ACT Series Linear Actuator User`s Manual
Contents
1. 4 222 2 242 20 222 44 3 7 Vacuum 2 2 2 46 Chapter 4 Maintenance 2 2 47 4 1 Service and Inspection 47 4 2 Cleaning and Lubrication 48 4 2 1 Recommended Cleaning Solvents and Lubricants 48 4 2 2 Important Notes on Cleaning and 48 4 2 3 Cleaning and Lubrication 42 42 1 49 Appendix A Warranty and Field 51 Appendix B Technical 53 NAER MINNIE ORNARE 55 Reader s 2 2 2 2 2 2 2 0 2 2 2222 2 57 www aerotech com ill Table of Contents ACT Series Linear Actuator User s Manual www aerotech com ACT Series Linear Actuator 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 2 1 Figure 2 2 Figure 2 3 Figure 2 4 Figure 22. 48 49 Standard Features 2 Cleaning Solvents 48 D Travel 1 Declaration 10 U 6 Unpacking and Handling the Stage 12 distortion 13 Warnings 9 Electrical Cable Strain 20 Electrical Installation __ 19 End of Travel 40 Environmental 23 EOTIIIS 40 F Feedback 19 1 Inspection 47 L load capacity 34 o eire Uo EE 48 M model 12 www aerotech com Index 55 Index 56 ACT Series Linear Actuator User s Manual Index www aerotech com Reader s Comments ACT Series Manual P N EDS171 December 30 2011 p Revision 1 01 00 Is this manual YES NO Adequate to the subject Well organized Clearly presented Well illustrated 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 ex
3. Series Linear Motor Actuator User s Manual P N EDS171 Revision 1 01 00 Dedicated to the Science of Motion Aerotech Inc 101 Zeta Drive 4 Pittsburgh 15238 412 963 7470 412 963 7459 www aerotech com Product Registration Register online at http www aerotech com prodreg cfm Technical Support 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 History 1 01 00 December 30 2011 1 00 00 May 20 2011 N OTE This manual and any additional instructions included with the ACT should be read in their entirety before operating the ACT N OTE Product names mentioned herein are used for identification purposes only and may be trademarks of their respective companies Copyright 2011 2012 Aerotech Inc All Rights Reserved Series Linear Actuator User s Manual Table of Contents Table of Contents lt Tu u otek iii List of Figures pb saw
4. 2 4 23 Table 3 2 ACT115DL Series Mechanical Specifications 0100 0500 24 Table 3 3 ACT115DL Series Mechanical Specifications 060010 1500 25 Table 3 4 ACT115DL Series Electrical 4 25 Table 3 5 ACT140DL Series Mechanical Specifications 0100 0500 26 Table 3 6 ACT140DL Series Mechanical Specifications 060010 1500 27 Table 3 7 ACT140DL Series Electrical 27 Table 3 8 ACT165DL Series Mechanical Specifications 0100 0500 28 Table 3 9 ACT165DL Series Mechanical Specifications 0600 1500 29 Table 3 10 ACT165DL Series Electrical 29 Table 3 11 ACT Series Resolution Information 30 Table 3 12 BLMC 142 A Motor 4 4 2 2 31 Table 3 13 BLM 142 A Motor Specifications 32 Table 3 14 BLMH 142 A Motor Specifications 33 Table 3 15 Maximum Hori
5. 2 16 2 6 Electrical 2 42 2 422 2 2 19 2 7 Electrical Cable Strain 22 2 2 20 2 8 2 222 21 Chapter 3 Operating Specifications 23 3 1 Environmental 2 2 2 23 3 2 Accuracy and Temperature Effects 23 3 3 Basic 2 2 2 24 3 4 Load 4 42 2 2 2 2 2 2 34 3 5 End of Travel 8 2 4 22 40 3 5 1 Limit 40 3 5 2 Limit Switch Wiring 40 3 5 3 Adjustable Limits 41 3 6 Standard
6. Aerotech Inc warrants its laser products to the original purchaser for a minimum period of one year from date of shipment This warranty covers defects in workmanship and material and is voided for all laser power supplies plasma tubes and laser systems 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 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 withoutsuch approval Any returned product s must be accompanied by a return author ization number The return authorization number may be obtained by calling an Aero tech 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 upon Aerotech s examination a warranted defect exists then the product s will be repaired at no ch
7. 5 Figure 2 6 Figure 2 7 Figure 2 8 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 Typical ACT Series Linear Motor 2 0 0 1 ACT Series Linear Motor 2 2 Examples of Optional 4 3 ACT115DL Series Linear Motor Actuator 6 ACT140DL Series Linear Motor Actuator 7 ACT165DL Series Linear Motor Actuator Dimensions 8 Lifting Features 55522 1 uuu uuu ep E ge cup cU 12 Results of Flat Versus Non Flat Mounting 13 Bulkhead Bracket Installation Jacksocket 16 Bulkhead Bracket Installation Attachment of Bracket to Carriage 17 Bulkhead Bracket Installation Connector Assembly 17 Bulkhead Bracket Installation Air Fittings 18 Motor and Feedback Connections 19
8. The EOT limits are integral to the encoder feedback read head and integrated into the feedback connector These outputs change state when the linear motor actuator approaches its maximum travel distance and sig nals the motion controller The ACT linear motor actuator limits operate as normally closed N C current sinking outputs limit it will encounter a mechanical stop Although the operating speed of the linear motor actua WARNING If the linear motor actuator is driven approximately 5 mm beyond the electrical N tor may be relatively slow damage to the linear motor actuator could result 3 5 2 Limit Switch Wiring The ACT linear motor actuator has open collector EOT limit outputs Because they are open collector devices they can be interfaced to 5 24 Volt logic inputs The limit input to the controller is a logic 0 typical 0 4 Volts 12 8 mA when no limit is present When the EOT limit is activated the switch transistor shuts off and the signal changes state to logic 1 typically 4 8 5 Volts because of the external user supplied pull up resistor See Figure 3 8 for a diagram of limit switch wiring ACT Controller Pull Up Resistor Limit Input To Controller Figure 3 8 Limit Switch Wiring 40 Chapter 3 www aerotech com ACT Series Linear Actuator User s Manual Operating Specifications 3 5 3 Adjustable Limits For applications that require easy adjustment of useable travel the ACT series linear mot
9. an ACT series linear motor actuator is mounted to a non flat surface the lin ear motor actuator can be distorted as the mounting screws are tightened This distortion will decrease the overall accuracy of the linear motor actuator Adjustments to the mounting surface must be done before the linear motor actuator is secured The effects of flatness on mounting are illustrated in Figure 2 2 NOTE Tomaintain accuracy the mounting surface should be flat within 15 um per 150 mm Note the curved surface of the granite Mounting Surface Mounting to a Flat Surface Figure 2 2 Results of Flat Versus Non Flat Mounting NOTE The ACT base is precision machined and verified for flatness prior to product 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 ACT 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 13 Installation ACT Series Linear Actuator User s Manual 2 3 Securing the Stage to the Mounting Surface A WARNING The ACT must be mounted securely Improper mounting can result in injury and damage to the equipment Procedure for ACT linear motor actuator mounting 1 Prepare the mounting surface and bottom of the linear motor actuator base by stoning with precision flat stones to remove any burrs or high spots 2 Clean t
