ARMS Series Stage User`s Manual
Contents
1. 23 ARMS 150 12 Cantilevered Load 23 ARMS 150 37 Cantilevered Load 24 ARMS 200 56 Cantilevered Load 24 ARMS 200 80 Cantilevered Load 25 ARMS 260 100 Cantilevered Load 25 ARMS 260 146 Cantilevered Load 26 www aerotech com List of Figures vi ARMS Series Stage User s Manual www aerotech com ARMS Series Stage User s Manual List of Tables List of Tables Table 1 1 Model Numbering 2 Table 3 1 Environmental 19 Table 3 2 ARMS Series 21 Table 3 3 ARMS Motor 5 22 Table 3 4 Slip Ring Noise 27 T2. 5 39 www aerotech com lii Table of Contents ARMS Series Stage User s Manual 17 www aerotech com ARMS Series Stage User s Manual List Of Figures List of Figures Figure 1 1 Figure 1 2 Figure 1 3 Figure 1 4 Figure 1 5 Figure 1 6 Figure 1 7 Figure 2 1 Figure 2 2 Figure 2 3 Figure 3 1 Figure 3 2 Figure 3 3 Figure 3 4 Figure 3 5 Figure 3 6 Figure 3 7 ARMS 260 Rotary 1 ARMS 150 4 ARMS 150 LD 5 5 ARMS 200 6 ARMS 200 LD 5 7 ARMS 260 8 ARMS 260 LD 5 9 Results of Flat Versus Non Flat 14 Top View of an ARMS 260 Stage Showing Mounting 5 15 Side View of an ARMS 260 Stage Showing Tapped Mounting 5 16 Load Orientations
3. Figure 3 3 ARMS 150 37 Cantilevered Load Capability Load kg 0 100 200 300 400 500 Distance mm from Axis of Rotation Axial Distance mm from Tabletop Shaft Radial Figure 3 4 ARMS 200 56 Cantilevered Load Capability Chapter 3 www aerotech com ARMS Series Stage User s Manual Operating Specifications Load kg 0 100 200 300 400 500 Distance mm from Axis of Rotation Axial Distance mm from Tabletop Shaft Radial Figure 3 5 ARMS 200 80 Cantilevered Load Capability Load kg 0 100 200 300 400 500 Distance mm from Axis of Rotation Axial Distance mm from Tabletop Shaft Radial Figure 3 6 ARMS 260 100 Cantilevered Load Capability www aerotech com Chapter 3 25 Operating Specifications Load kg Figure 3 7 26 ARMS Series Stage User s Manual 0 100 200 300 400 500 Distance mm from Axis of Rotation Axial Distance mm from Tabletop Shaft Radial ARMS 260 146 Cantilevered Load Capability Chapter 3 www aerotech com ARMS Series Stage User s Manual Operating Specifications 3 4 Slip Ring Noise Specifications ARMS stages come equipped with a slip ring Multiple circuit versions are available as well as low noise options See Table 3 4 Table 3 4 Slip Ring Noise Specifications Noise Specification Standard Slip Ring lt 60 mOhms 3 5 Rotary Union ARMS stages can come equipped with or without a rotary union option The rotary union option may have on
4. EN ISO 12100 1 2 2003 A1 2009 Safety of machinery Basic concepts general principles for design ISO 14121 1 2007 Safety of machinery Risk assessment Par 1 Principles EN 60204 1 2005 Safety of machinery Electrical equipment of machines Part 1 General requirements and further more declares that it is not allowed to put the equipment into service until the machinery into which it is to be incorporated or of which it is to be a component has been found and declared to be in conformity with the provisions of the Directive 2006 42 EC and with national implementing legislation i e as a whole including the equipment referred to in this Declaration Authorized Representative Manfred Besold Address Name Position Location Date 12 AEROTECH GmbH S d West Park 90 D 90449 N mberg Alex Weibel Cb Engineer Verifying Compliance Pittsburgh PA April 7 2011 Chapter 1 www aerotech com ARMS Series Stage User s Manual Installation Chapter 2 Installation This chapter describes the installation procedure for the ARMS stage including handling the stage properly preparing the mounting surface securing the stage to the mounting surface attaching the payload and mak ing the electrical connections Installation must follow the instructions in this chapter Failure to follow these instructions could result in injury and damage to the equipment WARNING 2 1 Unpacking and Handling the St
5. a valid purchase order to cover the added rush service cost Rush service is subject to Aerotech s approval www aerotech com Appendix A 33 Warranty and Field Service On site Warranty Repair On site Non warranty 34 Repair Company Address ARMS Series Stage User s Manual If an Aerotech product cannot be made functional by telephone assistance or by sending and having the customer install replacement parts and cannot be returned to the Aerotech service center for repair and if Aerotech determines the problem could be warranty related then the following policy applies Aerotech will provide an on site field service representative in a reasonable amount of time provided that the customer issues a valid purchase order to Aerotech cov ering all transportation and subsistence costs For warranty field repairs the cus tomer will not be charged for the cost of labor and material If service is rendered at times other than normal work periods then special service rates apply If during the on site repair it is determined the problem is not warranty related then the terms and conditions stated in the following On Site Non Warranty Repair section apply If any Aerotech product cannot be made functional by telephone assistance or pur chased replacement parts and cannot be returned to the Aerotech service center for repair then the following field service policy applies Aerotech will provide an on site field service represe
