ADRT Series Stage User`s Manual
Contents
1. 2 2 shows the main mounting holes in the base of the stage These counterbored holes are designed for M5 M6 or M8 socket head cap screws depending on the stage size The sides of the stage are also equipped with several M5 x 0 8 or M6 x 1 0 tapped holes with reinforced threaded inserts and T slot grooves These can be used for stage or fixture mounting depending on customer requirements WARNING Counterbored E Mounting Holes g Figure 2 2 Top View ofan ADRT 260 Stage Showing Mounting Holes www aerotech com Chapter 2 17 Installation Figure 2 3 18 ADRT Series Stage User s Manual Tapped Mounting Holes T Slot Grooves Side View of an ADRT 260 Stage Showing Tapped Mounting Holes and T Slot Grooves Chapter 2 www aerotech com ADRT 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 ADRT series stage is part of2. 2 ececeeeeeeeee 19 Securing the Stage to the Mounting Surface 17 Specifications 00 eee ee eee eee eee eee ee 22 j Standard Features 222 22222 2222222 1 cables aeaee E a EE ES 19 Cleaning cce ooo ced aiaei 35 U Cleaning Schedule 0ceeeeeeeee 35 Unpacking and Handling the Stage 15 Cleaning Solvents Recommended Luo 35 d Vacuum Operation 2 02 222002 222 22 eee 34 D Ww Declaration of Incorporation 13 WarningS 00 202 c ee eee eee eee eee eens 11 Dimensions 2222 0 2062 eeeeceeesse cence eee 4 E Electrical Installation 22 2222 22 19 Environmental Specifications 21 F Field Service nnne e cells e eec lees 35 L Limit Switch Operation 2 02 2 2 29 limit switches 222 2222 22222 222 22 eee 29 Lubrication 00 22 ccc cece cece eee cece ee eeee 35 M model numbers 2 22 22 22 15 0 Optional Features liuius 1 P Preparing the Mounting Surface 16 www aerotech com Index 41 ADRT Series Stage User s Manual Index 42 Index www aerotech com Reader s Comments ADRT Series Stage Manual P N EDS136 March 11 2011 Revision 1 01 00 Please answer the questions below and add any suggestions for improving this doc ument AEROTECH Is the manu
3. User s Manual M6 1 0 Thd x 7 0 Dp 8 Places Equally Spaced As Shown on 265 0 22 56 B C 9110 5 24 35 LIMIT AND HARDSTOP CONFIGURATION ADRT 150 LIMIT OPTION AVAILABLE TRAVELS UMTS ANGLE CD 715 LI 20 HS 25 l 25 LI 30 HS 35 35 T40 A Li 45 LI 50 Li 60 16 Lie 76 775 LI 80 i 80 HS 85 LI 90 HS 95 LI 100 HS 105 LI 110 LI 120 i 120 HS 125 j 125 LI 130 i 130 HS 135 l 135 5 0 5 4 5 7 a e aH oc on Figure 1 3 ADRT 150 LI HS Dimensions Chapter 1 www aerotech com ADRT Series Stage User s Manual Overview 6 6 20 26 Thru 196 2 7 72 Stage Mounting Holes 190594 j 5 0 18 4 Places 6 5 0 26 9 5 0 37 15 0 0 59 Detail T T Slot Typical 8 Places 115 0 4 53 TYP 460 0 6 30 Typ 170 0 6 69 M6 1 0 Thd x 9 0 Dp 8 Places Equally Spaced As Shown on 100 0 23 94 B C 1140 0 25 51 Pilot 3 5 0 14 Dp 232 1 9 14 M6 1 0 Thd x 7 0 Dp 8 Places Aperture 975 0 22 95 Thru M6 1 0 Thd x 6 0 Dp 4 Places on Each Side 4 0 0 16 Motor Connector 67 5 2 66 50 0 1 97 Feedback Connector A 33 8 1 33 BRAKE OPTION Dimensions Millimeters Inches ADRT 200 155 S 154 8 6 09 ags ADRT 200 155 P 154 8 6 09 ADRT 200 185 S 179 8 7 08 100 3 94 ADRT 200 185 P 179 8 7 08 100 3 94 Figure
4. s Manual www aerotech com ADRT Series Stage User s Manual List of Tables List of Tables Table 1 1 Model Numbering System 0 2 cece cece cece cece cece cece cc sse ee e RR hr erre erre 2 Table 3 1 Environmental Specifications 2 2 2 2 2 2 2 cece cceeccccccccccccccececcececcceceeeeeeeeees 21 Table 3 2 ADRT Series Specifications 2 2 20 2 cccccecccccceceecececececceeccccccceceeeceeeeeeeees 22 Table 3 3 End of Travel Limit Configurations 2 2 0 0 2 ccc ccce ee ccccccceecccccccececcecceceeeeceecees 30 Table 3 4 Standard Wiring Connectors for ADRT Stages ec cececececcccccceceececcceeeeeees 33 Table 3 5 Motor Wiring Pinout Descriptions 2 22 0 2 cece eee eee ccc ccc ceeccccccceeeececceceeeeceucees 34 Table B 1 Current Changes 1 01 00 2 0 e cece cece cece cece I RR RR RR re rr eher rrr 39 Table B 2 Archived Changes 2 cccecceecccccccececccccccceecccccccceceeccccceeeeereececeeeeeeees 40 www aerotech com vii List of Tables ADRT Series Stage User s Manual viii www aerotech com ADRT Series Stage User s Manual Overview Chapter 1 Overview This chapter introduces standard and optional features of the ADRT stages explains the model numbering system and gives general safety precautions 1 1 Standard Features All ADRT stages include a direct drive brushless motor The low inherent inertia and this optimized motor design give the ADRT the capability of