10. and encoder are integrated into two main connectors at the factory as shown in Figure 2 7 Refer to Section 3 6 for standard wiring pinouts WARNING Never connect or disconnect any electrical component or connecting cable while power is applied or serious damage can 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 connection gt gt Feedback Connector Motor Power Connector Figure 2 7 Motor and Feedback Connections www aerotech com Chapter 2 19 Installation ACT Series Linear Actuator User s Manual 2 7 Electrical Cable Strain Relief The user must provide an electrical cable strain relief for any ACT linear motor actuator that is constructed with either the C ONN H or CONN NH cable management options refer to Figure 2 8 for an example Fail ure to implement a correct electrical cable strain relief can result in premature failure of the linear motor actua tor and or damage to the equipment The CMSXXXX H option is recommended for applications requiring a complete cable management solution User Supplied Strain Relief Brackets User Supplied Electrical Cable Service Loop Figure 2 8 Example of an Electrical Cable Strain Relief 20 Chapter 2 www aerotech com Series Linear Actuator User s Manual Installation 2 8 Air Requirements An air supply
11. at any time For the most current product information see the most recent edition of the Aerotech Motion Con trol Product Guide at www aerotech com Table 1 1 Model Numbers and Ordering Options ACTHEDL ACTI40DL ACTIGSDL 20100 20200 20300 20400 2500 0600 20800 1000 1200 1500 Metric dimension mounting pattern and holes standard NCA 5V 5 V normally closed end of travel limit switches with adjustable location Cable Management CONN NH 150 mm 6 inch connectorized leads from carriage no cable management system no lin ear motor Halls CONN H 150 mm 6 inch connectorized leads from carriage no cable management system linear motor Halls CMSXXXX H Cable management system for 100 mm to 1500 mm single axis applications linear motor Halls 4 Chapter 1 www aerotech com Series Linear Actuator User s Manual Overview Table 1 1 Ordering Options continued Includes air cooling of linear motor forcer 20 psi compressed air supply required End plates mounted on linear actuator base BRACKET Bulkhead bracket mounting kit for installing motor and feedback connectors onto carriage for use with CONN NH and CONN H options Installation of kit by end user is required Metrology www aerotech com Chapter 1 5 Overview ACT Series Linear Actuator User s Manual 1 2 Dimensions 150 6 LENGTH FROM CARRIAGE 150 6 LENGTH FROM STAG
12. com Series Linear Actuator User s Manual Overview 1 3 Safety Procedures and Warnings The following statements apply wherever the Warning or Danger symbol appears within this manual Failure to observe these precautions could result in serious injury to those individuals performing the procedures and or damage to the equipment 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 ACT 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 ACT can cause crushing or shearing injuries All personnel must remain clear of any moving parts WARNING Improper use of the linear motor actuator can cause damage shock injury or death Read and understand this manual before operating the linear motor actuator WARNING Cables can pose a tripping hazard Securely mount and position all ACT cables to avoid potential hazards WARNING Donot expose the ACT to environments or conditions outside the specified range of operatin
13. resolution of 0 1 um or finer Specification is 2 um with resolution of 0 5 um Coarser resolutions will result in reduced bi directional repeatability performance 4 Maximum velocity and acceleration specifications assume a small payload As payload increases the maximum attainable velocity and acceleration will decrease Maximum application velocity may be limited by system data rate and resolution 5 Axis orientation for on axis loading is listed 6 Specifications are for single axis systems measured 25 mm above the tabletop Consult factory for non standard applications 24 Chapter 3 www aerotech com ACT Series Linear Actuator User s Manual Operating Specifications Table 3 3 ACT115DL Series Mechanical Specifications 0600 to 1500 EE 1500 mm m Repeatability Bi 1 1 3 Maximum Speed Maximum Acceleration Con tinuous Maximum 120 3 N Force Con Load 20kg 5 Side 10 kg Stage Mass 16 3 kg 20 0 kg 23 6 kg 27 2 kg 32 7 kg Aluminum Clear Anodize Base Black Anodize Tabletop MTBF Mean Time Between 20 000 Hours Failure Drive System Brushless Linear Servomotor BLMC 142 A 1 Testing conducted only when PLOTS metrology option is ordered 2 Calibration available with HALAR option 3 Bi directional repeatability specification listed requires resolution of 0 1 um or finer Specification is 2 um with resolution of 0 5 um Coarser resoluti
14. the linear motor actuator 2 Do not decrease the length of travel to the point where the linear motor actuator s EOT limit deactivates before reaching the mechanical stop This can create a circumstance where the linear actuator becomes trapped between the electrical limit and the mechanical stop Figure 3 10 provides detailed information regarding the acceptable bounds of EOT limit adjustment Allowable range of limit locations 50 mm typical For Maximum Travel For Minimum Travel Ss ite seer ACTModel A B 1454 mm 167 9 mm 1704 mm Figure 3 10 Acceptable Locations for Moveable Limits In certain circumstances it might be necessary to reduce the travel length of the linear motor actuator beyond the boundaries specified in Figure 3 10 It is possible to accomplish this by stacking together two or more adjustable limit plates as shown in Figure 3 11 Contact the factory to obtain additional adjustable limit plates and for application assistance in implementing this solution 42 Chapter 3 www aerotech com ACT Series Linear Actuator User s Manual Operating Specifications Adjustable Limit Plates Figure 3 11 Stacked Moveable Limits www aerotech com Chapter 3 43 Operating Specifications ACT Series Linear Actuator User s Manual 3 6 Standard Motor Wiring ACT linear motor actuators fitted with standard motors and encoders come from the factory completely wired and assembled For refe
15. 2 7 The user must still implement a correct electrical cable strain relief or premature failure of the linear motor actuator and damage to the equipment can result Procedure for BRACKET bulkhead mounting kit installation 1 16 Disassemble the jacksockets from the linear motor actuator s motor power and feedback connectors referto Figure 2 3 These jacksockets can be discarded after removal Attach the bulkhead connector bracket to the carriage using the M4 x 8 mm long button head socket cap screws BHCS provided referto Figure 2 4 Attach the linear motor actuator s motor power and feedback connectors to the bulkhead connector bracket using the jacksockets provided referto Figure 2 5 If the linear motor actuator is equipped with the FC linear motor forcer cooling option install the barbed air fittings provided in the kit onto the bulkhead connector bracket Use the small barbed air fitting with the ACT115DL and ACT140DL models Use the large barbed air fitting with the ACT165DL models Attach the air hose from the linear motor actuator s carriage onto the appropriate barbed fitting refer to Figure 2 6 Jacksockets Figure 2 3 Bulkhead Bracket Installation Jacksocket Disassembly Chapter 2 www aerotech com Series Linear Actuator User s Manual Installation Figure 2 4 Bulkhead Bracket Installation Attachment of Bracket to Carriage Screwlock Jacksockets Figure 2 5 Bulkhead Bracket Inst