6. payload www aerotech com Chapter 3 21 Operating Specifications ARMS Series Stage User s Manual Table 3 3 ARMS Motor Specifications Model 5 130 5 130 5 180 5 5 240 5 240 EX EM EX E Winding Designation Designation Performance Specifications 1 9 C C f 222 mer p sus mm 2000 Rated Power Output watts 493 4 5 1 9 9 200 3 Continuous Electrical Specifications 9 BEMF Constant line to Volts pk 75 1 300 2 263 9 393 4 404 3 607 2 line max krpm Stan 144 139 167 164 Torque Constant 4 9 N m 0 62 48 18 25 ECA 34 02 Amp pk in Ib 5 0 8 6 A Amp pk N m 0 88 3 51 3 08 4 60 4 72 7 09 Amp rms in Ib 7 8 31 0 27 3 40 7 41 8 62 8 Amp rms Fina raw 235 _ to line Pinductance inetoliney mH 170 170 260 290 430 _ P 18 1 18 18 2 25 1 Performance is dependent upon heat sink configuration system cooling conditions and ambient temperature 2 Values shown 75 C rise above a 25 C ambient temperature with housed motor mounted to a 330 mm x 330 mm x 13 mm alu minum heat sink 3 Peaktorque assumes correct rms current consult Aerotech 4 Torque Constant and Motor Constant specified at stall 5 All performance and electrical specifications 10 6 Losses due to bearings and aerodynamics considere
7. they may be put by the buyer where or not such use or purpose has been disclosed to Aerotech in specifications or drawings previously or sub sequently provided or whether or not Aerotech s products are specifically designed and or manufactured for buyer s use or purpose Aerotech s liability or any claim for loss or damage arising out of the sale resale or use of any of its prod ucts shall in no event exceed the selling price of the unit Aerotech Inc warrants its laser products to the original purchaser for a minimum Laser Products period of one year from date of shipment This warranty covers defects in work manship and material and is voided for all laser power supplies plasma tubes and laser systems subject to electrical or physical abuse tampering such as opening the housing or removal of the serial tag or improper operation as determined by Aerotech This warranty is also voided for failure to comply with Aerotech s return procedures Claims for shipment damage evident or concealed must be filed with the carrier Return Procedure by the buyer Aerotech must be notified within 30 days of shipment of incorrect materials No product may be returned whether in warranty or out of warranty with out first obtaining approval from Aerotech No credit will be given nor repairs made for products returned without such approval Any returned product s must be accompanied by a return authorization number The return authorization num
8. 200 80 248 0 265 1 100 0 T SLOT DETAIL ARMS 8 PLACES TYP Figure 1 5 ARMS 200 LD Dimensions www aerotech com Chapter 1 7 Overview ARMS Series Stage User s Manual 1 2 5 ARMS 260 SEE T SLOT DETAIL 25MM DIA OPTIONAL APERTURE NOT AVAILABLE WITH ROTARY UNION OR LOW NOISE SLIP RING OPTION 25 PIN FEMALE SUB D CONNECTORS 48 CIRCUIT SLIP RING OPTION SHOWN 25 0 1 00 SPACING TYP M6x1 1 4 20 THD COMPRESSION FITTING X7 0 DP FOR 1 4 O D TUBING CUSTOMER MTG 2 PORT ROTARY HOLES UNION OPTION SHOWN 36 PLACES 256 3 M6x1 THD X SLIP RING CONNECTORS 25 PIN MALE SUB D CONNECTORS a MOTOR CONNECTOR MALE HIGH POWERED SUB D CONNECTOR COMPRESSION FITTINGS FOR 1 4 0 0 TUBING FEEDBACK CONNECTOR 2 PORT ROTARY 25 PIN MALE SUB D UNION OPTION SHOWN CONNECTOR DIMENSIONS MILLIMETERS 9 5 p 45 BASIC MODEL B C D ARMS 260 100 SRNG24 24LN 229 0 248 6 80 0 28 6 I3 ARMS 260 100 SRNG48 48LN 229 0 248 6 80 0 28 6 T ARMS 260 100 SRNG72 70LN 279 0 298 6 80 0 78 6 65 15 0 ARMS 260 100 SRNG96 90LN 329 0 348 6 80 0 128 6 ARMS 260 146 SRNG24 24LN 250 0 269 6 100 0 28 6 T SLOT DETAIL ARMS 260 146 SRNG48 48LN 250 0 269 6 100 0 28 6 8 PLACES ARMS 260 146 SRNG72 70LN 279 0 298 6 100 0 57 6 ARMS 260 146 SRNG96 90LN 329 0 348 6 100 0 100 6 Figure 1 6 ARMS 260 Dimensio
9. ARMS Series Stage User s Manual P N EDS135 Revision 1 02 00 M m E il 3 20 60 1 7 5 260 Dedicated to the Science of Motion Aerotech Inc 101 Zeta Drive 9 Pittsburgh PA 15238 Phone 412 963 7470 Fax 412 963 7459 www aerotech com Product Registration Technical Support Revision History Register online at http www aerotech com prodreg cfm United States Headquarters Phone 412 967 6440 Fax 412 967 6870 Email service aerotech com United Kingdom Phone 44 118 940 9400 Fax 44 118 940 9401 Email service aerotech co uk Germany Phone 49 911 967 9370 Fax 49 911 967 93720 Email service aerotechgmbh de Japan Phone 81 0 47 489 1741 Sales Phone 81 0 47 489 1742 Service Fax 81 0 47 489 1743 Email service aerotechkk com jp China Phone 852 3793 3488 Email saleschina aerotech com Revision 1 02 00 April 7 2011 Revision 1 01 00 March 2 2011 Revision 1 00 00 December 10 2008 Product names mentioned herein are used for identification purposes only and may be trademarks of their respective companies Aerotech Inc 2011 ARMS Series Stage User s Manual Table of Contents Table of Contents Tableor Contents iii 6 ERR EE Eist or I ee een vii Ch
