air Bearing Stage ABL80020 200 mm 8 in travel linear air bearing stage with linear motor and limits ABL80030 300 mm 12 in travel linear air bearing stage with linear motor and limits ABL80040 400 mm 16 in travel linear air bearing stage with linear motor and limits ABL80050 500 mm 20 in travel linear air bearing stage with linear
16. aterial and is voided forall laser power supplies plasma tubes and laser systems sub jectto 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 by the Return Procedure 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 of a return authorization number will be subject to review After Aerotech s examination warranty or out of warranty status will be determined If Returned Product War upon Aerotech s examination a warranted defect exists then the product s will be ranty Determination repaired at no charge and shipped prepaid back to the buyer If the buyer desires an airfreight return the product s will
17. ceeeeceeeeeees 7 Chapter 2 Installation occ coco coco ccoo conocio 9 2 1 Unpacking and Handling the Stage 10 2 2 Preparing the Mounting Surface 0c eee cece cece cece ee eeeeeeeeeeeeee 11 2 3 Securing the Stage to the Mounting Surface oooooooccccccccccccccccccccccccccccccnnocccccccnnos 12 2 4 Attaching the Payload to the Stage 0 2 2 c cece cece cece ccc ccc ccc cece cece cece ee eeeeees 14 2 5 Electrical Installation 2 2 2 2 2 00 22 ccc ec cccceeeeeccccccn eee e ccc c ccc eeeeeceeccecceeeteeeeees 14 2 6 Air Requirements es 16 Chapter 3 Operating Specifications 0 000 oo eee ce cece cece cee eec ec eee 17 3 1 Environmental Specifications 17 3 2 Accuracy and Temperature Effects 2 00000 222 c cece cece cece ccc RR err rrr 17 3 3 Basic Specifications 18 3 4 Load Capability 00000 e cece cece eee ceececccececcceeeeeeees 22 3 5 End of Travel ms 25 3 5 1 Limit Switch Operation 2 2 2 222 eee cece cece cece ccc ccceececceecceeeeeeeees 25 3 5 2 Limit Switch Wiring 000 0002222 ecco eee cece ccc ccc cc cece cee eese esee 25 3 6 Standard Motor Wiring 0 00000 cee eee cece eee eeeeeeeeeeeeeeeeeeeees 26 3 7 Vacuum Operation 27 Chapter 4 Maintenance occ ccoo aaao a coco Da P LA La a anaran 29 4 1 Service and Inspection Schedule 2 2 2 0 eee eee cece eccccceeececcccceeecccccceceeeeeccceeeees 29 4 2 C
18. compressed air is used to blow away small particles and dust All encoder surfaces and magnet tracks should be cleaned with isopropyl alcohol Aluminum hard coated metal surface may be cleaned with acetone Acetone should not be used on magnet tracks because it could break down the epoxy that holds the magnets in place Table 4 1 Recommended Cleaning Solvents em Recommended Cleaner Encoders Magnets Isopropyl Alcohol www aerotech com Chapter 4 29 Maintenance ABL8000 User s Manual 4 2 2 Cleaning Process It is recommended that all air bearing surfaces are cleaned often to prevent damage to the stage or decreased performance The entire stage should be blown with clean dry compressed air often to prevent dust from building up in the linear motors encoders and air bearing surfaces In order to clean the entire length of the air bearing surfaces and encoder scales it will be necessary to move the stage WARNING Do not attempt to move the stage s carriage or table top until the air supply detailed in Section 2 6 has been installed Moving the carriage without air supplied can cause permanent damage to the stage WARNING Moving the stage table without air supplied can cause permanent damage to the stage Refer to Section 2 6 for more information about air requirements and installation Begin with the stage at one end of travel and remove power Clean all accessible surfaces being sure that the correct solvent i