16. ACT115DL 1000 1000 1010 1020 1230 48 ACT115DL 1200 1200 1210 1220 1430 56 ACT115DL 1500 1500 1510 1520 1730 64 DIMENSIONS MILLIMETERS INCHES Figure 1 4 ACT115DL Series Linear Motor Actuator Dimensions 6 Chapter 1 www aerotech com Series Linear Actuator User s Manual Overview FEEDBACK CABLES 150 6 LENGTH FROM CARRIAGE 150 6 LENGTH FROM STAGE CABLE MANAGEMENT CABLE MANAGEMENT CONN CONNECTORIZED LEADS CABLE MANAGEMENT CMSXXXX E CHAIN CONN CONNECTORIZED LEADS OPTIONS FC MOTOR COOLING amp OPTIONS EP ENDPLATES amp BRACKET BULKHEAD FC MOTOR COOLING GROUND CONNECTION M6X1 0 y 9 12 PLACES L3 20 OPTICAL ENCODER h 2 HARDSTOP 440 B 2 l A2 i 150 NOMINAL 8 5 BOTH SIDES EP OPTION D 10 STAGE 152 4 6 0 MOUNTING 62 5 4 07 8 125 12 PLACES TYP 165 DETAIL TTM TABLETOP END VIEW END VIEW BRACKET BULKHEAD CMSXXXX E CHAIN 7 0 0 276 THRU E PLACES 76 2 3 0 SHOWN ACT140DL 0300 127 5 0 DETAIL B NCA 5V ADJUSTABLE LIMITS 6 5 WHEN OPTION IS ORDERED W I pi CONN OR CMSXXXX OPTIONS THE AIR COOLING TUBE IS 4MM OD X 2 5MM ID BRACKET OPTION THE BARB FITTING SUPPORTS 6MM OD X 4MM ID TUBE NOTE OVERALL STAG
17. E CABLE MANAGEMENT CABLE MANAGEMENT CONN CONNECTORIZED LEADS CABLE MANAGEMENT CMSXXXX E CHAIN CONN CONNECTORIZED LEADS OPTIONS FC MOTOR COOLING amp OPTIONS EP ENDPLATES amp BRACKET BULKHEAD FC MOTOR COOLING M4X0 7 8 GROUND 12 5 12 PLACES CONNECTION 25 sar 25 115 75 16 OPTICAL 358 20 ENCODER i ce HARDSTOP M6X1 0 y 7 5 100 40 Bio 8 PLACES LIMIT DETAIL B NOMINAL TTM TABLETOP 57 BOTH SIDES EP OPTION D 7 5 END VIEW END VIEW be 152 4 6 0 Ginna BRACKET BULKHEAD CMSXXXX E CHAIN 7 0 276 THRU E PLACES 76213 01 101 6 4 0 s I SHOWN ACT115DL 0300 100 E NE jd mE 101 6 4 0 7 5 o L 6 7 DETAIL 100 NCA 5V ADJUSTABLE LIMITS TYP 50 100 WHEN FC OPTION IS ORDERED W CONN OR CMSXXXX OPTIONS THE AIR COOLING TUBE IS 4MM OD X 2 5MM ID t 0 2 BRACKET OPTION THE BARB FITTING SUPPORTS 6MM OD X 4MM ID TUBE NOTE OVERALL STAGE LENGTH INCREASES BY 11 4MM WITH EP OPTION MODEL NOMINAL B LIMIT C HARDSTOP D STAGE LENGTH MOUNTING ACT115DL 0100 100 110 120 330 8 ACT115DL 0200 200 210 220 430 16 ACT115DL 0300 300 310 320 530 16 ACT115DL 0400 400 410 420 630 24 ACT115DL 0500 500 510 520 730 24 ACT115DL 0600 600 610 620 830 32 ACT115DL 0800 800 810 820 1030 40
18. E LENGTH INCREASES BY 17MM WITH EP OPTION MODEL A NOMINAL LIMIT C HARDSTOP D STAGELENGTH MOUNTING F SPACING G SPACING ACT140DL 0100 100 105 120 390 16 75 76 2 3 0 ACT140DL 0200 200 205 220 490 16 100 101 6 4 0 ACT140DL 0300 300 305 320 590 24 100 101 6 4 0 ACT140DL 0400 400 405 420 690 24 100 101 6 4 0 ACT140DL 0500 500 505 520 790 32 100 101 6 4 0 ACT140DL 0600 600 605 620 890 32 100 101 6 4 0 ACT140DL 0800 800 805 820 1090 40 100 101 6 4 0 ACT140DL 1000 1000 1005 1020 1290 48 100 101 6 4 0 ACT140DL 1200 1200 1205 1220 1490 56 100 101 6 4 0 ACT140DL 1500 1500 1505 1520 1790 64 100 101 6 4 0 DIMENSIONS MILLIMETERS INCHES Figure 1 5 ACT140DL Series Linear Motor Actuator Dimensions www aerotech com Chapter 1 7 Overview ACT Series Linear Actuator User s Manual MOTOR amp FEEDBACK CABLES q 6 150 6 LENGTH gt MOTOR amp FROM gt gt FEEDBACK CABLES CARRIAGE SS 150 6 LENGTH FROM STAGE CABLE MANAGEMENT CABLE MANAGEMENT CONN CONNECTORIZED LEADS CABLE MANAGEMENT CMSXXXX E CHAIN CONN CONNECTORIZED LEADS OPTIONS FC MOTOR COOLING amp OPTIONS EP ENDPLATES amp BRACKET BULKHEAD FC MOTOR COOLING A GROUND M4X0 7 Y 8 CONNECTION M6X1 0 Y 9 12 PLACES 12 PLACES 50 16 5 150 5 50 SQR l e 100 5
19. Example of an Electrical Cable Strain 20 ACT115DL Cantilevered Load 34 ACT140DL Cantilevered Load Capability 35 ACT165DL Cantilevered Load Capability 35 Cantilevered Load 36 ACT115DL Acceleration vs 24 4 37 ACT140DL Acceleration vs 4 4 7 1 38 ACT165DL Acceleration vs 6 4 2 0 2 39 Limit Switch 40 Adjustment of Moveable 4 41 Acceptable Locations for Moveable 42 Stacked Moveable 4 4 2 2 43 www aerotech com List of Figures vi ACT Series Linear Actuator User s Manual www aerotech com Series Linear Actuator User s Manual List of Tables List of Tables Table 1 1 Model Numbers and Ordering 000 4 Table 3 1 Environmental 4 142 4 2 12
20. OPTICAL 55 65 T ps ENCODER HARDSTOP DETAIL B 2 B NOMINAL TTM TABLETOP 2 y 8 5 BOTH SIDES D EP OPTION save END VIEW END VIEW 1524 600 STAGE BRACKET BULKHEAD CMSXXXX E CHAIN 7 277 THRU E PLACES MOUNTING 76 213 00 ZEIT TYP SHOWN ACT165DL 0300 152 4 6 00 DETAIL NCA 5V ADJUSTABLE LIMITS WHEN FC OPTION IS ORDERED W 0 2 CONN OR CMSXXXX OPTIONS THE AIR COOLING TUBE IS 6MM OD X 4MM ID BRACKET OPTION THE BARB FITTING SUPPORTS 6MM OD X 4MM ID TUBE NOTE OVERALL STAGE LENGTH INCREASES BY 17MM WITH EP OPTION MODEL NOMINAL B LIMIT C HARDSTOP D STAGELENGTH MOUNTING F SPACING G SPACING ACT165DL 0100 100 105 120 395 16 75 76 2 3 00 ACT165DL 0200 200 205 220 495 16 100 101 6 4 00 ACT165DL 0300 300 305 320 595 24 100 101 6 4 00 ACT165DL 0400 400 405 420 695 24 100 101 6 4 00 ACT165DL 0500 500 505 520 795 32 100 101 6 4 00 ACT165DL 0600 600 605 620 895 32 100 101 6 4 00 ACT165DL 0800 800 805 820 1095 40 100 101 6 4 00 ACT165DL 1000 1000 1005 1020 1295 48 100 101 6 4 00 ACT165DL 1200 1200 1205 1220 1495 56 100 101 6 4 00 ACT165DL 1500 1500 1505 1520 1795 64 100 101 6 4 00 DIMENSIONS MILLIMETERS INCHES Figure 1 6 ACT165DL Series Linear Motor Actuator Dimensions 8 Chapter 1 www aerotech
21. Technical Changes Table B 1 Current Changes 1 01 00 Section s Affected Section 1 1 2 Section Metrology option name change from STANDARD to NO PLOTS and 3 2 Section 3 3 CERTIFIED to PLOTS www aerotech com Appendix B 53 Technical Changes ACT Series Linear Actuator User s Manual Table B 2 Archived Changes Section s Affected General Information 10000 54 Appendix B www aerotech com Series Linear Actuator User s Manual Index Index Motor 19 A Mounting 13 Adjustable 41 moveable limits 41 Air 21 Attaching the 15 off center load eee 34 B Optional Features 3 Bulkhead Connector Bracket Installation 16 P Preparing the Mounting Surface 13 cable P PER 19 S cable management 20 safety 9 Cable Strain Relief 20 Securing the Stage to the Mounting Surface 14 cantilevered 34 Specifications 24
22. allation Connector Assembly www aerotech com Chapter 2 17 Installation ACT Series Linear Actuator User s Manual Bulkhead Connector Bracket Motor Power amp Feedback Connectors Barbed Air Fittings Figure 2 6 Bulkhead Bracket Installation Air Fittings Assembly 18 Chapter 2 www aerotech com Series Linear Actuator User s Manual Installation 2 6 Electrical Installation Electrical installation requirements vary depending on linear motor actuator options Installation instructions in this section are for linear motor actuators equipped with standard Aerotech linear motors intended for use with an Aerotech motion control system Contact Aerotech for further information regarding linear motor actua tors that are otherwise configured Aerotech motion control systems are adjusted at the factory for optimum performance When the ACT series linear motor actuator is part of a complete Aerotech motion control system setup involves connecting a linear motor actuator to the appropriate drive chassis with the cables provided Labels on the system components indicate the appropriate connections However refer to your drive manuals and documentation for additional installation and operation information In some cases if the system is uniquely configured a drawing show ing system interconnects is supplied A linear motor and a linear encoder are standard for all ACT series actuators The electrical wiring from the motor