5. speeds and accelerations that are significantly higher than other com peting products The ADRT is designed to provide superior angular positioning and velocity control as well as permit large payloads without compromising performance The design also maximizes performance with respect to wobble moment stiffness and repeatability Applications for the ADRT range from indexing to high speed laser machining to precision wafer inspection Low inertia and zero backlash make the ADRT the ideal solution for applications requiring frequent directional changes 1 1 1 Optional Features All ADRT stages incorporate a center aperture ranging in size from 13 mm to 100 mm The stages also have options for high precision bearing and a brake Multiple limit options are also available The mounting holes are designed for metric screws on a metric pattem The hole patterns are 80 mm SQ 125 mm SQ and 170mm SQ and 230 mm respectively for the ADRT 100 ADRT 150 ADRT 200 and ADRT 260 Multiple motor size options are available depending on torque requirements and the encoder can be con figured for either square wave or amplified sine output www aerotech com Chapter 1 1 Overview ADRT 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 ADRT150 115 S 50mm AS NO UNLIMIT
6. the base WARNING Do not use the tabletop or wiring connections to support the stage WARNING www aerotech com Chapter 2 15 Installation ADRT 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 ADRT 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 1um per 50mm Adjustments to the mounting surface must be done before the stage is secured The effects of flatness on mounting are illustrated in Figure 2 1 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 16 Chapter 2 www aerotech com ADRT Series Stage User s Manual Installation 2 3 Securing the Stage to the Mounting Surface ADRT series stages have numerous mounting holes available to secure the stage to a mounting surface Fig ure
7. 1 4 ADRT 200 Dimensions www aerotech com Chapter 1 7 Overview ADRT Series Stage User s Manual LIMITAND HARDSTOP CONFIGRATION ADRT 200 LIMT OPTION AVAILABLE TRAVELS HARDSTOPS ANGLE CONFIGURATION Ll 30 HS 35 35 LI 20 HS 25 l 25 Li 10 C HS h 15 Li 5 10 Li 40 l 45 HS 50 y LI 60 HS 65 l 65 HSt 75 Li 80 M6 1 0 Thd x 7 0 Dp l amp amp 80 BS 90 HS 95 l 95 8 Places Equally Spaced HS 105 As Shown on 65 0 2 56 B C X HS 115 h 115 8 HS 125 l 125 2170 0 26 69 Lie 135 13 SE g amp HS 140 Li 140 HS 145 l 145 HS 155 o 15 5 0 61 Figure 1 5 ADRT 200 LI HS Dimensions 8 Chapter 1 www aerotech com ADRT Series Stage User s Manual Overview 10 1 Thru 15 C BORE X amp 35 DP Stage Mounting Holes 4 Places 260 4 10 25 4 5 0 18 6 5 0 26 9 5 0 37 150 0 5 91 1501059 i 220 0 8 66 T Slot Typical 8 Places M6 1 0 Thd x 9 0 Dp F D Typ 8 Places Equally Spaced a 9 06 As Shown on 2140 25 51 B C 296 3 11 67 190 0 27 48 Pilot 3 5 0 14 Dp M6 1 0 Thd x 7 0 Dp 8 Places Aperture 2100 0 23 94 Thru M6 1 0 Thd x 6 0 Dp 4 0 0 16 Motor Connector j Feedback Connector Base Model Forras porao seem mmm erae EDI Figure 1 6 ADRT 260 Dimensions www aerotech com Chapter 1 9 Ove
8. 80 0 3 15 Typ Sq 120 9 4 76 50 0 01 97 Pilot 3 5 Dp M5 0 8 Thd x 6 0 Dp 8 Places Aperture 13 0 20 51 Thru M5 0 7 Thd x 5 0 Dp 4 Places on Each Side 50 0 1 97 Typ 4 0 0 16 12 0 0 47 M S Air Purge Option 36 0 1 4 Motor Connector 142 2001079 p Feedback Connector B tt 300 0 Dimensions Millimeters Inches Basic Model LIT EN NENNEN EN ADRT 100 135 132 0 Figure 1 1 ADRT 100 Dimensions 4 Chapter 1 www aerotech com ADRT Series Stage User s Manual 145 8 5 74 75 0 2 95 96 6 20 26 Thru Stage Mounting Holes 4 Places M6 1 0 Thd x 9 0 Dp El 8 Places Equally Spaced As Shown on 265 0 22 56 B C 80 0 23 15 Pilot 3 5 0 14 Dp M6 1 0 Thd x 7 0 Dp 8 Places M6 1 0 Thd x 6 0 Dp 4 Places on Each Side 37 5 1 48 20 0 0 79 30 9 1 22 BRAKE OPTION 181 9 7 16 Detail T T Slot Typical 8 Places 50 0 1 97 Overview 4 5 0 18 6 5 0 26 80 0 3 15 Typ 115 0 4 53 TYP 425 0 4 92 Sq 9 5 0 37 15 0 0 59 4 0 0 16 Motor Connector T Feedback Connector 14 0 0 55 Dimensions Millimeters Inches Basic Model ADRT 150 115 S ADRT 150 115 P A B 115 0 4 53 60 2 36 115 0 4 53 60 2 36 Figure 1 2 ADRT 150 Dimensions Www aerotech com Chapter 1 5 Overview ADRT Series Stage
9. ADRT Series Stage User s Manual P N EDS136 Revision 1 01 00 Dedicated to the Science of Motion Aerotech Inc 101 Zeta Drive D Pittsburgh PA 15238 AEROTECH 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 01 00 March 11 2011 Revision 1 00 00 January 15 2009 Product names mentioned herein are used for identification purposes only and may be trademarks of their respective companies Aerotech Inc 2011 ADRT Series Stage User s Manual Table of Contents Table of Contents Table of COnteris e ouo es acne eee eL sect eae eee NU a ee ee iii LiStiOf FIQUIOS ERR EE V Eist or Tables e rriu ere ce eh D I LRL E ED E dre AR EE Er vii Chapter 1 Overview ssssussssssssssssssessssmemII III cece ceeeeeeeeeeseseeneeseseaeaees 1 1 1 Standard Features ossiosssssssssssss