10. FOR 1 4 O D TUBING 2 PORT ROTARY UNION OPTION SHOWN 8MM DIA OPTIONAL APERTURE NOT AVAILABLE WITH ROTARY UNION OR LOW NOISE SLIP RING OPTION 15 PIN FEMALE SUB D CONNECTOR 24 CIRCUIT SLIP RING OPTION SHOWN M6x1 THD X 6 0DP 4 HOLES 3 SIDES TYP MALE HIGH POWERED SUB D CONNECTOR FEEDBACK CONNECTOR 25 PIN MALE SUB D CONNECTOR 9 6 _ 45 Ni 6 5 15 0 T SLOT DETAIL 8 PLACES TYP 664 211 0 SLIP RING CONNECTORS 15 PIN MALE SUB D CONNECTORS COMPRESSION FITTINGS FOR 1 4 O D TUBING 2 PORT ROTARY UNION OPTION SHOWN DIMENSIONS MILLIMETERS BASIC MODEL A c ARMS 150 12 183 0 200 1 60 0 ARMS 150 37 246 0 263 1 120 0 Figure 1 3 ARMS 150 LD Dimensions www aerotech com Chapter 1 Overview Overview ARMS Series Stage User s Manual 1 2 3 ARMS 200 196 2 SQ SEE T SLOT DETAIL 8MM DIA OPTIONAL APERTURE NOT AVAILABLE WITH ROTARY UNION OR LOW NOISE SLIP RING OPTION 15 PIN FEMALE SUB D CONNECTORS 56 CIRCUIT SLIP RING OPTION SHOWN 25 0 1 00 SPACING TYP M x1 1 4 20 THD COMPRESSION FITTING X7 0 DP FOR 1 4 O D TUBING CUSTOMER MTG 2 PORT ROTARY HOLES UNION OPTION SHOWN 16 PLACES SLIP RING CONNECTORS 15 PIN MALE SUB D CONNECTORS COMPRESSION FITTINGS FOR 1 4 O D TUBING MO
11. Series Stage User s Manual 1 3 Safety Procedures and Warnings The following statements apply throughout this manual Failure to observe these precautions could result in serious injury to those performing the procedures and damage to the equipment This manual and any additional instructions included with the stage should be retained for the lifetime of the stage A DANGER gt DANGER gt DANGER gt DANGER WARNING WARNING WARNING minimize the possibility of electrical shock and bodily injury or death disconnect all elec trical power prior to making any electrical connections To minimize the possibility of electrical shock and bodily injury or death when any electrical circuit is in use ensure that no person comes in contact with the circuitry when the stage is connected to a power source To minimize the possibility of bodily injury or death disconnect all electrical power prior to making any mechanical adjustments Moving parts of the stage can cause crushing or shearing injuries All personnel must remain clear of any moving parts Improper use of the stage can cause damage shock injury or death Read and understand this manual before operating the stage If the stage is used in a manner not specified by the manufacturer the protection provided by the stage can be impaired Stage cables can pose a tripping hazard Securely mount and position all stage cables to avoid po
12. TOR CONNECTOR 2 PORT ROTARY MALE HIGH POWERED UNION OPTION SHOWN SUB D CONNECTOR FEEDBACK CONNECTOR E 25 PIN MALE SUB D E CONNECTOR KR 45 um DIMENSIONS MILLIMETERS 65 450 BASICMODEL A B c ARMS 200556 2230 2401 800 T SLOT DETAIL B PLACES ARMS 200 80 2480 2651 1000 Figure 1 4 ARMS 200 Dimensions 6 Chapter 1 www aerotech com ARMS Series Stage User s Manual Overview 1 2 4 ARMS 200 LD 8MM DIA OPTIONAL APERTURE NOT AVAILABLE WITH ROTARY UNION OR LOW NOISE SLIP RING OPTION 15 PIN FEMALE SUB D CONNECTORS 56 CIRCUIT SLIP RING OPTION SHOWN 25 0 1 00 SPACING TYP oe o o o e 8 Ns COMPRESSION FITTING CUSTOMER MTG FOR 1 4 O D TUBING HOLES 2 PORT ROTARY 36 PLACES UNION OPTION SHOWN SLIP RING CONNECTORS 15 PIN MALE SUB D CONNECTORS 1 THD X 6 0 DP 4 HOLES 3 SIDES TYP 100 0 T SLOT SPACING TYP COMPRESSION FITTINGS MOTOR CONNECTOR FOR 1 4 0 0 TUBING MALE HIGH POWERED 2 PORT ROTARY SUB D CONNECTOR SATON OFTON FEEDBACK CONNECTOR 25 PIN MALE SUB D 9 5 CONNECTOR AM 45 DIMENSIONS MILLIMETERS 1 BASIC MODEL A 65 E z 450 ARMS 200 56 223 0 240 1 80 0 5
13. Tapped Mounting Holes AEROTECH hu d Figure 2 3 Side View ofan ARMS 260 Stage Showing Tapped Mounting Holes 16 Chapter 2 www aerotech com ARMS Series Stage User s Manual Installation 2 4 Attaching the Payload to the Stage To prevent damage to the stage or parts test the operation of the stage before any payload is mounted to the stage tabletop Proceed with the electrical installation and test the motion control system in accordance with the system documentation Document all results for future reference For information on electrical con nections refer to the documentation of the motion control system or the wiring drawings in Chapter 3 Oper ating Specifications 2 5 Electrical Installation Aerotech motion control systems are adjusted at the factory for optimum performance When the ARMS series stage is part of acomplete Aerotech motion control system setup involves connecting the stage to the appropriate drive chassis with the cables provided Connect the provided cables to the feedback and motor connectors shown in Figure 1 1 Labels on the drive indicate the appropriate connections Refer to your drive manuals and documentation for additional installation and operation information In some cases if the sys tem is uniquely configured a drawing showing system interconnects is supplied Connector pin outs for the feedback and motor connectors are given in Section 3 7 Never connect or disconnect any electrical compone