23. amples J SmemmwDem Nee te j Seat ripe Name Ee Customer Customer Order E Order Mailyourcommentsto Faxto 101 Zeta Drive Pittsburgh PA 15238 emai USA
24. arge 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 time the buyer must issue a valid purchase order to cover the cost of the repair and freight or authorize the product s to be shipped back as is at the 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 atthe 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 Attimes the buyer may desire to expedite a repair Regardless of warranty or out of war ranty status the buyer must issue a valid purchase order to cover the added rush serv ice cost Rush service is subject to Aerotech s approval www aerotech com Appendix A Laser Products Return Procedure Returned Product War ranty Determination Returned Product Non warranty Determination Rush Service 51 Warranty and Field Service ACT Series Linear Actuator 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 52 ing and having the customer install replacement parts and cannot be retu
25. as V EISCOL Tables EEEE ETA ORS ELE Er vii Chapter 1 Overview a o oo cece ccc cc naonana onoho aoao aa Daora DEALA DADP ADADA ra a a raoran 1 1 1 Standard 222 4 4 50 020 24222 2 1 1 1 Optional Features eic eiie Sees ESES 3 1 1 2 Model 4 202 20 22 2 2 4 N22 DIMENSIONS EE aya aus a ty u a es 6 1 3 Safety Procedures and Warnings 9 1 4 EC Declaration 222 2 2 22 10 Chapter 2 Installation 2 2 2 2 22 22 11 2 1 Unpacking and Handling the Linear Motor 12 2 2 Preparing the Mounting 2 2440202 13 2 3 Securing the Stage to the Mounting 14 2 4 Attaching the Payload to the Linear Actuator 15 2 5 Bulkhead Connector Bracket
26. atability performance 4 Maximum velocity and acceleration specifications assume a small payload As payload increases the maximum attainable velocity and acceleration will decrease Maximum application velocity may be limited by system data rate and resolution 5 Axis orientation for on axis loading is listed 6 Specifications are for single axis systems measured 25 mm above the tabletop Consult factory for non standard applications Table 3 10 ACT165DL Series Electrical Specifications Feedback Noncontact Linear Encoder Maximum Bus Voltage 320 VDC Limit Switches 5 V Normally Closed Home Switch www aerotech com Chapter 3 29 Operating Specifications ACT Series Linear Actuator User s Manual Table 3 11 Series Resolution Information Code SignalPeried TravelStep Multiplier Maximum Speed Signal Type Encoder Connector A 1 Requires system data rate of at least 24 MHz 30 Chapter 3 www aerotech com Series Linear Actuator User s Manual Operating Specifications Table 3 12 BLMC 142 A Motor Specifications Specifications Performance Specifications 1 5 Continuous Force 20 psi 1 4 bar 2 Continuous Force No Cooling 2 Peak Force I igi Electrical Specifications 5 BEMF Constant line to line max 21 28 V m sec 0 54 Vl in sec Continuous Current 20 psi 1 4 bar 2 6 50 A pk 4 60 A rms Continuous Current No Cooling 4 20 A pk i Peak Cur
27. aximum Horizontal Load Capacity 115DL 20 kilograms 140DL 40 kilograms 165DL 60 kilograms If a cantilevered load is applied refer to Figure 3 1 Figure 3 2 Figure 3 3 and Figure 3 4 to find the max imum allowable load 30 7 Horizontal Parallel to Travel 25 72 Horizontal Perpendicular to Travel mmm 20 Load kg o 0 50 100 150 200 250 300 Offset Distance mm Figure 3 1 ACT115DL Cantilevered Load Capability 34 Chapter 3 www aerotech com ACT Series Linear Actuator User s Manual Operating Specifications 7 Horizontal Parallel to Travel 7 Horizontal Perpendicular to Travel mm Side 9 75 l 0 50 100 150 200 250 300 Offset Distance mm Figure 3 2 ACT140DL Cantilevered Load Capability 90 7 Horizontal Parallel to Travel 7 Horizontal Perpendicular to Travel Side _ 0 50 100 150 200 250 300 Offset Distance mm Figure 3 3 ACT165DL Cantilevered Load Capability www aerotech com Chapter 3 35 Operating Specifications ACT Series Linear Actuator User s Manual Horizontal Load Parallel to Travel e Figure 3 4 Cantilevered Load Diagram Figure 3 5 Figure 3 6 and Figure 3 7 show the relationships between the mass carried by the linear motor actuator and the maximum acceleration capabilities Both peak a
28. container Most ACT series linear motor actuators come equipped with lifting features attached to the base as shown in Figure 2 1 Use these lifting features in conjunction with lifting straps to handle the linear motor actuator If lifted by hand the linear motor actuator should be lifted from the bottom of the base Do not attempt to lift or move the linear motor actuator by the carriage cable brackets or end plates For multi axis assemblies always lift the system by the lower axis Lifting by the upper axis can disturb precision alignments on the system Lifting Features Shipping Brackets Figure 2 1 Lifting Features Each ACT 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 WARNING Improper handling could adversely affect the ACT s performance Use care when moving the stage WARNING Usecare when moving the ACT Manually lifting or transporting the ACT can result in injury WARNING Lift the ACT only by the base gt gt gt 12 Chapter 2 www aerotech com Series Linear Actuator 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 ACT When
29. ctuator if it is connected to a power source 14 Chapter 2 www aerotech com Series Linear Actuator User s Manual Installation 2 4 Attaching the Payload to the Linear Actuator To prevent damage to payloads test the operation of the linear motor actuator before the payload is attached to the carriage 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 Section 2 6 and the documentation delivered with the stage The payload should be flat rigid and comparable to the linear motor actuator in quality NOTE For valid system performance the mounting interface should be flat within 5 um per 50 mm www aerotech com Chapter 2 15 Installation ACT Series Linear Actuator User s Manual 2 5 Bulkhead Connector Bracket Installation These instructions apply only to those linear motor actuators that have been supplied with a BRACKET bulk head bracket mounting kit The BRACKET bulkhead mounting kid provides the user with the necessary hardware for mounting the motor and feedback connectors directly onto the carriage of any linear motor actuator constructed with either the CONN H or CONN NH cable management options Note that installation and use of the BRACKET bulkhead mounting kit along does not constitute a correct electrical cable strain relief as described in Section