10. ED PLOTS This designates an ADRT 150 direct drive rotary table with 50 mm clear aperture 2 36 N m continuous torque standard grade bearings standard feedback device no brake continuous rotation and standard accuracy and repeatability documentation 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 Stage Bearing Options Dwapredsogudebeags OO O Shaft Configuration 1 Required for ADRT 150 xxx only 2 Chapter 1 www aerotech com ADRT Series Stage User s Manual Overview Table 1 1 Model Numbering System continued Position Transducer Standard feedback device 1 Vpp sine wave output 240 arc sec resolution on ADRT 200 260 and 360 arc sec resolution on ADRT 150 final resolution multiplier dependent Square wave digital output 12 arc sec resolution on ADRT 200 260 and 18 arc sec on ADRT 100 150 Square wave digital output 6 arc sec resolution on ADRT 200 260 and 9 arc sec resolution on ADRT 100 150 Square wave digital output 2 4 arc sec resolution on ADRT 200 260 and 3 6 arc sec resolution on ADRT 100 150 Square wave digital output 1 2 arc sec resolution on ADRT 200 260 and 1 8 arc sec resolution on ADRT 100 150 Note Digital output encoder signals are synthesized with a 16 MHz clock Ca
11. Temperature The optimal operating temperature is 20 C 2 C 68 F 4 F 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 Humidity Operating 40 percent to 60 percent RH 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 E Contact Aerotech if your specific application involves use above 2 000 m or below sea level Vibration Use the system in a low vibration environment Excessive floor or acoustical vibration can affect stage and system performance Contact Aerotech for information regarding your specific appli cation Dust Expo The ADRT stages have limited protection against particles but not liquids This equates to an sure ingress protection 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 3 2 Accuracy and Temperature Effects Aerotech stages are designed for and built in a 20 C 68 F environment Operating at other temperatures will degrade the performance www aerotech com Chapter 3 21 Operating Specifications ADRT Series Sta
12. acomplete Aerotech motion control system setup involves connecting a stage to the appropriate drive chassis with the cables provided Connect the provided cables to the feedback and motor connectors shown in Figure 2 4 Refer to your drive manuals and documentation for additional installation and operation information In some cases if the system is uniquely configured a drawing showing system inter connects is supplied Never connect or disconnect any electrical component or connecting cable while power is applied or serious damage may result WARNING The stage s protective ground is located on pin A4 of the motor connector If you are using cables other than those provided by Aerotech you must connect pin A4 to a ground con nection WARNING Connector Feedback l E V fens Motor Connector Figure 2 4 ADRT Stage Components www aerotech com Chapter 2 19 Installation 20 ADRT Series Stage User s Manual Chapter 2 www aerotech com ADRT Series Stage User s Manual Operating Specifications Chapter 3 Operating Specifications This chapter contains general technical information about ADRT series stages Included are basic product specifications resolution information and motor wiring diagrams 3 1 Environmental Specifications The environmental specifications for the ADRT are listed in the following table Table 3 1 Environmental Specifications Ambient Operating 10 to 35 C 50 to 95 F
13. al Adequate to the subject ln ia Well organized o Clearly presented Well illustrated i How do you use this document in your job Does it meet your needs What improvements if any would you like to see Please be specific or cite examples C T SmwPeWbes Nam Weg 0 I me seria erp Name Bmeshpped Aem Guomeroded Aerotech Subsidiary Email Order Maiyourcommentsto Farto Aerotech Inc 412 967 6870 101 Zeta Drive Pittsburgh PA 15238 U S A service aerotech com