14. able 3 5 Standard Wiring Connectors for ARMS 200MP 250MP and 300MP Stages 28 Table 3 6 Motor Wiring Pinout 5 29 Table B 1 Current Changes 1 02 00 35 Table B 2 Archived 36 www aerotech com vii List of Tables ARMS Series Stage User s Manual viii www aerotech com ARMS Series Stage User s Manual Overview Chapter 1 Overview This chapter introduces standard and optional features of the ARMS stages explains the model numbering system and gives general safety precautions 1 1 Standard Features All ARMS stages include a direct drive brushless motor The ARMS is designed to provide superior angular rates accelerations and positioning for the testing of inertial components and systems such as MEMS gyro scopes and accelerometers The direct drive design is optimum for continuous production environments due to the maintenance free design of the motor ARMS stages use a 1 Vpp sine wave output feedback device The stage design also creates outstanding velocity and positioning control Low inertia and zero backlash make the ARMS the ideal solution for applications requiring frequent directional changes 1 1 1 Optional Features ARMS stages can incorporate a center apertu
15. age Carefully remove the stage from the protective shipping container Blow the stage off with compressed nitrogen or clean dry air Before operating the stage it is important to let the stage stabilize at room tem perature for at least 12 hours Set the stage on a smooth flat and clean surface Each stage has a label listing the system part number and serial number These numbers contain information necessary for maintaining or updating system hardware and software Locate this label and record the infor mation for later reference If any damage has occurred during shipping report it immediately Improper stage handling could adversely affect the stage s performance Use care when moving the stage Manually lifting or transporting the stage can cause injury WARNING Lift the stage only by the base Do not use the tabletop or wiring connections to support the stage WARNING www aerotech com Chapter 2 13 Installation ARMS Series Stage User s Manual 2 2 Preparing the Mounting Surface The mounting surface should be flat and have adequate stiffness in order to achieve the maximum per formance from the ARMS When a stage 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 To maintain accuracy the mounting surface should be flat within per 50mm Adjustments to the mounting surface must be done before the sta
16. apter 1 Overview 1 1 1 Standard 1 11 1 Optional Features 2 2 lt 2 is e cba 1 1 1 2 Model 5 2 LE DIMENSIOMS cites cosh nk cg RETE 4 T2 PAR tees ieee E Aeterna 4 1 2 2 ARMS 150 LD dane EEEn 5 1 2 3 200 6 1 2 4 ARMS 200 se ee Sons 7 1 2 5 260 8 1 2 6 ARMS 260 LD 2 ues nad 9 1 3 Safety Procedures and 5 10 1 4 EC Declaration of 12 Chapter 2 Installation 13 2 1 Unpacking and Handling the 5 13 2 2 Preparing the Mounting 14 2 3 Securing the Stage to the Mounting 0000000000000100 15 2 4 Attaching the Payload to the 17 2 5 Ele
17. ber may be obtained by calling an Aerotech service center Products must be returned prepaid to an Aerotech service center no C O D or Collect Freight accepted The status of any product returned later than 30 days after the issuance of a return authorization number will be subject to review After Aerotech s examination warranty or out of warranty status will be deter Returned Product War mined If upon Aerotech s examination a warranted defect exists then the prod ranty Determination uct s will be repaired at no charge and shipped prepaid back to the buyer If the buyer desires an airfreight return the product s will be shipped collect Warranty repairs do not extend the original warranty period After Aerotech s examination the buyer shall be notified of the repair cost At such Returned Product time the buyer must issue a valid purchase order to cover the cost of the repair and Non warranty Deter freight or authorize the product s to be shipped back as is at the buyer s mination expense Failure to obtain a purchase order number or approval within 30 days of notification will result in the product s being returned as is at the buyer s expense Repair work is warranted for 90 days from date of shipment Replacement com ponents are warranted for one year from date of shipment At times the buyer may desire to expedite a repair Regardless of warranty orout Rush Service of warranty status the buyer must issue