30. e Lubricant inspection and replenishment in ACT series linear motor actuators depends on conditions such as duty cycle speed and the environment An inspection interval of once per month is recommended until a trend develops for the specific application and environment Longer or shorter intervals might be required to maintain the film of lubricant on the bearing surfaces In general Aerotech recommends that linear motor actuators operating in a clean environment be lubricated annually or every 500 km whichever comes first For linear motor actuators operating under conditions involving excessive debris lubrication every six months is recommended www aerotech com Chapter 4 47 Maintenance ACT Series Linear Actuator User s Manual 4 2 Cleaning and Lubrication 4 2 1 Recommended Cleaning Solvents and Lubricants If a solvent is necessary for cleaning the linear motor actuator then it is recommended that isopropyl alcohol be used Harsher solvents such as acetone can damage the plastic and rubber seals on the LMG trucks Acetone should never be used on the encoder surfaces and magnet tracks because it could dissolve the epoxy that holds the magnets in place For standard LMG bearing rails Shell Alvania EP2 grease is recommended Comparable lithium based No 2 greases can also be used 4 2 2 Important Notes on Cleaning and Lubrication When cleaning or lubricating components of the ACT series linear motor actuators Use a clean dry
31. ent Sia Force Constant Sinusoidal Drive 4 9 Motor Constant 24 8 24 N NW 1 85 Ib NW Resistance 25 C line to line Mechanical Specifications 5 Air Flow 20 psi Magnetic Pole Pitch 1 Performance is dependent upon heat sink configuration system cooling conditions and ambient temperature 2 Values shown 100 C rise above a 25 C ambient temperature with motor mounted to the specified aluminum heat sink 3 Peak force 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 125 C 7 Ambient operating temperature range 0 C 25 C consult Aerotech for performance in elevated ambient temperatures 8 All Aerotech amplifiers are rated Apk use torque constant in N m Apk when sizing 2 97 A rms www aerotech com Chapter 3 31 Operating Specifications ACT Series Linear Actuator User s Manual Table 3 13 BLM 142 A Motor Specifications Specifications Performance Specifications 1 5 Continuous Force 20 psi 1 4 bar 2 Continuous Force No Cooling 2 Peak Force 3 692 7 N 155 7 lb Electrical Specifications 5 BEMF Constant line to line max 40 96 V m sec 1 04 V in sec Continuous Current 20 psi 1 4 bar 2 4 86 A pk 3 44 A rms Continuous Current No Cooling 3 10 A pk i Peak Curent Sia ee 2 Force C
32. g environments Operation in conditions other than those specified can cause damage to the equipment WARNING The ACT must be mounted securely Improper mounting can result in injury and damage to the equipment WARNING Usecare when moving the ACT Manually lifting or transporting the ACT can result in injury WARNING Only trained personnel should operate inspect and maintain the ACT WARNING This ACT is intended for light industrial manufacturing or laboratory use Use of the ACT for unintended applications can result in injury and damage to the equipment WARNING Before using this ACT perform an operator risk assessment to determine the needed safety requirements www aerotech com Chapter 1 9 Overview ACT Series Linear Actuator User s Manual 1 4 EC Declaration of Incorporation Manufacturer Aerotech Inc 101 Zeta Drive Pittsburgh PA 15238 USA AEROTECH herewith declares that the product Aerotech Inc ACT Linear Motor Actuator 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
33. he mounting surface and bottom of the linear motor actuator with the appropriate cleaners iso propyl alcohol for the bottom of the linear motor actuator 3 Place the linear motor actuator on the mounting surface Remove the lifting features and shipping brackets refer to Figure 2 1 The lifting features consist of the eyebolts that are directly threaded into the linear motor actuator base through standoff spaces They can be removed by tightening a wrench on the head of the eyebolt WARNING Do not attempt to move the ACT s carriage or table top until the lifting brackets AN and shipping brackets have been removed Moving the carriage with the lifting brackets and ship ping brackets installed can cause permanent damage to the NOTE After removing the lifting features or shipping brackets retain them for future use In the event that the product requires service at the factory the lifting features or shipping brackets should be reattached to ensure that the ACT ships safely 5 If necessary manually move the carriage to access the 7 mm 0 28 in diameter mounting holes along the edges of the base The ACT linear motor actuators are designed to use socket head cap screws SHCS to secure the base to the mounting surface Use either M6 or 1 4 SHCS with flat washers to provide at least 1 5x diameter thread engagement Tighten the mounting screws to 8 N m 6 ft lb torque WARNING Do not attempt to manually move the linear motor a
34. iates 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 Altitude Operating 0 to 2 000 m 0 to 6 562 ft above sea level Contact Aerotech if your specific application involves use above 2 000 m or below sea level Vibration Use the system in a low vibration environment Excessive floor or acoustical vibration can affect linear actuator and system performance Contact Aerotech for information regarding your spe cific application Dust Expo The ACT linear motor actuators are not suited for dusty or wet environments This equates to an sure ingress protection rating of IPOO Use Indoor use only WARNING Donot expose the ACT 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 When an ACT series linear motor actuator is ordered with the PLOTS metrology option the accuracy spec ification is measured at the center of the carriage 25 mm above the carriage s mounting surface with the lin ear motor actuator in a horizontal orientation The linear motor ac
35. imit 5V 5V supply input for optical limit switch boards Usual require ment is 50 mA SIN Sine Incremental encoder output either TTL line driven or amplified sign wave type signal Sine Incremental encoder output either TTL line driven or amplified sign wave type signal SIN N Incremental encoder output Compliment of SIN Reserved Not Used Limit Common Common ground to limit switch Common ground to limit switch 21 Encoder Common Common ground to encoder power M Cemron gouna to ercocerponer _____ 24 Limit CCW Active high signal indicating maximum travel produced by pos itive stage direction Not Used 000000000000 0000000000000 N 2 6 9 2 e I I IL O gt X UJ A www aerotech com Chapter 3 45 Operating Specifications ACT Series Linear Actuator User s Manual 3 7 Vacuum Operation Contact Aerotech for information regarding operation in a vacuum environment 46 Chapter 3 www aerotech com Series Linear Actuator User s Manual Maintenance Chapter 4 Maintenance This chapter provides information about intervals between lubrications details of the lubrication and inspec tion process and recommendations of lubricants for use 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 8 for air requirements N 4 1 Service and Inspection Schedul
