Aerotech ABL1500 Series, Hardware Manual

Page 1: ...Revision 1 03 00 ABL1500 Hardware Manual ...

Page 2: ...rvice aerotech com 101 Zeta Drive Pittsburgh PA 15238 2811 www aerotech com United Kingdom Japan Phone 44 0 1256 855055 Fax 44 0 1256 855649 Email service aerotech co uk Phone 81 0 50 5830 6814 Fax 81 0 43 306 3773 Email service aerotechkk co jp Germany China Phone 49 0 911 967 9370 Fax 49 0 911 967 93720 Email service aerotechgmbh de Phone 86 21 5508 6731 Email service aerotech com France Taiwan ...

Page 3: ... 17 2 2 Dimensions 19 2 3 Securing the Stage to the Mounting Surface 20 2 4 Attaching the Payload to the Stage 22 Load Capability 22 Chapter 3 Electrical Specifications and Installation 25 3 1 Motor and Feedback Connectors 26 3 2 Motor and Feedback Wiring 29 3 3 Motor and Feedback Specifications 30 3 4 Limits Marker and Machine Direction 32 3 5 Motor and Feedback Phasing 33 Chapter 4 Maintenance 3...

Page 4: ...pability 22 Figure 2 5 Cantilever Length Diagram 23 Figure 2 6 Pitch Offsets 24 Figure 2 7 Yaw Offsets 24 Figure 3 1 Connector Locations 25 Figure 3 2 Motor and Feedback Wiring 29 Figure 3 3 Machine Direction 32 Figure 3 4 Hall Phasing 33 Figure 3 5 Analog Encoder Phasing Reference Diagram 34 Figure 3 6 Encoder Phasing Reference Diagram Standard 34 Figure 4 1 Air Bearing Surfaces and Encoder Scale...

Page 5: ...ations 12 Table 1 3 ABL1500 Series Specifications 13 Table 1 4 Air Specifications 15 Table 3 1 Motor Connector Pinouts 27 Table 3 2 Feedback Connector Pinouts 28 Table 3 3 Feedback Specifications 30 Table 3 4 Encoder Specifications 31 Table 3 5 BLMC 192 Motor Specifications 31 Table 4 1 Recommended Cleaning Solvents 35 www aerotech com 5 ...

Page 6: ...Table of Contents ABL1500 Hardware Manual 6 www aerotech com This page intentionally left blank ...

Page 7: ...the product 6 PINCH POINT Keep Hands Clear while the stage is in motion W A R N I N G To minimize the possibility of electrical shock bodily injury or death the following precautions must be followed 1 Moving parts can cause crushing or shearing injuries Access to all stage and motor parts must be restricted while connected to a power source 2 Cables can pose a tripping hazard Securely mount and p...

Page 8: ...Safety ABL1500 Hardware Manual 8 www aerotech com This page intentionally left blank ...

Page 9: ... 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 con formity 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 This is to certify that t...

Page 10: ...Declaration of Conformity ABL1500 Hardware Manual 10 www aerotech com This page intentionally left blank ...

Page 11: ... 0 1 µm TTL line driver output E3 High accuracy incremental linear encoder 1 Vpp amplified sine output Cable Management Required CMS1 Single axis cable management system CMS2 Cable management system for XY assembly CMS3 Cable management system for Y axis upper axis only CMS4 Cable management system for YZ assembly upper axis only Metrology Required PL1 Metrology uncalibrated with performance plots...

Page 12: ...n affect system performance Contact Aerotech for information regarding your specific application Protection Rating ABL1500 stages are not suited for dusty or wet environments This equates to an ingress protection rating of IP00 Use Indoor use only 1 2 Accuracy and Temperature Effects Due to the small clearances in the air bearing design extreme temperature environments could cause a decrease in pe...

Page 13: ...nsumption 24 30 SLPM 551 kPa Moving Mass no load 5 1 kg Stage Mass 14 7 kg 16 0 kg 18 6 kg Material Aluminum Mean Time Between Failure 30 000 Hours 1 Certified with each stage 2 Axis orientation for on axis loading is listed refer to Section 2 4 for offset loading behavior NOTES l Specifications are for single axis systems measured 25 mm above the tabletop performance of multi axis system is paylo...

Page 14: ... Mass 21 3 kg 23 9 kg 26 5 kg Material Aluminum Mean Time Between Failure 30 000 Hours 1 Certified with each stage 2 Axis orientation for on axis loading is listed refer to Section 2 4 for offset loading behavior NOTES l Specifications are for single axis systems measured 25 mm above the tabletop performance of multi axis system is payload and workpoint dependent Consult the Aerotech factory for m...