18. bration Use the system in a low vibration environment Excessive floor or acoustical vibration can affect stage and system performance Contact Aerotech for information regarding your specific appli cation Dust Expo The ARMS stages are not suited for dusty or wet environments This equates to an ingress pro sure Humidity Operating 40 percent to 60 percent RH The optimal operating humidity is 50 percent RH tection rating of IP30 Indoor use only Do not expose the stage to environments or conditions outside the specified range of oper ating environments Operation in conditions other than those specified can cause damage to the equipment WARNING www aerotech com Chapter 3 19 Operating Specifications ARMS Series Stage User s Manual 3 2 Basic Specifications The ARMS series rotary stage specifications are shown in Table 3 2 20 Chapter 3 www aerotech com ARMS Series Stage User s Manual Operating Specifications Table 3 2 ARMS Series Specifications ARMS ARMS ARMS ARMS ARMS 150 37 200 56 200 80 260 100 260 146 ARMS Series Wit Motor S 130 39 5 130 5 180 69 5 180 94 S 240 63 5 240 83 102 5 8 4 1 Bus Voltage Up to 320 VDC Peak Torque 11 7 N m 37 4 N m 55 6 N m 80 0 N m 100 N m 146 N m Continuous Torque 13 7 N m 199N m 249 N m 36 5 N m Resolution 0 04 4 arc sec 0 03 3 arc sec 0 02 2 arc sec Fundamental Encoder 16 200 lines rev 23 600 lines rev 32 400 lines rev Res
19. ctrical Installation 17 Chapter 3 Operating Specifications 19 3 1 Environmental 19 3 2 Basic Specifications 20 3 3 Load Capability 23 3 4 Slip Ring Noise 27 3 5 Rotary UNION 27 3 6 Limit Switch Wiring 27 3 7 Standard Motor 28 3 8 Vacuum Operation 29 Chapter 4 31 4 1 Service and Inspection Schedule 2 2 2 2 cece cece ccccececececccccceececccceeeeeeeccceeees 31 4 1 1 Field Service 31 4 2 Cleaning and 31 4 2 1 Recommended Cleaning 31 Appendix A Warranty and Field Service 33 Appendix B Technical 35 NOR MEER RE 37 Reader s
20. d negligible 7 Maximum winding temperature is 100 C Thermistor trips at 100 C 8 Ambient operating temperature range 0 C 25 C consult Aerotech for performance in elevated ambient temperatures 9 All Aerotech amplifiers are rated use torque constant in N m Apk when sizing 22 Chapter 3 www aerotech com ARMS Series Stage User s Manual Operating Specifications 3 3 Load Capability It is recommended that application loads be symmetrically distributed whenever possible i e 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 of the ARMS stages can be seen in the following figures Can tilevered loads are also referred to in these figures For cantilevered loads it must first be determined if the stage is loaded axially or radially See Figure 3 1 to determine Figure 3 1 Load Orientations Load kg 0 50 100 150 200 250 300 Distance mm from Axis of Rotation Axial Distance mm from Tabletop Shaft Radial Figure 3 2 ARMS 150 12 Cantilevered Load Capability www aerotech com Chapter 3 23 24 Operating Specifications ARMS Series Stage User s Manual Load kg 0 50 100 150 200 250 300 Distance mm from Axis of Rotation Axial Distance mm from Tabletop Shaft Radial
21. e 1 or two 2 lines for air vacuum or fluid However no aperture can be ordered with a rotary union The max imum pressure is 250 psi 3 6 Limit Switch Wiring Standard ARMS stages do not include end of travel limits Please consult the factory fora custom solution www aerotech com Chapter 3 27 Operating Specifications ARMS Series Stage User s Manual 3 7 Standard Motor Wiring Stages come from the factory completely wired and assembled For reference connector pin outputs pin outs and general wiring information are given in the following figures Pinouts are defined in Table 3 6 N OTE Refer to the other documentation accompanying your Aerotech equipment Call your Aerotech rep resentative if there are any questions on system configuration N OTE If you are using your own cables to connect the stage ensure that motor and ground wires can handle current higher than the continuous current listed in Table 3 3 The voltage rating of the wire insulation must be greater than the maximum bus voltage listed in Table 3 3 Table 3 5 Standard Wiring Connectors for ARMS 200MP 250MP and 300MP Stages 1 5 9 13 el WHYS 14 18 25 ENC 5V H MKR N RESERVED A 28 3 www aerotech com ARMS Series Stage User s Manual Operating Specifications Table 3 6 Motor Wiring Pinout Descriptions PinOuput Description B Hall Effect B Brushless motor commutation trac
22. e be specific or cite examples C T seria erp Name Aerotech Subsidiary Email Order Maiyourcommentsto Farto Aerotech Inc 412 967 6870 101 Zeta Drive Pittsburgh PA 15238 U S A service aerotech com