14. annot be made functional by telephone assistance or pur chased replacement parts and cannot be returned to the Aerotech service center for repair then the following field service policy applies Aerotech will provide an on site field service representative in a reasonable amount of time provided that the customer issues a valid purchase order to Aerotech cov ering all transportation and subsistence costs and the prevailing 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 ADRT Series Stage User s Manual Technical Changes Appendix B Technical Changes Table B 1 Current Changes 1 01 00 Chapter 2 Installation Section 2 1 Section Added safety information and warnings 2 3 Section 2 5 and Section 1 3 Section 3 6 Added note about current requirements of motor and ground wires Section 3 5 Description of limit switches changed Section 3 5 1 JP6 options changed and Limit Switch Wiring figure updated Section 3 6 Pin 8 is now Reserved www aerotech com Appendix B 39 Technical Changes ADRT Series Stage User s Manual Table B 2 Archived Changes Section s Affected General Information 40 Appendix B www aerotech com Index ADRT Series Stage User s Manual Index S A safety procedures 0 00 002 0022 2022 e ee 11 Attaching the Payload 2
15. arranty with out first obtaining approval from Aerotech No credit will be given nor repairs made for products returned without such approval Any returned product s must be accompanied by a return authorization number The return authorization number may be obtained by calling an Aerotech service center Products must be returned prepaid to an Aerotech service center no C O D or Collect Freight accepted The status 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 warrant
16. ccecececcececceceseeceeees 43 www aerotech com lii Table of Contents ADRT Series Stage User s Manual iV www aerotech com ADRT 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 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 ADRT 100 Dimensions 2 2 2 2 222 c cece eeeececccccccecccccececceececceceeececeeceeceecetees 4 ADR I 150 DIMENSIONS 2 220450222 021 ove cn li le bg rx f nc f seed aa Ainea 5 ADRT 150 LI HS Dimensions 2 2 2 2 2 2 ecccececcecceceeccecceccccceccecceceececeeeeeees 6 ADRT 200 Dimensions 020ceeecccccccccecececccceecceececeeceececeeeeereeeeeceees 7 ADRT 200 LI HS Dimensions 22022eeeeccccceceececccccccececeeeeeeeecceeeeereees 8 ADRT 260 Dimensions 2 2 22 222 cc cee eeececcceccccccecccececceececceececeececeeeceeeeeees 9 ADRT 260 LI HS Dimensions 2 2 2 2 eecceccecccccecceceecceccecceccececceecececeeeees 10 Results of Flat Versus Non Flat Mounting 2c cccceeeeecccccceececcccceceececcceeees 16 Top View of an ADRT 260 Stage Showing Mounting Holes eee eee 17 Side View of an ADRT 260 Stage Showing Tapped Mounting Holes and T Slot Groo
17. e needed safety requirements Chapter 1 www aerotech com ADRT Series Stage User s Manual Overview 1 4 EC Declaration of Incorporation Manufactorer Aerotech Inc 101 Zeta Drive Pittsburgh PA 15238 USA AEROTECH xv herewith declares that the product Aerotech Inc ADRT Stage is intended to be incorporated into machinery to constitute machinery covered by the Directive 2006 42 EC as amended does therefore not in every respect comply with the provisions of this directive and that the following harmonized European standards have been applied EN ISO 12100 1 2 2003 A1 2009 Safety of machinery Basic concepts general principles for design ISO 14121 1 2007 Safety of machinery Risk assessment Par 1 Principles EN 60204 1 2005 Safety of machinery Electrical equipment of machines Part 1 General requirements and further more declares that it is not allowed to put the equipment into service until the machinery into which it is to be incorporated or of which it is to be a component has been found and declared to be in conformity with the provisions of the Directive 2006 42 EC and with national implementing legislation i e as a whole including the equipment referred to in this Declaration Authorized Representative Manfred Besold Address Name Position Location Date AEROTECH GmbH S d West Park 90 D 90449 N mberg Alex Weibel bs Neho tb Engineer Verifying Compliance Pittsbur
18. ed for 90 days from date of shipment Replacement com ponents are warranted for one year from date of shipment At times the buyer may desire to expedite a repair Regardless of warranty orout Rush Service of warranty status the buyer must issue a valid purchase order to cover the added rush service cost Rush service is subject to Aerotech s approval www aerotech com Appendix A 37 Warranty and Field Service On site Warranty Repair On site Non warranty 38 Repair Company Address ADRT 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 c