Page 15: ...or 5 32 OD Hose 1 Recommended 2 The filtration requirement is to prevent particles from clogging the air bearing orifices 3 Aerotech recommends using a polyurethane air hose Aerotech also recommends that you install a pressure switch P N MCA03094 tied to the motion controller s emergency stop ESTOP that will remove power to the air bearing if pressure drops below 40 psi a drop in pressure could re...

Page 16: ...Overview ABL1500 Hardware Manual 16 Chapter 1 www aerotech com This page intentionally left blank ...

Page 17: ... on a smooth flat and clean surface Before operating the ABL1500 it is important to let it stabilize at room temperature for at least 12 hours Allowing it to stabilize to room temperature will ensure that all of the alignments preloads and tolerances are the same as they were when tested at Aerotech Use compressed nitrogen or clean dry oil less air to remove any dust or debris that has collected d...

Page 18: ...al Figure 2 1 Lifting Features and Shipping Clamps N OTE After removing the lifting features or shipping brackets retain them for future use Do not transport or ship the ABL1500 without the lifting features or shipping brackets attached 18 Chapter 2 www aerotech com ...

Page 19: ...ABL1500 Hardware Manual Mechanical Specifications and Installation 2 2 Dimensions Figure 2 2 ABL1500 Dimensions www aerotech com Chapter 2 19 ...

Page 20: ...or flatness prior to stage assembly at the factory If machining is required to achieve the desired flatness it should be performed on the mounting surface 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 Procedure for ABL1500 mounting W A R N I N G Do not attempt to move the carriage of the ABL150...

Page 21: ...Screws 7 Slide the air bearing carriage to the opposite end of travel and insert the remaining mounting screws with flat washers 8 Tighten the mounting screws begin from the center out for best accuracy The typical torque value for M6 socket head cap screws is 7 N m www aerotech com Chapter 2 21 ...

Page 22: ...ols it might have been tuned with a representative payload based on the information provided at the time of order If the ABL1500 is started up without a payload the servo gains provided by Aerotech with the shipment may not be appropriate and servo instability can occur Refer to the controller help file for tuning assistance The payload must be flat rigid and comparable to the stage in quality to ...

Page 23: ...ABL1500 Hardware Manual Mechanical Specifications and Installation Figure 2 5 Cantilever Length Diagram www aerotech com Chapter 2 23 ...

Page 24: ...how the relationships between mass carried by the stage and maximum acceleration capabilities of the stage Peak acceleration capabilities are given The maximum acceleration possible for the ABL1500 series stages is 2g Figure 2 6 Pitch Offsets Figure 2 7 Yaw Offsets 24 Chapter 2 www aerotech com ...

Page 25: ... follow for standard motor wiring and connector pinouts The stage and its carriage are protected from dangerous faults by an integral safety ground through the stage s motor power cable In addition a spot faced safety ground connection point shown in Figure 3 1 is provided on the stage endplate for customer use W A R N I N G Applications requiring access to the stage while it is energized will req...

Page 26: ... or qualified installer is responsible for determining and meeting all safety and compliance requirements necessary for the integration of this stage into the final application D A N G E R Remove power before connecting or disconnecting electrical components or cables Failure to do so may cause electric shock or damage to the equipment W A R N I N G The protective ground connection must be properl...

Page 27: ...eserved 5 Reserved A4 Frame ground motor protective ground 1 Available with Y CMS option Mating Connector Aerotech P N Third Party P N Base Backshell ECK00656 Amphenol 17E 1726 2 Base Sockets QTY 4 ECK00659 ITT Cannon DM53744 6 Base Connector ECK00657 ITT Cannon DBM9W4SA197 Carriage Backshell 1 ECK00656 Amphenol 17E 1726 2 Carriage Connector 1 ECK00101 FCI DB25P064TXLF 1 Available with Y CMS optio...

Page 28: ...d by positive CW stage direction 13 Reserved 14 Cosine 15 Cosine N 16 5 V power supply 17 Sine 18 Sine N 19 Reserved 20 Limit Common 21 Encoder Common 22 Reserved 23 Reserved 24 Signal indicating maximum travel produced by negative CCW stage direction 25 Reserved Case Signal shield connection to case 1 Available with Y CMS option Mating Connector Aerotech P N Third Party P N Base Backshell ECK0065...

Page 29: ...iring All motor and controller manufacturers have their own designations for motor phases A B C and Hall signals A B C refer to Section 3 5 for motor phasing Shielded cables are required for the motor and feedback connections Figure 3 2 Motor and Feedback Wiring www aerotech com Chapter 3 29 ...