23. ge is secured The effects of flatness on mounting are illustrated in Figure 2 1 Flat Mounting Surface Non flat Mounting Surface Figure 2 1 Results of Flat Versus Non Flat Mounting NOTE The stage base is precision machined and verified for flatness prior to stage assembly at the fac tory If machining is required to achieve the desired flatness it should be performed on the mounting sur face rather than the stage base Shimming should be avoided if possible If shimming is required it should be minimized to improve the rigidity of the system 14 Chapter 2 www aerotech com ARMS Series Stage User s Manual Installation 2 3 Securing the Stage to the Mounting Surface ARMS series stages have numerous mounting holes available to secure the stage to a mounting surface Fig ure 2 2 shows the main mounting holes in the base of the stage These counterbored holes are designed for or socket head cap screws depending on the stage size The sides of the stage are also equipped with several M6 x 1 0 tapped holes with reinforced threaded inserts These can be used for stage or fixture mounting depending on customer requirements The stage must be mounted securely Improper mounting can result in injury and damage to the equipment WARNING Counterbored Mounting Holes Figure 2 2 Top View of an ARMS 260 Stage Showing Mounting Holes Www aerotech com Chapter 2 15 Installation ARMS Series Stage User s Manual
24. ications 20 Cleaning Solvents Standard 1 Recommended 31 U D Unpacking and Handling the Stage 13 Declaration 1 12 5 0 4 Vacuum 29 Electrical 17 10 Environmental 19 F Field Service ace 31 L limit switches 27 Lubrication ecol tuer tees 31 M model 5 13 Optional 5 1 Preparing the Mounting Surface 14 www aerotech com Index 37 ARMS Series Stage User s Manual Index 38 Index www aerotech com Reader s Comments ARMS Series Stage Manual P N EDS135 April 7 2011 Revision 1 02 00 Please answer the questions below and add any suggestions for improving this doc ument Is the manual Adequate to the subject Well organized Clearly presented Well illustrated i How do you use this document in your job Does it meet your needs What improvements if any would you like to see Pleas
25. ip ring and 2 rotary union lines Aerotech continually improves its product offerings and listed options may be superseded at any time Refer to the most recent edition of the Aerotech Motion Control Product Guide for the most current product infor mation at www aerotech com Table 1 1 Model Numbering System Standard diameter tabletop with engraved markings every 1 and metric dimension mounting pattern and holes Standard diameter tabletop with engraved markings every 1 and English dimension mounting pattern and holes sion mounting pattern and holes Standard diameter tabletop with aperture engraved markings ever 1 and English dimen sion mounting pattern and holes MLD Large diameter tabletop with metric dimension mounting pattern and holes Large diameter tabletop with English dimension mounting pattern and holes MLDA Large diameter tabletop with aperture and metric dimension mounting pattern and holes ULDA Large diameter tabletop with aperture and English dimension mounting pattern and holes Position Transducer RTAS Standard feedback device 1Vpp sine wave output 32 400 cycles per rev on ARMS 260 23 600 cycles per rev on ARMS 200 16 200 cycles per rev on ARMS 150 Standard diameter tabletop with aperture engraved markings ever 1 and metric dimen MD 2 Chapter 1 www aerotech com ARMS Series Stage User s Manual Overview Table 1 1 Model Numbering System continued SRNG36 SRNG24LN 24 low elect
26. k output TTL line driven signal with rotary motor Hall Effect C Brushless motor commutation track output TTL line driven signal with rotary motor LMT 5v 5 V supply input for optical limit switch boards Typical requirement is 50 mA LMT COM Common ground for limit switch MKR Marker Incremental encoder output pulse given once per revolution Typically used for home reference cycle MKR N Incremental encoder output either the compliment of Marker with a line driven TTL type encoder or 2 5 V DC bias level with amplified sine wave type encoder 3 8 Vacuum Operation H H H A Hall Effect A Brushless motor commutation track output TTL line driven signal with rotary motor T if ENC 5V 5 V supply input for optical encoders Typical requirement is 250 mA Contact the factory for information regarding operation in a vacuum environment www aerotech com Chapter 3 29 Operating Specifications ARMS Series Stage User s Manual 30 Chapter 3 www aerotech com ARMS Series Stage User s Manual Maintenance Chapter 4 Maintenance The ARMS series stages are designed to be maintenance free positioning systems Periodic cleaning is rec ommended To minimize the possibility of bodily injury confirm that all electrical power is disconnected prior to making any mechanical adjustments DANGER 4 1 Service and Inspection Schedule It is recommended that the ARMS stage be inspected once per month un