19. e Table 7 mm Figure 2 3 Surface Mounting Screws 7 Slide the air bearing carriage to the opposite end of travel and install the stage mounting screws in the exposed mounting holes As in step 6 do not tighten the screws yet but bring within 1 4 turn of 12 Chapter 2 www aerotech com ABL8000 User s Manual Installation engagement 8 Forsome travel lengths the central mounting points of the stage base might need to be accessed through holes in the stage carriage Slide the carriage to expose the central mounting holes and insert the mounting screws and washers Surface Mounting Holes e 7 Stage Table Stage Table mmm Figure 24 Mounting Holes in the Stage Table 9 Tighten the mounting screws begin from the center out for best accuracy The usual torque value for M6 socket head cap screws is 8 N m www aerotech com Chapter 2 13 Installation ABL8000 User s Manual 2 4 Attaching the Payload to the Stage To prevent damage to payloads test the operation of the stage before the payload is attached to the stage table Proceed with the electrical installation and test the motion control system in accordance with the sys tem documentation Document all results for future reference For information on electrical connections refer to Section 2 5 and the documentation delivered with the stage The payload should be flat rigid and comparable to the stage in quality NOTE For valid system performance th
20. e mounting interface should be flat within 1 um per 50 mm 2 5 Electrical Installation Aerotech motion control systems are adjusted at the factory for optimum performance When the ABL8000 is part of a complete Aerotech motion control system setup usually involves connecting a stage to the appro priate drive chassis with the cables provided Labels on the system components usually indicate the appro priate connections Refer to the appropriate system manuals and documentation for additional installation and operation infor mation If the system is uniquely configured a drawing showing system interconnects is supplied See Section 3 6 for standard wiring pin assignments MOTOR CONNECTOR ENCODER CONNECTOR Figure 2 5 Motor and Feedback Connections SINGLE CMS option 14 Chapter 2 www aerotech com ABL8000 User s Manual Installation LI LJ UPPER AXIS AIR LOWER AXIS AIR BEARING SUPPLY BEARING SUPPLY 9 o ol oL oL off o1fo1 27 m m e UPPER AXIS MOTOR LOWER AXIS MOTOR 1 s CONNECTOR Da CONNECTOR 11 call UPPER AXIS ENCODER B LOWER AXIS ENCODER CONNECTOR CONNECTOR Figure 2 6 Motor and Feedback Connections XY CMS option LESE Air Encoder and Motor connections for the upper and lower axes are the same as on the XY CMS option Air Encoder and Motor connections for the upper and yo lower axes are the same as on the XY CMS option O Ma DE di CUSTOMER AIR
21. erence If any damage has occurred during shipping report it immediately WARNING Improper handling could adversely affect the ABL8000 s performance Use care when moving the stage WARNING Do not attempt to move the stage s carriage or table top until the air supply detailed in Section 2 6 has been installed Moving the carriage without air supplied can cause permanent damage to the stage WARNING Do not attempt to move the ABL8000 s carriage or table top until the shipping brackets have been removed Moving the carriage with the shipping brackets installed can cause permanent damage to the ABL8000 gt gt gt 10 Chapter 2 www aerotech com ABL8000 User s Manual Installation 2 2 Preparing the Mounting Surface The mounting surface should be flat and have adequate stiffness in order to achieve the maximum per formance from the ABL8000 When an ABL8000 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 Adjustments to the mounting surface must be done before the stage is secured The effects of flatness on mounting are illustrated in Figure 2 2 NOTE To maintain accuracy the mounting surface should be flat within 1 um per 150 mm A laboratory grade AA granite surface plate is recommended Note the curved surface of the granite Mounting Surface Mounting Surface Figure 2 2 Results of Flat
22. es olution 4 Maximum load based on bearing capability maximum application load may be limited by acceleration requirements 5 Thermal limitations of positioning stage with respect to performance may limit continuous force output 6 Force may be limited by amplifier output 7 Available with Aerotech controllers 8 Requires environmental compensation 9 To protect air bearing against under pressure an in line pressure switch tied to controller EST OP input is recommended 10 Air supply must be clean dry to 0 F dewpoint and filtered to 0 25 um or better recommend nitrogen at 99 9 purity 11 Specifications are for single axis systems measured 