19. ered Load Capability www aerotech com Chapter 3 27 Operating Specifications ADRT Series Stage User s Manual 180 160 140 120 100 80 60 40 20 0 0 100 200 300 400 500 Distance mm from Axis of Rotation Axial Distance mm from Tabletop Shaft Radial Load kg Figure 3 9 ADRT 260 160 Cantilevered Load Capability 180 Axial 180 Radial 140 120 100 Load kg nN A o oc O o O o o 0 100 200 300 400 500 Distance mm from Axis of Rotation Axial Distance mm from Tabletop Shaft Radial Figure 3 10 ADRT 260 180 Cantilevered Load Capability 28 Chapter 3 www aerotech com ADRT Series Stage User s Manual Operating Specifications 3 5 Limit Switch Wiring Limit switches are open collector TTL compatible electro optical devices that change output states when the stage approaches its maximum travel distance and detects the reflective limit Because they are open col lector devices theycan be interfaced to 5 24 Volt logic inputs See Section 3 6 for limit wiring If the limit option is chosen and the stage is driven beyond the electrical limit it will encounter a mechanical stop Although the operating speed of the stage may be relatively slow damage to the stage could result The distance beyond the electrical limit is a con figurable option Please consult stage specifications for actual distance WARNING 3 5 1 Limit Switch Operation Option Optional end o
20. es 21 3 3 Basic Specifications 2 2 2 0 coc cece cece cence eee cece cece eeeeeeecccceeeeeeeeees 22 3 4 Load Capability 2 2 2 0 e cece cece m me RR Rer rers 24 3 5 Limit Switch Wiring 2 22 22 e cece e s e e ese esses sess essere 29 3 5 1 Limit Switch Operation Option 0 222202 c cece cece cece cece cece meer 29 3 5 2 Optical Limit Adjustment 000 000000 c coco eee cece eeeeeeeeeeeee 31 3 6 Standard Motor Wiring 00 00002 o cece eee cee ce sees sese sess ne 33 3 7 Vacuum Operation 2 22 coo ccc c cece eee c cece cece cece ec eeeeeeceeeeeeeeeeeeeeeeseees 34 Chapter 4 Maintenance 2 0 2 2 cec eve ce cece ec ececececececeeeeeees 35 4 1 Service and Inspection Schedule 2 2 2 2 cc eee cece ccccceeccecccccceeececcccceeeeeeccceeeees 35 4 1 1 Field Service 22 2 2c cece e cece cccceecccccccceceeeeeeeceeeeeeeeececeeeececeeeeeeeees 35 4 2 Cleaning and Lubrication 0 0 e cece eee e cece eeeeceneeeeeececcccccceccccccceceeeeceeee 35 4 2 1 Recommended Cleaning Solvents 0 0 0 c cece eee cece eee cece eee ce ee eeeeees 35 Appendix A Warranty and Field Service 2 0 0 2 0 oo ce eee cece cece cece eee 37 Appendix B Technical Changes 2 2 0 0 00 0 cece cece eee cee ccc ec eee ececeececeeceees 39 Index ei he oh ee ee te DU a AA A SD 41 Reader s Comments o oo o oo ecco cece cece cece cece eee cece ecece
21. f travel limits may be configured per Table 3 3 Assuming a NC limit configuration the input to the controller is seen as a logic 0 typical 0 4V 12 8mA when no limit condition is present When the limit switch is activated 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 limit switch operation for a NO limit configuration is the exact oppo Site as described above See Figure 3 11 for a diagram of limit switch wiring I I i I li 1 ot a I ar 45V 1 l Fa 5V I Stage ty I l Stage li I I l I l l I Pull Up l Pull Up Vy Resistor l Resistor 1 ot I Limit Input 1 ot Limit Input I To Controller i NA To Controller l l T I l imi l l NC Limit Controller TEE NO Limit E Controller i Switch Switch l I I l D METER ME UM ro el ica ees eee a Normally Closed NC Normally Closed NO Figure 3 11 Limit Switch Wiring www aerotech com Chapter 3 29 Operating Specifications ADRT Series Stage User s Manual Table 3 3 End of Travel Limit Configurations pr Or 30 Chapter 3 www aerotech com ADRT Series Stage User s Manual Operating Specifications 3 5 2 Optical Limit Adjustment Stages with the limit option have the optical limits set at the factory prior to shipment However you can adjust the optical limits if needed Do not adjust the optical limits to an angle greater t
22. ge User s Manual 3 3 Basic Specifications The ADRT series rotary stage specifications are shown in Table 3 2 Table 3 2 ADRT Series Specifications 85 135 115 135 180 Stall Axial Error Motion 5 um P 10 um S y Radial Error Motion 2 5 um P 10 um S Tilt Error Motion 10 arc sec ww 1500 rpm P 1000 rpm S 600 rpm m2 m2 kg m kg m kg m Finish Hardcoat HN Black Anodized 1 P accuracy requires calibration and Aerotech controls 2 Specifications are for single axis systems Performance of multi axis systems is payload and workpoint dependent Consult fac tory for multi axis or non standard applications 3 Moment load based on 5 year continuous rotation at 250 rpm with maximum axial load applied Larger moment loads possible for low speed and or low duty cycle applications Consult Aerotech for additional information 22 Chapter 3 www aerotech com ADRT Series Stage User s Manual Operating Specifications Table 3 2 ADRT Series Specifications continued ADRT Series ADRT 200 155 ADRT 200 ADRT 260 n ADRT 260 180 Radial ErorMofon meom Rated speed 0 020991 0 027666 0 066488 0 08566 kg m2 kg m2 kg m2 kg m2 Mass 13 4 kg 16 7 kg 25 4 kg 30 6 kg Mess 3 Hardcoat Black Anodized 1 P accuracy requires calibration and Aerotech controls 2 Specifications are for single axis systems Performance of multi axis systems is payload and workpoint dependent Consult fac tor