27. ns 8 Chapter 1 www aerotech com ARMS Series Stage User s Manual Overview 1 2 6 ARMS 260 LD 25MM DIA OPTIONAL APERTURE NOT AVAILABLE WITH ROTARY UNION OR LOW NOISE SLIP RING OPTION 25 PIN FEMALE SUB D CONNECTORS 48 CIRCUIT SLIP RING OPTION SHOWN 25 0 1 00 SPACING TYP 00000000 TABLETOP MLD ULD M6x1 1 4 20 THD COMPRESSION FITTING X7 0 DP FOR 1 4 0 0 TUBING CUSTOMER MTG 2 PORT ROTARY HOLES UNION OPTION SHOWN 64 PLACES 305 0 TABLETOP M x1 THD X 6 0 DP m SLIP RING CONNECTORS 4 HOLES 25 PIN MALE SUB D CONNECTORS 3 SIDES TYP MOTOR CONNECTOR MALE HIGH POWERED SUB D CONNECTOR COMPRESSION FITTINGS FOR 1 4 O D TUBING FEEDBACK CONNECTOR 2 PORT ROTARY 25 PIN MALE SUB D UNION OPTION SHOWN CONNECTOR DIMENSIONS MILLIMETERS 23 8 2 BASIC MODEL a D E ARMS 260 100 SRNG24 24LN 229 0 248 6 80 0 286 rT ARMS 260 100 SRNG48 48LN 229 0 248 6 80 0 286 To ARMS 260 100 SRNG72 70LN 279 0 298 6 80 0 78 6 16 3 ps 375 ARMS 260 100 SRNG96 90LN 329 0 348 6 80 0 128 6 ARMS 260 146 SRNG24 24LN 250 0 269 6 100 0 28 6 T SLOT DETAIL ARMS 260 146 SRNGAB 48LN 250 0 269 6 100 0 28 6 B PLACES TYP ARMS 260 146 SRNG72 70LN 279 0 298 6 100 0 57 6 ARMS 260 146 SRNGO6 90LN 329 0 348 6 100 0 100 6 Figure 1 7 ARMS 260 LD Dimensions Www aerotech com Chapter 1 9 Overview 1 ARMS
28. nt or connecting cable while power is applied or serious damage may result WARNING The stage s protective ground is located on pin A4 of the motor connector If you are using cables other than those provided by Aerotech you must connect pin A4 to a ground con nection WARNING www aerotech com Chapter 2 17 Installation ARMS Series Stage User s Manual 18 Chapter 2 www aerotech com ARMS Series Stage User s Manual Operating Specifications Chapter 3 Operating Specifications This chapter contains general technical information about ARMS series stages Included are basic product specifications resolution information and motor wiring diagrams 3 1 Environmental Specifications The environmental specifications for the ARMS 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 2 68 4 If at any time the operating tem perature deviates from 20 C degradation in performance could occur Contact Aerotech for information regarding your specific application and environment Storage 0 to 40 C 32 to 104 F in original shipping packaging Storage 30 percent to 60 percent RH non condensing in original packaging Altitude Operating 0 to 2 000 m 0 to 6 562 ft above sea level Contact Aerotech if your specific application involves use above 2 000 m or below sea level Vi
29. ntative in a reasonable amount of time provided that the customer issues a valid purchase order to Aerotech cov ering all transportation and subsistence costs and the prevailing labor cost includ ing travel time necessary to complete the repair Aerotech Inc Phone 412 963 7470 101 Zeta Drive Pittsburgh PA Fax 412 963 7459 15238 2897 Appendix A www aerotech com ARMS Series Stage User s Manual Technical Changes Appendix B Technical Changes Table B 1 Current Changes 1 02 00 Section s Affected General Information Section 3 7 Changed pin 8 to reserved www aerotech com Appendix B 35 Technical Changes ARMS Series Stage User s Manual Table B 2 Archived Changes 1000 1 01 00 Chapter 2 Installation Sec Safety information and warnings added tion 2 1 Section 2 3 Sec tion 2 5 and Section 1 3 1 01 00 Section 3 2 Motor specifications added 1 01 00 Section 3 7 Note about wire current and voltage requirements added 36 Appendix B www aerotech com Index ARMS Series Stage User s Manual Index R A Rotary 27 Attaching the Payload 17 E safety 10 17 Securing the Stage to the Mounting Surface 15 31 IA 27 Cleaning 31 Specif
30. olution Accuracy calibrated 2 5 arc sec Repeatability 0 5 arc sec Max Load 3 30 kg 140 kg 175 N m 425 N m Wobble 1 arc sec Maximum Rate 4 1500 s Minimum Rate 5 0 002 s Rate Resolution 9 0 002 s Rate Stability 0 0001 Over 10 0 005 Over 1 0 05 Peak Acceleration 6 gt 20 000 s2 Inertia unloaded 6 6 600 kg 9 700 kg 33 600kg 115 200 139 000 mm mm mm kg mm kg mm kg mm T 9 Servo Bandwidth 7 gt 70 Hz dB Material Aluminum Black Anodize Hard Coating 62 Rockwell Hardness A 4 2 0 001 s 0 001 s Stage Finish Tabletop Finish 1 Height may vary with certain slip ring and rotary union options See product dimensional drawings for more details 2 Aperture not available with all slip ring and rotary union options See ordering information for more details 3 Maximum loads are mutually exclusive 4 Maximum rate is based on stage capability Actual rate may depend on encoder resolution load amplifier bus voltage and motor See the S series rotary motor for more information 5 Minimum rate rate resolution and rate accuracy are based on stage capability Actual rate resolution and accuracy may depend on encoder resolution 6 Peak acceleration inertia and total mass based on unloaded stage with standard diameter tabletop 7 Servo bandwidth is based on unloaded stage with standard diameter tabletop Actual bandwidth may depend on mass and inertia of stage