50 mm above the tabletop Performance of multi axis systems is payload and workpoint dependent Consult factory for multi axis or non standard applications 18 Chapter 3 www aerotech com ABL8000 User s Manual Operating Specifications Table 3 3 Series Specifications ABL80050 ABL80100 ET soso ABL80075 ABL amp 0100 O Accuracy 7 Repeatability Bi Directional 1 Rd Bases 75aesee iOaesec Maximum Speed i 2 g 20 m s 768 in s no load Maximum Force continuous Load Capability Side LC 50 kg 110 Ib Operating Pressure 9 517 kPa 551 kPa 75 psi 80 psi Air Consumption Moving Mass eege Stage Mass keen Aluminum Mean Time Before Failure 30 000 Hours 1 Certified with each stage 2 Max upper axis length in XY configuration
23. hapter Failure to follow these instructions could result in injury and damage to the equipment www aerotech com Chapter 2 9 Installation ABL8000 User s Manual 2 1 Unpacking and Handling the Stage Carefully remove the ABL8000 from the protective shipping container Before operating the ABL8000 it is important to let the ABL8000 stabilize at room temperature for at least 12 hours Allowing the ABL8000 to sta bilize 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 ABL8000 on a smooth flat and clean surface ABL8000 stages come equipped 72 13 threaded holes in the base for use with eyebolts and lifting straps not provided If lifted by hand the stage should be lifted from the bottom of the base Do not attempt to lift or move the stage by the table cable brackets or end plates For multi axis assemblies always lift the system by the lower axis Lifting by the upper axis may disturb precision alignments on the system Eyebolt for lifting Shipping Bracket Figure 2 1 Lifting Features Each ABL8000 has a label listing the system part number and serial number These numbers contain infor mation necessary for maintaining or updating system hardware and software Locate this label and record the information for later ref
24. he Mounting Surface 11 Accuracy and Temperature Effects 17 S Air Requirement 18 safety procedures D Attaching the Payload 14 Securing the Stage to the Mounting Surface 12 Cc Specifications 18 Luuuuuuuuuuuuuu Cleaning 29 20 Standard Features 2 Cleaning Solvents 29 Standard Motor Wiring 26 D T Declaration of Incorporation 7 Technical Support Dimensions 4 _ ccecececececcecececececees U E Unpacking and Handling the Stage 10 Electrical Installation 14 V End of Travel Limits 28 Vacuum Operation 27 Environmental Specifications 17 W en RE Warnings DG l Inspection Schedule 29 Installation 9 Limit Switch Operation 25 Limit Switch Wiring 25 Load Capability 22 Lubrication 29 O Operating Specifications 17 Optional Features 3 Overview 1 www aerotech com Index 35 ABL8000 User s Manual Index 36 Index 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 fu
25. ired and result in damage shock injury or death WARNING Cables can pose a tripping hazard Securely mount and position all ABL8000 cables to avoid potential hazards WARNING Donot expose the ABL8000 to environments or conditions outside the spec ified range of operating environments Operation in conditions other than those specified can cause damage to the equipment WARNING The ABL8000 must be mounted securely Improper mounting can result in injury and damage to the equipment WARNING Usecare when moving the ABL8000 Manually lifting or transporting the ABL8000 can result in injury WARNING Only trained personnel should operate inspect and maintain the ABL8000 WARNING This ABL8000 is intended for light industrial manufacturing or laboratory use Use of the ABL8000 for unintended applications can result in injury and damage to the equip ment WARNING Before using this ABL8000 perform an operator risk assessment to determine the needed safety requirements gt bbbbbbbbbbb 6 Chapter 1 www aerotech com ABL8000 User s Manual Overview 1 4 EC Declaration of Incorporation Manufacturer Aerotech Inc 101 Zeta Drive Pittsburgh PA 15238 AEROTECH USA herewith declares that the product Aerotech Inc ABL8000 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 di