36. is only needed for those ACT models that are equipped with the FC linear motor forcer cooling option Compressed air at a pressure of 138 kPa 20 psi is required when using this feature For the ACT 115DL and ACT 140DL linear motor actuators it is recommended that air be supplied via a polyurethane air hose with an inner diameter of 2 5 mm 3 32 or larger For the ACT 165DL linear motor actuator it is rec ommended that air be supplied via a polyurethane air hose with an inner diameter of 4 mm 5 32 or larger See Table 3 12 Table 3 13 and Table 3 14 for typical forcer cooling air flow rates www aerotech com Chapter 2 21 Installation 22 ACT Series Linear Actuator User s Manual Chapter 2 www aerotech com Series Linear Actuator User s Manual Operating Specifications Chapter 3 Operating Specifications The surrounding environment and operating conditions can affect the performance and service life of the lin ear actuator This chapter provides information on ideal environmental and operating conditions Also included are instructions for estimating the load capability given various loadings 3 1 Environmental Specifications The environmental specifications for the ACT 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 C 68 F 4 F If at any time the operating tem perature dev
37. its product offerings 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 www aerotech com Chapter 1 1 Overview ACT Series Linear Actuator User s Manual 1 1 Standard Features The ACT series incorporates a linear motion guide LMG a high power cog free linear motor and a high accuracy non contact linear optical encoder as standard features to provide a high performance cost effec tive linear actuator that is virtually maintenance free Because the ACT actuators consist of non contact lin ear motors and encoders there is no backlash windup or wear that is normally associated with contacting type systems such as ball screws or belt drives Limit switches and mechanical stops which protect the carriage from over travel are also standard features of every ACT linear motor actuator Motor Power amp Feedback Connectors Linear Motion Guide Figure 1 2 ACT Series Linear Motor Actuator 2 Chapter 1 www aerotech com Series Linear Actuator User s Manual Overview 1 1 1 Optional Features Available assembly options allow the ACT series linear motor actuators to be configured for a variety of appli cations The non contact linear optical encoder is available with either a line driver output or an amplified sine wave output for maximum application flexibility Various resolutions and cl
38. m with resolution of 0 5 um Coarser resolutions will result in reduced bi directional repeatability performance 4 Maximum velocity and acceleration specifications assume a small payload As payload increases the maximum attainable velocity and acceleration will decrease Maximum application velocity may be limited by system data rate and resolution 5 Axis orientation for on axis loading is listed 6 Specifications are for single axis systems measured 25 mm above the tabletop Consult factory for non standard applications 28 Chapter 3 www aerotech com ACT Series Linear Actuator User s Manual Operating Specifications Table 3 9 ACT165DL Series Mechanical Specifications 0600 to 1500 ES 1500 mm m Repeatability Bi 1 1 3 Maximum Speed Maximum Acceleration Con tinuous Maximum 270 7 N Force Con Load 5 5 Side 30 kg 3 0kg Stage Mass 48 9 kg 60 3 kg 70 2 kg 80 1 kg 95 7 kg Aluminum Clear Anodize Base Black Anodize Tabletop MTBF Mean Time Between 20 000 Hours Failure Drive System Brushless Linear Servomotor BLMH 142 A 1 Testing conducted only when PLOTS metrology option is ordered 2 Calibration available with HALAR option 3 Bi directional repeatability specification listed requires resolution of 0 1 um or finer Specification is 2 um with resolution of 0 5 um Coarser resolutions will result in reduced bi directional repe
39. 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 10 AEROTECH GmbH S d West Park 90 D 90449 N mberg Alex Weibel Engineer Verifying Compliance Pittsburgh PA December 30 2011 Chapter 1 www aerotech com Series Linear Actuator User s Manual Installation Chapter 2 Installation This chapter describes the installation procedure the ACT series linear motor actuators including handling the linear motor actuator correctly securing the linear motor actuator to the mounting surface attaching the payload and making the electrical connections WARNING Installation must follow the instructions in this chapter Failure to follow these instructions could result in injury and damage to the equipment www aerotech com Chapter 2 11 Installation ACT Series Linear Actuator User s Manual 2 1 Unpacking and Handling the Linear Motor Actuator Carefully remove the linear motor actuator from the protective shipping
40. nd continuous acceleration capabilities are presented The maximum acceleration possible for the ACT115DL series is 3 g and the maximum accel eration possible for both the ACT140DL and ACT165DL series is 5 g 36 Chapter 3 www aerotech com ACT Series Linear Actuator User s Manual Operating Specifications Peak Instantaneous Continuous 20psi air 100 Duty Acceleration g Mass kg Figure 3 5 ACT115DL Acceleration vs Mass www aerotech com Chapter 3 37 Operating Specifications ACT Series Linear Actuator User s Manual Peak Instantaneous Continuous 20psi air 100 Duty Acceleration g 0 10 20 30 40 Mass kg Figure 3 6 ACT140DL Acceleration vs Mass 38 Chapter 3 www aerotech com ACT Series Linear Actuator User s Manual Operating Specifications Peak Instantaneous Continuous 20 air 100 Duty Acceleration g 0 15 30 45 60 Mass kg Figure 3 7 ACT165DL Acceleration vs Mass www aerotech com Chapter 3 39 Operating Specifications ACT Series Linear Actuator User s Manual 3 5 End of Travel Limits ACT series linear motor actuators are provided with EOT End of Travel limits These limits indicate to the motion controller when the linear motor actuator has reached its maximum useable travel in each direction 3 5 1 Limit Operation
41. near motor actuator s carriage to the opposite end of travel This will work the grease into the LMG trucks 7 Repeat steps 2 through 5 for any areas that were inaccessible due to the carriage s original position Restore power to the linear motor actuator Drive the carriage back to its original position in order to redis tribute the lubricant www aerotech com Chapter 4 49 Maintenance ACT Series Linear Actuator User s Manual 50 Chapter 4 www aerotech com ACT Series Linear Actuator 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