23. gh PA March 11 2011 www aerotech com Chapter 1 13 Overview ADRT Series Stage User s Manual 14 Chapter 1 www aerotech com ADRT Series Stage User s Manual Installation Chapter 2 Installation This chapter describes the installation procedure for the ADRT 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 Stage Carefully remove the stage from the protective shipping container Blow the stage off with compressed nitrogen or clean dry air Before operating the stage it is important to let the stage stabilize at room tem perature for at least 12 hours Set the stage on a smooth flat and clean surface 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 stages can result in injury WARNING Lift the stage only by
24. han the stage s hardstop travel Doing so could result in damage to the stage and payload and the possibility of bodily injury Maintain at least 5 of overtravel between the optical limits and the hardstops WARNING The following procedure describes how to adjust the optical limits See 3 5 2 and Figure 3 13 for details Con sult the factory if more information is required Disconnect all electrical power from stage 2 Remove the three M3 flat head screws to remove bottom cover from stage Disconnect optical limit board wires 3 Loosen the four M3 button head cap screws two per limit flag and slide each limit flag along the bolt cir cle to the desired half limit travel Depending on the amount of adjustment required you might have to remove these screws and slide the limit flags to the desired half limit travel positions Note that the opti cal limit centerline passes through the centers of the two optical sensors on the optical limit board 4 Oncethe limit flags are placed for the desired half limit travel re tighten or reinsert two M3 button head cap screws per limit flag Make sure limit flags are fastened securely 5 Reconnect the optical limit board wires and reattach the bottom cover to the stage with three M3 flat head screws 6 Priorto operating the stage manually test the optical limit adjustment to ensure that the optical limits trip at the desired half limit travels Figure 3 12 Bottom View of the ADRT Ww
25. hanical adjustments DANGER 4 1 Service and Inspection Schedule It is recommended that the ADRT stage be inspected once per month until a trend develops for the specific application and environment 4 1 1 Field Service In general repair and or replacement of damaged or malfunctioning components of the ADRT 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 ADRT series stages that require added lubrication The bearings motors and encoders for the ADRT series require no added lubrication or maintenance Periodic cleaning is rec ommended 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 35 Maintenance ADRT Series Stage User s Manual 36 Chapter 4 www aerotech com ADRT 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
26. re must be taken to ensure that the encoder sample rate on the controller is at least 16 MHz or higher Slower clock rate are available on request Break Options 2 No brake Holding brake 2 Not available on ADRT 100 Limits UNLIMITED Continuous Rotation Lltx Normally closed limits at x degrees where x 5 10 20 30 40 45 50 60 7 0 80 90 1 00 1 10 120 130 HS x Hardstop end of travel at x degrees where x 10 15 25 35 45 50 55 65 7 5 85 95 105 115 125 135 SRCE Current sourcing limits HCW Home limit uses clockwise limit counter clockwise default NOP Normally open limit normally closed default 24V 24 VDC rated limits PLOTS Stage accuracy and repeatability documentation included with P optional with S HPD 4 pin D style motor power connector with 25 pin D style feedback connector Stage mounted connectors on ADRT 150 xxx ADRT 200 xxx and ADRT 260 xxx Strain relieved 300 mm pigtail cable connection on ADRT 100 xxx 25 pin D style motor power connector with 25 pin D style feedback connector Stage mounted connectors on ADRT 150 xxx ADRT 200 xxx and ADRT 260 xxx Strain relieved 300 mm pigtail cable connection on ADRT 100 xxx Rear shaft seal on ADRT 100 xxx Air purge fitting www aerotech com Chapter 1 3 Overview ADRT Series Stage User s Manual 1 2 Dimensions M5 C Bore Stage Mounting Holes 4 Places 96 0 3 78 M5 0 8 Thd x 6 0 Dp 8 Places Equally Spaced As Shown on 35 0 B C d 97