26. leaning and Lubrication 2 2 2 2 0 e cece cee eeeeeeeeeeeeeeeeeneeeeeeeceeeeseeueeeees 29 4 2 1 Recommended Cleaning Solvents 00 0 c ccc cece cece e eee e cece eee eeeeeeeeees 29 4 2 2 Cleaning Process 30 Appendix A Warranty and Field Service 31 Appendix B Revision History 0 0 0 200 c ccc e cece cee ec eee ececeecececcececeeceeeee 33 MASA EE 35 www aerotech com lii Table of Contents ABL8000 User s Manual List of Figures Figure 1 1 Figure 1 2 Figure 1 3 Figure 1 4 Figure 2 1 Figure 2 2 Figure 2 3 Figure 2 4 Figure 2 5 Figure 2 6 Figure 2 7 Figure 2 8 Figure 2 9 Figure 2 10 Figure 3 1 Figure 3 2 Figure 3 3 Figure 3 4 Typical ABL8000 Series Positioning Stage 1 ABL8000 Series Stage 2 0 2c cece ccccececccecccceecccceecccceeccceeecccereeceeeesceeeees 2 ABL8000 Stage Dimensions SC Option 4 ABL8000 Stage Dimensions LC Option 0 000 0000 c eee ccc ee eee eee neces 5 Lifting Features 10 Results of Flat Versus Non Flat Mounting Lssssseeeeeee ee nene 11 Surface Mounting Screws 2 22 22 eee ecee eee cccccccceecccccccceecccccccceeececccceeeeecececs 12 Mounting Holes in the Stage Table 02 c eee cee cece cece eee e eee ee eee eeee ees 13 Motor and Feedback Connections SINGLE CMS option 14 Motor and Feedback Connections XY CMS option 15 Motor and Feedback Connections XY CMS Customer Cable option
27. letop Centerline mm Figure 3 2 Cantilevered Load Capability LC Construction www aerotech com Chapter 3 23 Operating Specifications ABL8000 User s Manual Side Load Horizontal Load Figure 3 3 Cantilever Length Diagram 24 Chapter 3 www aerotech com ABL8000 User s Manual Operating Specifications 3 5 End of Travel Limits ABL8000 series stages are provided with End of Travel EOT limits These limits indicate to the motion con troller when the stage has reached its maximum useable travel in each direction 3 5 1 Limit Switch Operation EOT limits are integral to the encoder feedback read head and integrated into the feedback connector These outputs change state when the stage approaches its maximum travel distance and signals the motion con troller The ABL8000 stage limits operate as normally closed N C current sinking outputs WARNING If the ABL8000 is driven 3 5 mm beyond the electrical limit it will encounter a mechanical stop The shock absorber will attempt to slow the stage over an approximately 19 A mm stroke before contacting the mechanical stop Although the operating speed of the ABL8000 may be relatively slow impacting the mechanical stop could cause damage to the stage 3 5 2 Limit Switch Wiring Limit switches are open collector TTL compatible electro optical devices powered by 5 Volts that change output states when the stage approaches its maximum travel distance and breaks the light be
28. lly 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 manvfactures 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 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
29. ng Solvents ooccccccccccccccccccccccccccccncnnccn esee 29 www aerotech com V Table of Contents ABL8000 User s Manual vi www aerotech com ABL8000 User s Manual Overview Chapter 1 Overview This manual describes Aerotech s ABL8000 series of air bearing positioning stages Figure 1 1 shows a typ ical ABL8000 positioning stage The ABL8000 series stages supports travel distances ranging from 200 mm to 1000 mm The LC con struction of the ABL8000 has a long carriage that is optimized for load capacity and stiffness and it is typ ically used as the lower axis of an XY stage stack The SC construction has a short carriage and is typically used as the upper axis of an XY stage stack due to its lower mass than the LC construction This chapter introduces standard and optional features of the ABL8000 stages explains the model numbering system and gives general safety precautions Figure 1 1 Typical ABL8000 Series Positioning Stage www aerotech com Chapter 1 1 Overview ABL8000 User s Manual 1 1 Standard Features The ABL8000 stage incorporates completely non contact air bearing surfaces linear motors and feedback devices to provide a minimum maintenance stage There is no mechanical contact to wear or require lubri cation making these stages ideal for clean room and medical applications The ABL8000 incorporates air on air preload on both vertical and horizontal surfaces for enhanced bearing stiffness The wide st