31. re For ARMS 150 and 200 the aperture is 8mm in diameter For ARMS 260 the aperture is 25mm in diameter However apertures are not available for stages requiring a rotary union or a low noise slip ring The tabletops can be built with either metric or English hole patterns and the tabletop size can be either standard diameter or large diameter The mounting holes are designed for met ric screws on a metric pattern The hole patterns are 125mm SQ 170mm SQ and 230mm SQ respectively for the ARMS 150 ARMS 200 and ARMS 260 Two motor size options are available for each stage size depending on torque requirements Multiple slip ring and rotary union options are also available for each stage size EA Connector e Slip Ring x Connectors Feedback Connector 1 4 in Compression Fitting Rotary Union Line Figure 1 1 ARMS 260 Rotary Stages www aerotech com Chapter 1 1 Overview ARMS Series Stage User s Manual 1 1 2 Model Numbers The stage model number indicates the optional features on a particular stage To determine the options on your stage refer to Table 1 1 for an explanation of the numbering system Example ARMS 260 M 146 RTAS SRNG48 RU2 This designates an ARMS 260 direct drive rotary motion simulator with 146 N m 108 ft lb motor standard diameter tabletop with metric dimension mounting pattern and engraved marking every 1 standard feed back device of 1 Vpp sine wave output and 32 400 cycles per rev 48 line sl
32. rical noise lines rated at 2 A max 1 A max ARMS 150 and 200 no aperture option www aerotech com Chapter 1 3 ARMS Series Stage User s Manual Overview 1 2 Dimensions 1 2 1 ARMS 150 2 PORT ROTARY UNION OPTION SHOWN 8MM DIA OPTIONAL APERTURE NOT AVAILABLE WITH ROTARY UNION OR LOW NOISE SLIP RING OPTION 15 PIN FEMALE SUB D CONNECTORS SEE T SLOT DETAIL 24 CIRCUIT SLIP RING OPTION SHOWN E ef SI 27 o HU ON 186 3 M6x1 1 4 20 THD 7 0 DP CUSTOMER MTG HOLES 8 PLACES 25 0 M6x1 THD X 6 0 DP 4 HOLES 3 SIDES TYP COMPRESSION FITTING FOR 1 4 O D TUBING MOTOR CONNECTOR MALE HIGH POWERED SUB D CONNECTOR SLIP RING CONNECTORS 15 PIN MALE SUB D CONNECTORS FEEDBACK CONNECTOR 25 PIN MALE SUB D CONNECTOR COMPRESSION FITTINGS FOR 1 4 0 0 TUBING 2 PORT ROTARY UNION OPTION SHOWN 9 5 _ 45 DIMENSIONS MILLIMETERS BASIC MODEL B K ARMS 150 12 183 0 200 1 60 0 A ARMS 150 37 2460 263 1 120 0 6 5 15 0 T SLOT DETAIL 8 PLACES TYP Figure 1 2 ARMS 150 Dimensions Chapter 1 www aerotech com ARMS Series Stage User s Manual 1 2 2 ARMS 150 LD TABLETOP MLD ULD 25 0 1 00 SPACING TYP 125 0 5 00 1 4 20 X 7 0 DP CUSTOMER MTG HOLES 36 PLACES COMPRESSION FITTING
33. tential hazards Chapter 1 www aerotech com ARMS Series Stage User s Manual Overview Do not expose the stage to environments or conditions outside the specified range of oper ating environments Operation in conditions other than those specified can cause damage to the equipment The stage must be mounted securely Improper mounting can result in injury and damage to the equipment Use care when moving the stage Manually lifting or transporting stages can result in injury Only trained personnel should operate inspect and maintain the stage This stage is intended for light industrial manufacturing or laboratory use Use of the stage for unintended applications can result in injury and damage to the equipment Before using this stage perform an operator risk assessment to determine the needed safety requirements A A A A A A 2 2 2 2 2 2 Z Z 2 2 2 Z www aerotech com Chapter 1 11 Overview ARMS Series Stage User s Manual 1 4 EC Declaration of Incorporation Manufactorer Aerotech Inc 101 Zeta Drive Pittsburgh PA 15238 USA AEROTECH Nx herewith declares that the product Aerotech Inc ARMS 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
34. til a trend develops for the specific application and environment 4 1 1 Field Service In general repair and or replacement of damaged or malfunctioning components of the ARMS stage by Aero tech field service personnel is not possible Stage repair typically requires that the unit be returned to the fac tory Please contact Aerotech Technical Support for more information 4 2 Cleaning and Lubrication There are no elements of the ARMS series stages that require lubrication Periodic cleaning is recommended 4 2 1 Recommended Cleaning Solvents Before using a cleaning solvent on any part of the stage it is recommended that compressed nitrogen or clean dry air be used to blow away small particles and dust Any metal surface of the stage may be cleaned with acetone followed by isopropyl alcohol www aerotech com Chapter 4 31 Maintenance ARMS Series Stage User s Manual 32 Chapter 4 www aerotech com ARMS Series Stage User s Manual Warranty and Field Service Appendix A Warranty and Field Service Aerotech Inc warrants its products to be free from defects caused by faulty mate rials or poor workmanship for a minimum period of one year from date of shipment from Aerotech Aerotech s liability is limited to replacing repairing or issuing credit at its option for any products that are returned by the original purchaser during the warranty period Aerotech makes no warranty that its products are fit for the use or purpose to which
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