42. ock rates are available upon request for encoders with line driver outputs For applications requiring the easy adjustment of useable travel the ACT series linear motor actuators can be equipped with optional moveable limits A bulkhead termination bracket option is available for OEM or applications requiring user defined cable man agement In cases where a complete solution is needed an optional cable management chain can be pro vided Optional air cooling of the linear motor is offered for high duty cycle and heavy payload applications For critical applications an option is available to verify the accuracy and repeatability performance of the ACT linear motor actuator by performing metrology testing at the factory In addition a linear error correction option is offered for those applications requiring the highest level of accuracy Aesthetic end plates are also available for all models of the ACT series linear motor actuators Refer to Figure 1 3 for examples of some of the optional features available on the ACT linear motor actuators Cable Management Chain End Plates Figure 1 3 Examples of Optional Features www aerotech com Chapter 1 3 Overview ACT Series Linear Actuator User s Manual 1 1 2 Model Numbers The following table provides an ordering example for a typical ACT linear motor actuator and a list of avail able options Aerotech continually improves its product offerings and listed options can be superseded
43. ons will result in reduced bi directional repeatability performance 4 Maximum velocity and acceleration specifications assume a small payload As payload increases the maximum attainable velocity and acceleration will decrease Maximum application velocity may be limited by system data rate and resolution 5 Axis orientation for on axis loading is listed 6 Specifications are for single axis systems measured 25 mm above the tabletop Consult factory for non standard applications Table 3 4 ACT115DL Series Electrical Specifications Feedback Noncontact Linear Encoder Maximum Bus Voltage 320 VDC Limit Switches 5 V Normally Closed Home Switch www aerotech com Chapter 3 25 Operating Specifications ACT Series Linear Actuator User s Manual Table 3 5 140 Series Mechanical Specifications 0100 to 0500 ee ae eee m Repeatability Bi 1 um 1 3 Maximum Speed Maximum Acceleration Con tinuous Maximum 173 2N Force Con Load 40 5 Side 20 kg 25kg Stage Mass 13 8 kg 17 0 kg 19 5 kg 22 7 kg 25 3 kg Aluminum Clear Anodize Base Black Anodize Tabletop MTBF Mean Time Between 20 000 Hours Failure Drive System Brushless Linear Servomotor BLM 142 A 1 Testing conducted only when PLOTS metrology option is ordered 2 Calibration available with HALAR option 3 Bi directional repeatability specification listed requires resolution of 0 1 um or fine
44. onstant Sinusoidal Drive 4 9 Motor Constant 24 10 53 W 2 37 Ib W Resistance 25 C line to line Mechanical Specifications 5 Air Flow 20 psi a o oo Magnetic Pole Pitch 1 Performance is dependent upon heat sink configuration system cooling conditions and ambient temperature 2 Values shown 100 C rise above a 25 C ambient temperature with motor mounted to the specified aluminum heat sink 3 Peak force 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 125 C 7 Ambient operating temperature range 0 C 25 C consult Aerotech for performance in elevated ambient temperatures 8 All Aerotech amplifiers are rated Apk use torque constant in N m Apk when sizing 2 19A rms 32 Chapter 3 www aerotech com ACT Series Linear Actuator User s Manual Operating Specifications Table 3 14 142 Motor Specifications Specifications Performance Specifications 1 5 Continuous Force 20 psi 1 4 bar 2 Continuous Force No Cooling 2 Peak Force Electrical Specifications 5 BEMF Constant line to line max 32 11V m sec 0 82 V in sec Continuous Current 20 psi 1 4 bar 2 9 69 A pk 6 85 A rms Continuous Current No Cooling 5 37 A pk i Peak Curent Sia MM Force Constant Sinusoidal Drive 4 9 M
45. or actuators can be equipped with optional moveable limits The NCA 5V option allows the user to move the EOT limits within certain boundaries to the locations necessary for their particular application The procedure for adjusting the moveable limits is as follows see Figure 3 9 1 Loosenthe two M4 x 12 mm long button head socket cap screws BHCS that attach the adjustable limit plate to the base by about 1 turn It is not necessary to completely disassemble the BHCS from the adjustable limit plate 2 Slide the adjustable limit plate to the desired location 3 Making sure that the bottom of the adjustable limit plate is seated against the reference ledge of the base tighten the two BHCS that attach the adjustable limit plate to the base Adjustable Limit Plate M4 x 12 mm long BHCS Base Reference Ledge Figure 3 9 Adjustment of Moveable Limits www aerotech com Chapter 3 41 Operating Specifications ACT Series Linear Actuator User s Manual When you adjust the moveable limits you must adhere to the following criteria 1 Donot overextend the length of useable travel This can result in a situation where the linear motor actua tor does not have sufficient distance to decelerate after encountering the electrical limit and before con tacting the mechanical stop Even worse the linear actuator could possibly impact the mechanical stop prior to reaching the electrical limit Both of these scenarios can result in damage to
46. otor Constant 24 14 17 N W 3 19 Ib W Resistance 25 C line to line Mechanical Specifications 5 Air Flow 20 psi E sse Magnetic Pole Pitch 1 Performance is dependent upon heat sink configuration system cooling conditions and ambient temperature 2 Values shown 100 C rise above a 25 C ambient temperature with motor mounted to the specified aluminum heat sink 3 Peak force 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 125 C 7 Ambient operating temperature range 0 C 25 C consult Aerotech for performance in elevated ambient temperatures 8 All Aerotech amplifiers are rated Apk use torque constant in N m Apk when sizing 3 80 A rms www aerotech com Chapter 3 33 Operating Specifications ACT Series Linear Actuator User s Manual 3 4 Load Capability It is recommended that application loads be symmetrically distributed whenever possible that is the pay load should be centered on the carriage and the entire linear motor actuator should be centered on the sup port structure When the linear motor actuator is lying flat horizontal and the application load is vertically applied and symmetrically distributed the maximum load carrying capacities of the ACT are as follows Table 3 15 Maximum Horizontal Load Capacity per ACT Model ACT Model M
47. r Specification is 2 um with resolution of 0 5 um Coarser resolutions will result in reduced bi directional repeatability performance 4 Maximum velocity and acceleration specifications assume a small payload As payload increases the maximum attainable velocity and acceleration will decrease Maximum application velocity may be limited by system data rate and resolution 5 Axis orientation for on axis loading is listed 6 Specifications are for single axis systems measured 25 mm above the tabletop Consult factory for non standard applications 26 Chapter 3 www aerotech com ACT Series Linear Actuator User s Manual Operating Specifications Table 3 6 140 Series Mechanical Specifications 0600 to 1500 EEUU 1500 mm m Repeatability Bi 1 1 3 Maximum Speed Maximum Acceleration Con tinuous Maximum 173 2N Force Con Load 40 5 Side 20 kg 25kg Stage Mass 28 5 kg 34 3 kg 40 7 kg 46 4 kg 55 4 kg Aluminum Clear Anodize Base Black Anodize Tabletop MTBF Mean Time Between 20 000 Hours Failure Drive System Brushless Linear Servomotor BLM 142 A 1 Testing conducted only when PLOTS metrology option is ordered 2 Calibration available with HALAR option 3 Bi directional repeatability specification listed requires resolution of 0 1 um or finer Specification is 2 um with resolution of 0 5 um Coarser resolutions will result in reduced bi di