30. ngs listed options may be superseded at any time Refer to the most recent edition of the Aerotech Motion Control Product Guide for the most current product information at www aerotech com 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 CD ROM or on www aerotech com NOTE This manual and any additional instructions included with the ABL8000 should be read in their entirety before operating the ABL8000 NOTE This product is intended for light industrial manufacturing or laboratory use Revision History 1 00 00 March 12 2012 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 com panies Copyright O 2012 Aerotech Inc All rights reserved ABL8000 User s Manual Table of Contents Table of Contents Table of Content iii LIST OF le iv R el E EE V Chapter 1 Overview ssssssssssssssIIRIR III IRI PALALA D ALLPA ALa a orana anan 1 1 1 Standard Features 2 1 1 1 Optional Features 3 1 2 Dimensions 4 1 3 Safety Procedures and Warnings 6 1 4 EC Declaration of Incorporation 2 2 0 2 2222 c cece cece ccc cece eee eee cccc
31. number of direct field sales and application engineering offices throughput North America and work with representatives across the globe Aerotech UK Corporate Hea Aerotech Germany Aerotech Japan Aerotech China dquarters Pittsburgh PA USA Sap q Ms Aerotech Taiwan Worldwide Training and Support Aerotech Inc U S A 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 nteractive training with experienced instructors Comfortable spacious facilities Installation and Start up Commissioning Startup and commissioning services minimize startup times 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
32. omer Cable Connection 1 2 Travel 1 2 Travel Of Travel amp 1 P Mtg M po sLelep sp s grep ers 113 8 4 48 o o 1 lo fo fo o fo o fo fe o i 31211291 4 PA E i ECH Lo 355 6 14 00 al 80 0 3 15 A e 486 4 19 15 pe BASIC TOTAL DIMENSIONS MILLIMETERS TRAVEL ABL80020 SC 200 0 8 00 533 4 21 00 177 8 7 00 SS ABL80030 SC 300 0 12 00 635 0 25 00 177870 6 3 LL lo tsensc 40009 16001 wegen zsemon 6 eooo sc 8000 1600 e362 e200 zsspon 6 Figure 1 3 ABL8000 Stage Dimensions LSC Option 4 Chapter 1 www aerotech com ABL8000 User s Manual Overview M8 1 25 Thru M8 1 25 Thd 375 16 Thru 406 4 16 00 375 16 Thd Stage Mtg EEN Holes D 355 6 14 00 Top Mig Holes 6 i 177 8 7 00 ENG li UNI re 177 8 7 00 Stage Air Line Connection Stage Motor Connection j RNC Stage Feedback Connection Customer Cable Connecti O so e s EEN gt 1 2Trvel pa ihe toes gt 12 Travel p d o B o Y A 113 8 4 48 A y i o o h Y jo fo fo fo o o o o o o o o fo 31 2 1 23 A wa 355 6 14 00 La 80 0 3 15 486 4 19 15 BASIC T
33. rective 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 Part 1 Principles EN 60204 1 2005 Safety of machinery Electrical equipment of machines Part 1 General requirements and further more declares that it is not allowed to put the equipment into service until the machinery into which it is to be incorporated or of which it is to be a component has been found and declared to be in conformity with the provisions of the Directive 2006 42 EC and with national implementing legislation i e as a whole including the equipment referred to in this Declaration Authorized Representative Manfred Besold Address Name Position Location Date AEROTECH GmbH S d West Park 90 D 90449 N mberg Cle Lil y ntes Weibel Engineer Verifying Compliance Pittsburgh PA September 2010 www aerotech com Chapter 1 7 Overview ABL8000 User s Manual 8 Chapter 1 www aerotech com ABL8000 User s Manual Installation Chapter 2 Installation This chapter describes the installation procedure for the ABL8000 stage including handling the stage pre paring the mounting surface to accept the stage securing the stage to the mounting surface attaching the payload and making the electrical connections WARNING Installation must follow the instructions in this c