27. rview ADRT Series Stage User s Manual M6 1 0 Thd x 7 0 Dp 8 Places Equally Spaced As Shown on 2140 0 25 51 B C 0220 5 28 68 Figure 1 7 LIMIT AND HARDSTOP CONFIGURATION ADRT 260 LI HS Dimensions ADRT 260 LIMIT OPTION AVAILABLE TRAVELS LIMITS CONFIGURATION 30 HS 35 35 40 HS 45 a E 45 HS 50 LI 30 LI 100 L 110 To 0 LI 120 LI4 130 130 LI 135 135 HS 440 l D LI 140 j HS 145 LI 150 10 Chapter 1 www aerotech com ADRT Series Stage User s Manual Overview 1 3 Safety Procedures and Warnings The following statements apply throughout this manual Failure to observe these precautions could result in serious injury to those performing the procedures and damage to the equipment This manual and any additional instructions included with the stage should be retained for the lifetime of the stage A DANGER gt DANGER gt DANGER gt DANGER WARNING WARNING WARNING www aerotech com Chapter 1 11 To minimize the possibility of electrical shock and bodily injury or death disconnect all elec trical power prior to making any electrical connections To minimize the possibility of electrical shock and bodily injury or death when any electrical circuit is in use ensure that no person comes in contact with the circuitry when the stage is connected to a po
28. s liability is limited to replacing repairing or issuing credit at its option for any products that are returned by the original purchaser during the warranty period Aerotech makes no warranty that its products are fit for the use or purpose to which they may be put by the buyer where or not such use or purpose has been disclosed to Aerotech in specifications or drawings previously or sub sequently provided or whether or not 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 w
29. ssssslssslsllslsls cece cece cece eee ceceeeeceeeeeeeesees 1 4 1 4 Optional Features 2 2 2 eee eile bec od ab e te dieu osadoe ede uibs elc oes cba 1 1 1 2 Model Numbers 222 22222 cccc cece cece cece cee cece ce ceceeeteeeeeeeeeseeeeeees 2 UE Ee D os So oie eee a aids ne Da ee ae on Se Petts get oes eee toe ese 4 1 3 Safety Procedures and WarningS 0000000 e cece naonana annann 11 1 4 EC Declaration of Incorporation 2222 00 02 2 2 2c e cece cc cece cece ccc ccceeeeececececeeeeeeeees 13 Chapter 2 Installation 2 0 000 000 o ooo coco ec cence ccc ececece cece ececececececeeeees 15 2 1 Unpacking and Handling the Stage 00 0000 c cece cece ccc ccc ccc cece eee es eese sn 15 2 2 Preparing the Mounting Surface 2 2 2 cece cece eee e adoni nadrain aanren 16 2 3 Securing the Stage to the Mounting Surface 22 22 2200 c cece cece ceececeeeeees 17 2 4 Attaching the Payload to the Stage 00 2 0 c ccc c cece ccc ccc ccc cece cece eee eee esee esee 19 2 5 Electrical Installation 2 222 000 022 e cece cece cece cece ccc cccceeeeceeececeeeeeeeeees 19 Chapter 3 Operating Specifications 2 00 0o ooo eee cece cece cece ec ece eee ee 21 3 1 Environmental Specifications 2 2 22 22 00 22 occ e eee ee ce ccccccccceeeeeeeees 21 3 2 Accuracy and Temperature Effects 2 0 202022 coco cece eee c cece cece cece cece ccc eee RR ess
30. ves 18 ADRT Stage Components sssssssessssssssssssslsssse sese s sn e rer rr sr ris nris 19 Load Orientations 00 0 0 cccccccccccccccccecccceceecceceeeeececeetteteeecteeteecereceeeees 24 ADRT 100 85 Cantilevered Load Capability 0 0 0 0 cece cceceeeccccccecceccecccceeeeees 24 ADRT 100 135 Cantilevered Load Capability 0 0 0 cece eee cccceceeccccececeeceecees 25 ADRT 150 115 Cantilevered Load Capability 0 00 cceeecceccececcccceceeceececees 25 ADRT 150 135 Cantilevered Load Capability 2 0 0 0 0 0 cece ee cceccececcccccceceeececees 26 ADRT 150 180 Cantilevered Load Capability 2 2 0 0 0 ccc cece ecceccececccccececeeececees 26 ADRT 200 155 Cantilevered Load Capability 2 0 0 0 2 cece ee ccccceceecccccceceeececees 27 ADRT 200 185 Cantilevered Load Capability 22 0 0 0 0 cece ee ccecccceccccceceececeecees 27 ADRT 260 160 Cantilevered Load Capability 0 0 0 cece eccecceceeeccceceeeeeeecees 28 ADRT 260 180 Cantilevered Load Capability 0 00 cece cece cceccccccceeceeccees 28 Limit Switch Wiring 2 2 0 cece cece cece ee ccccccececccccceeeeecccceccereecccceeeeeeeeeeee 29 Bottom View of the ADRT 2 2 22 cece eee c cece ce cccccccccccccccceccecceceeceeeeeeeeeeeeeees 31 ADRT Limit Flag Adjustment 2 0 occ e cece eee cee cee cece essere seen 32 www aerotech com V List of Figures vi ADRT Series Stage User
31. w aerotech com Chapter 3 31 Operating Specifications ADRT Series Stage User s Manual Optical Limit t Half Limit 1 Travel W Optical Limit Board x CCW Limit Flag Figure 3 13 ADRT Limit Flag Adjustment Figure 3 13 shows the bottom view of the ADRT with the bottom cover hidden for clarity An optical half limit travel of 30 is shown for reference 32 Chapter 3 www aerotech com ADRT Series Stage User s Manual Operating Specifications 3 6 Standard Motor Wiring For reference connector pin outputs pinouts and general wiring information are given in the following fig ures Pinouts are defined in Table 3 5 For optional slip ring information please contact the factory 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 2 The voltage rating of the wire insulation must be greater than the maximum bus voltage 320VDC Table 3 4 Standard Wiring Connectors for ADRT Stages Pn Beso Pm Peso 2 memvwp 1 5 9 13 amp 5B X 6 5 Gee GEE 59 esoegoseenaoo Pn Beim Pm BewWon p sp M 88 13 2 1 With Limits 2 With Brake Option 10 ww