48. rectional repeatability performance 4 Maximum velocity and acceleration specifications assume a small payload As payload increases the maximum attainable velocity and acceleration will decrease Maximum application velocity may be limited by system data rate and resolution 5 Axis orientation for on axis loading is listed 6 Specifications are for single axis systems measured 25 mm above the tabletop Consult factory for non standard applications Table 3 7 ACT140DL Series Electrical Specifications Feedback Noncontact Linear Encoder Maximum Bus Voltage 320 VDC Limit Switches 5 V Normally Closed Home Switch www aerotech com Chapter 3 27 Operating Specifications ACT Series Linear Actuator User s Manual Table 3 8 ACT165DL Series Mechanical Specifications 0100 to 0500 a m Repeatability Bi 1 1 3 Maximum Speed Maximum Acceleration Con tinuous Maximum 270 7 N Force Con Load 5 30 kg 3 0kg Stage Mass 23 4 kg 29 1 kg 33 4 kg 39 0 kg 44 7 kg Aluminum Clear Anodize Base Black Anodize Tabletop MTBF Mean Time Between 20 000 Hours Failure Drive System Brushless Linear Servomotor BLMH 142 A 1 Testing conducted only when PLOTS metrology option is ordered 2 Calibration available with HALAR option 3 Bi directional repeatability specification listed requires resolution of 0 1 um or finer Specification is 2 u
49. rence connector pin outputs are given in Table 3 16 and Table 3 17 Table 3 16 Motor Connector Pin Assignments Pin Description CT Connector MTR A Motor Phase A A2 MTR Motor Phase A3 MTR GC Motor Phase C MTR SHLD RESERVED Not Used RESERVED Not Used RESERVED Not Used RESERVED Not Used 44 Chapter 3 www aerotech com ACT Series Linear Actuator User s Manual Operating Specifications Table 3 17 Feedback Connector Pin Assignments Pim tabe Descon 3 Cemecter SIG SHLD Signal shield connection Positive lead for motor thermistor to motion controller 3 Encoder 5V 5V supply input for optical encoders Usual requirement is 250 mA Reserved Hall Effect B Brushless motor commutation track output TTL 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 Marker Incremental encoder output pulse given once per rev olution Usually used for home reference cycle 7 Not Used Not Used Hall Effect A 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 Limit CW Active high signal indicating maximum travel produced by pos itive stage direction Reserved amplified sine wave type signal COSN L
50. rned to the Aerotech service center for repair and if Aerotech determines the problem could be war ranty related then the following policy applies Aerotech will provide an on site field service representative in a reasonable amount of time provided that the customer issues a valid purchase order to Aerotech covering all transportation and subsistence costs For warranty field repairs the customer will not be charged for the costof 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 sec tion 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 ACT Series Linear Actuator User s Manual Technical Changes Appendix B
51. soft lint free cloth for cleaning 2 Take the opportunity during the lubrication procedure to inspect the linear motion guides for any damage or signs of wear 3 In applications that have multiple linear motor actuators and stages bolted together to form multi axis Systems precision alignments may be lost if components are loosened or disassembled 4 Further disassembly of the linear motor actuator is not recommended because proper assembly and cal ibration can only be done at the factory In addition a laser interferometer may be needed for post assembly verification in order to maintain warranties 48 Chapter 4 www aerotech com Series Linear Actuator User s Manual Maintenance 4 2 3 Cleaning and Lubrication Process The cleaning process is outlined in the steps that follow Before beginning lubrication see Section 4 2 1 for recommended lubricants A Remove power to the linear motor actuator Remove any accumulated dust or debris from the linear motor actuator Remove any dirty or dried lubricant from the LMG bearing rails Use a clean lint free cloth with a side to side motion A swab soaked in isopropyl alcohol can be used to remove stubborn debris 4 Clean the LMG bearing rails with a clean lint free cloth or swab 5 Apply athin continuous film of lubricant to the LMG bearing rails A good quality natural bristle artist s brush makes an excellent applicator 6 Manually move the li
52. tuator is assumed to be fully supported by a mounting surface that meets or exceeds the specification described in Section 2 2 The accuracy specifications listed in Section 3 3 assume a 20 C operating environment If the temperature of the linear motor actuator differs from 20 C then the encoder scale mounted directly to the linear motor actuator s base will expand or contract at a rate of 23 6 ppm per C www aerotech com Chapter 3 23 Operating Specifications ACT Series Linear Actuator User s Manual 3 3 Basic Specifications Basic specifications provided in this section include mechanical and electrical specifications encoder res olution information and BLMC 142 BLM 142 and BLMH 142 motor specifications For the most recent specifications see www aerotech com Table 3 2 115 Series Mechanical Specifications 0100 to 0500 eres See 0 005 Tum Repeatability Bi 1 1 3 5mis Maximum Acceleration Con 3g tinuous J Maximum 120 3 N Force Con tinuous 77 1 Load 20 Capacity 9 10kg akg Stage Mass 7 3 kg 9 1 kg 10 9 kg 12 7 kg 14 5 kg Aluminum Clear Anodize Base Black Anodize Tabletop MTBF Mean Time Between 20 000 Hours Failure Drive System Brushless Linear Servomotor BLMC 142 A 1 Testing conducted only when PLOTS metrology option is ordered 2 Calibration available with HALAR option 3 Bi directional repeatability specification listed requires
53. zontal Load Capacity per ACT 34 Table 3 16 Motor Connector Pin 2 44 Table 3 17 Feedback Connector Pin 2 45 Table B 1 Current Changes 1 01 00 0222 53 Table B 2 Archived rere erre rr rrr irn 54 www aerotech com vii List of Tables ACT Series Linear Actuator User s Manual viii www aerotech com Series Linear Actuator User s Manual Overview Chapter 1 Overview This manual describes Aerotech s ACT series of linear motor actuators Figure 1 1 shows a typical ACT lin ear motor actuator The ACT is a high performance cost effective linear servomotor driven actuator that is faster and more accu rate than a ball screw or belt drive actuator The ACT is ideal for applications including assembly pick and place machines electronic assembly and qualification packaging vision inspection dispensing life Sciences image scanning and processing and inkjet printing The ACT series supports travel distances ranging from 100 mm to 1500 mm This chapter introduces standard and optional features of the ACT linear motor actuators and gives general safety precautions Figure 1 1 Typical ACT Series Linear Motor Actuator NOTE Aerotech continually improves
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