34. s equates to an ingress pro sure tection rating of IPOO Use Indoor use only WARNING Do not expose the stage 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 Due to the small clearances in the air bearing design extreme temperature environments could cause a decrease in performance or permanent damage to the stage Standard Aerotech air bearing stages are designed for and built in a 20 C 68 F environment Stage travel changes linearly with temperature The thermal expansion coefficient for the encoder used for the ABL8000 stages is 7 5 ppm per C www aerotech com Chapter 3 17 Operating Specifications ABL8000 User s Manual 3 3 Basic Specifications For the most recent specifications see www aerotech com Table 3 2 Series Specifications ABL80020 ABL80040 A020 Astana Agang Accuracy M Rd 2aeses 3aeses 4acsec aw UN LT Maximum Acceleration Maximum Force SE ech Capability Horiz SC 70 kg 154 Ib C PKG SA O Side SC Side C Air Consumption SC 1c Moving Mass SC Mad 10 StageMass Lac beet ic 1 Certified with each stage 2 Max upper axis length in XY configuration is 400 mm 3 Maximum speed based on stage capability maximum application velocity may be limited by system data rate and system r
35. s used on each surface see Table 4 1 Once the cleaner has dried move the stage by hand to the opposite end of travel This should expose all previously covered surfaces Repeat the cleaning process and then restore power to the stage once all solvents have dried A 30 Chapter 4 www aerotech com ABL8000 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 materials or poor workmanship for a minimum period of one year from date of shipment from Aero tech 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 Aero tech 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 period Laser Products of one year from date of shipment This warranty covers defects in workmanship and m
36. st CP Soloist HLe 20 Chapter 3 www aerotech com ABL8000 User s Manual Operating Specifications Table 3 6 ABL8000 Series Motor Specifications BLM 142 BLM 264 Winding Designation Performance Specifications 1 5 Continuous Force 20 psi 1 4 bar 2 173 2 N 38 9 Ib 301 7 N 67 8 Ib SE Force no forced cooling 110 5 N 24 8 Ib 197 2 N 44 3 Ib Peak Force 9 692 7 N 155 7 Ib 1206 6 N 271 3 Ib Electrical Specifications 5 BEMF Constant line to line max 40 96 V m s 44 46 V m s 1 04 V in s 1 13 V in s Continuous Current 20 psi 1 4 bar 2 4 86 Amp pk Continuous Current no forced cooling P Peak Current Stall 9 Force Constant Sine Drive 4 8 35 63 N Amp pk 38 67 N Amp pk 8 01 Ib Amp pk 8 69 Ib Amp pk 50 39 N Amp rms 54 69 N Amp rms 11 33 Ib Amp rms 12 30 Ib Amp rms Motor Constant 2 4 10 53 N AW 16 39 N AW TT o gare UL Geen EE 1 Performance is dependent upon heat sink configuration system cooling conditions and ambient temperature 2 Values shown C rise above a 25 C ambient temperature 3 Peakforce assumes correct rms current consult Aerotech 4 Force constant and motor constant specified at stall 5 All performance and electrical specifications 10 6 Maximum winding temperature is C 7 Ambient operating temperature range 0 C 25 C consult Aerotech for performance in elevated ambient temperatures 8 All Aerotech amplifiers
37. sulation must be greater than the motor bus voltage listed in Section 3 3 Table 3 7 Motor Connector Pin Assignments Pin Description Connecter A1 MTR A Motor Phase A MTR B Motor Phase B MTR GC Motor Phase C 1 Shield for motor wiring connector Reserved Not Used Reserved Not Used 4 Reserved Not Used 5 Reserved Not Used Ground to stage base 26 Chapter 3 www aerotech com ABL8000 User s Manual Operating Specifications Table 3 8 Feedback Connector Pin Assignments Pin Labeli Description Connecter SIG SHLD Signal shield connection L2 thermistor Positive lead for motor thermistor to motion controller 5V supply input for optical encoders the typical requirement is 250 mA TTL line driven signal with EY morar travel length Usually used for home reference cycle HALL A Hall Effect A Brushless motor commutation track output PEA Eeer TTL line driven signal with rotary motor 12 Limit CW Signal indicating maximum travel produced by positive CW ET QN amplified sine wave type signal EOS N Incremental encoder output the compliment of COS 5V supply input for optical limit switch boards the typical requirement is 50 mA ambified sine wave type SEN ground to limit switch Common ground to encoder power 24 Limit CCW Signal indicating maximum travel produced by positive CW stage direction
Download Pdf Manuals
Related Search