32. w aerotech com Chapter 3 33 Operating Specifications ADRT Series Stage User s Manual Table 3 5 Motor Wiring Pinout Descriptions PinOutput 1 Description O B Hall Effect B Brushless motor commutation track 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 7 Vacuum Operation H H H A Hall Effect A Brushless motor commutation track output TTL line driven signal with rotary motor C T i if ENC 5V 5 V supply input for optical encoders Typical requirement is 250 mA Please contact the factory for information regarding operation in a vacuum environment 34 Chapter 3 www aerotech com ADRT Series Stage User s Manual Maintenance Chapter 4 Maintenance The ADRT 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 mec
33. wer source To minimize the possibility of bodily injury or death disconnect all electrical power prior to making any mechanical adjustments Moving parts of the stage can cause crushing or shearing injuries All personnel must remain clear of any moving parts Improper use of the stage can cause damage shock injury or death Read and understand this manual before operating the stage If the stage is used in a manner not specified by the manufacturer the protection provided by the stage can be impaired Stage cables can pose a tripping hazard Securely mount and position all stage cables to avoid potential hazards Overview A A A A A A z Z Z Z Z Z Z Z Z z z Z Q Q Q Q Q Q 12 ADRT Series Stage User s Manual Do not expose the stage to environments or conditions outside the specified range of oper ating environments Operation in conditions other than those specified can cause damage to the equipment The stage must be mounted securely Improper mounting can result in injury and damage to the equipment Use care when moving the stage Manually lifting or transporting stages can result in injury Only trained personnel should operate inspect and maintain the stage This stage is intended for light industrial manufacturing or laboratory use Use of the stage for unintended applications can result in injury and damage to the equipment Before using this stage perform an operator risk assessment to determine th
34. xial Distance mm from Tabletop Shaft Radial Figure 3 3 ADRT 100 135 Cantilevered Load Capability 35 4 Axial 30 25 4 N eo Load kg a eo Cc 0 t T T T T T T T T 0 50 100 150 200 250 300 Distance mm from Axis of Rotation Axial Distance mm from Tabletop Shaft Radial Figure 3 4 ADRT 150 115 Cantilevered Load Capability Chapter 3 25 Operating Specifications ADRT Series Stage User s Manual 26 Load kg 0 T T T T T T 1 0 50 100 150 200 250 300 Distance mm from Axis of Rotation Axial Distance mm from Tabletop Shaft Radial Figure 3 5 ADRT 150 135 Cantilevered Load Capability 35 30 25 20 Load kg 0 T T T T T T T T T 0 50 100 150 200 250 300 Distance mm from Axis of Rotation Axial Distance mm from Tabletop Shaft Radial Figure 3 6 ADRT 150 180 Cantilevered Load Capability Chapter 3 www aerotech com ADRT Series Stage User s Manual Operating Specifications 160 Axial 140 120 100 80 Load kg 60 40 20 0 4 0 100 200 300 400 500 Distance mm from Axis of Rotation Axial Distance mm from Tabletop Shaft Radial Figure 3 7 ADRT 200 155 Cantilevered Load Capability 160 Axial 140 Radial 120 Load kg N A o o eo e eo eo eo e 0 100 200 300 400 500 Distance mm from Axis of Rotation Axial Distance mm from Tabletop Shaft Radial Figure 3 8 ADRT 200 185 Cantilev
35. y for multi axis or non standard applications 3 Moment load based on 5 year continuous rotation at 250 rpm with maximum axial load applied Larger moment loads possible for low speed and or low duty cycle applications Consult Aerotech for additional information www aerotech com Chapter 3 23 Operating Specifications ADRT Series Stage User s Manual 3 4 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 ADRT 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 Axial Figure 3 1 Load Orientations Load kg T T T T T T T T T 0 50 100 150 200 250 300 Distance mm from Axis of Rotation Axial Distance mm from Tabletop Shaft Radial Figure 3 2 ADRT 100 85 Cantilevered Load Capability 24 Chapter 3 www aerotech com ADRT Series Stage www aerotech com User s Manual Operating Specifications Load kg T T T T 0 50 100 150 200 250 300 Distance mm from Axis of Rotation A
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