Page 30: ...Type Incremental Encoder 1 Vpk pk into 120 Ω Load differential signals SIN SIN COS COS are 5 V pk pk relative to ground Digital Output Incremental Encoder RS422 485 compatible Limit Switch Specifications Supply Voltage 5 V from encoder Supply Current 250 mA typical Output Type Open Collector Output Voltage 24 VDC max through pull up resistor Output Current 20 mA max sinking Output Polarity Normall...

Page 31: ...ine line max V m s V in s 30 66 0 78 Continuous Current Apk Arms 4 00 2 83 Peak Current Stall 3 Apk Arms 23 20 16 40 Force Constant Sine Drive 4 5 N Apk lb Apk 26 67 6 00 N Arms lb Arms 37 72 8 48 Motor Constant 4 6 N W lb W 10 29 2 31 Resistance 25 C line line Ω 6 4 Inductance line line mH 1 90 Thermal Resistance No Forced Cooling C W 0 93 Maximum Bus Voltage VDC 80 7 Magnetic Pole Pitch mm in 25...

Page 32: ...back and motor signals and is dictated by the stage wiring refer to Section 3 5 for Motor and Feedback phasing information Programming direction of a stage is set by the controller that is used to move the stage Programming direction is typically selectable in the controller while machine direction is hardwired in the stage Figure 3 3 shows the machine direction of ABL1500 stages Figure 3 3 Machin...

Page 33: ...dware Manual Electrical Specifications and Installation 3 5 Motor and Feedback Phasing Motor phase voltage is measured relative to the virtual wye common point Figure 3 4 Hall Phasing www aerotech com Chapter 3 33 ...

Page 34: ...Electrical Specifications and Installation ABL1500 Hardware Manual Figure 3 5 Analog Encoder Phasing Reference Diagram Figure 3 6 Encoder Phasing Reference Diagram Standard 34 Chapter 3 www aerotech com ...

Page 35: ...ct the stage and cables l Re tighten loose connectors l Replace or repair damaged cables l Clean the ABL1500 and any components and cables as needed l Repair any damage before operating the ABL1500 l Inspect and perform an operational check on all safeguards and protective devices 4 2 Cleaning and Lubrication There are no elements on ABL1500 stages that require lubrication Clean all air bearing su...

Page 36: ...vel and remove power D A N G E R To minimize the possibility of bodily injury or death disconnect all electrical power prior to performing any maintenance or making adjustments to the equipment 2 Clean all of the surfaces that you can access Make sure to use the correct solvent on each surface refer to Section 4 2 When the surface is fully dry move the stage by hand to the opposite end of travel W...

Page 37: ...The system is configured to operate with an air pressure safety switch and either the air pressure is too low or the switch is not present Check the air supply and the switch Air pressure switches are typically configured to trip if the supply pressure to the bearing drops below 40 psi Stage moves uncontrollably l Encoder sine and cosine signal connections refer to Chapter 3 and Controller documen...

Page 38: ...Maintenance ABL1500 Hardware Manual 38 Chapter 4 www aerotech com This page intentionally left blank ...

Page 39: ... such approval A Return Materials Authorization RMA number must accompany any returned product s The RMA number may be obtained by calling an Aerotech service center or by submitting the appropriate request available on our website www aerotech com 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 thir...

Page 40: ...ms and conditions stated in the following On Site Non Warranty Repair section apply On site Non Warranty Repair If any Aerotech product cannot be made functional by telephone assistance or purchased replacement parts and cannot be returned to the Aerotech service center for repair then the following field service policy applies Aerotech will provide an on site Field Service Representative in a rea...

Page 41: ...ded 1 01 00 l Declaration of Incorporation section added l Environmental Specifications section added l Updated ordering information l Added safety information and warnings l Updated stage specifications l Added motor specifications l Added note about motor wire current and voltage requirements l Corrected mechanical stop warning 1 00 00 New manual www aerotech com Appendix B 41 ...

Page 42: ...Revision History ABL1500 Hardware Manual 42 Appendix B www aerotech com This page intentionally left blank ...

Page 43: ...hose air 15 Humidity 12 I Inspection Schedule 35 Isopropyl Alcohol 35 L label 17 lifting bars 17 Lifting Hardware 17 Limit Switch Specifications 30 lubrication 35 Lubrication 35 M MCA03094 15 mounting surface securing stage 20 P part number 17 pressure switch 15 Protection Rating 12 protective ground connection 26 S Securing the Stage to the Mounting Surface 20 serial number 17 Shipping Clamps 17 ...

Page 44: ...Index ABL1500 Hardware Manual V Vibration 12 W Warranty and Field Service 39 44 Index www aerotech com ...