Aerotech AMG Series, Hardware Manual

Page 1: ...Revision 1 05 00 AMG 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: ...llation 13 2 1 Unpacking and Handling the Stage 13 2 2 Dimensions 15 2 3 Securing the Stage to the Mounting Surface 20 2 4 Attaching the Payload to the Stage 21 Chapter 3 Electrical Specifications and Installation 23 3 1 Motor and Feedback Connectors 24 3 2 Motor and Feedback Wiring 27 3 3 Motor and Feedback Specifications 28 3 4 Limits Marker and Machine Direction 32 3 5 Motor and Feedback Phasin...

Page 4: ...0 Dimensions 17 Figure 2 5 AMG500 Dimensions 18 Figure 2 6 AMG600 Dimensions 19 Figure 2 7 View of an AMG Stage Showing Mounting Holes 20 Figure 3 1 Motor and Feedback Wiring 27 Figure 3 2 Machine Direction 32 Figure 3 3 Hall Phasing 33 Figure 3 4 Analog Encoder Phasing Reference Diagram 34 Figure 3 5 Encoder Phasing Reference Diagram Standard 34 4 www aerotech com ...

Page 5: ... 2 4 Pin Motor Connector Mating Connector 25 Table 3 3 25 Pin Feedback Connector Pin Assignments AZ and EL 26 Table 3 4 Feedback Connector Mating Connector 26 Table 3 5 Feedback Specifications 28 Table 3 6 AMG Series Azimuth Resolution Information 28 Table 3 7 AMG Series Elevation Resolution Information 28 Table 3 8 S 130 39 Rotary Motor Specifications 29 Table 3 9 S 180 69 Rotary Motor Specificat...

Page 6: ... safety requirements 5 Operator safeguarding requirements must be addressed during final integration of the product 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...

Page 7: ...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 This is to certify that the afor...

Page 8: ...Table of Contents AMG Hardware Manual 8 www aerotech com This page intentionally left blank ...

Page 9: ...te information Table 1 1 Model Options AMG Series Direct Drive Gimbals AMG200 200 mm nominal aperture AMG300 300 mm nominal aperture AMG400 400 mm nominal aperture AMG500 500 mm nominal aperture AMG600 600 mm nominal aperture Feedback Required E1 Incremental encoder 1 Vpp E2 Incremental encoder TTL x5 interpolation E3 Incremental encoder TTL x50 interpolation Metrology Required PL1 Metrology uncal...

Page 10: ...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 system performance Contact Aerotech for information regarding your spe cific application Protection Rating The AMG gimbals have limited protection against airborne particles but not water This equates to an ingress protec...

Page 11: ...Wobble 48 μrad 10 arc sec Orthogonality 24 μrad 5 arc sec Standard Finish Black Anodize with Hard Coated Cell Maximum Component Diameter 4 206 mm 306 mm 407 mm 509 mm 610 mm Nominal Component Thickness 41 mm 54 mm 64 mm 95 mm 102 mm Mass Without Mirror 29 kg 47 kg 54 kg 116 kg 137 kg Inertia 5 Azimuth 0 521 kg m2 1 198 kg m2 2 246 kg m2 8 289 kg m2 12 362 kg m2 Elevation 0 016 kg m2 0 103 kg m2 0 ...

Page 12: ...withstand elevated temperatures non operating for bake out performances Reduced air pressure eliminates significant convective heat transfer This coupled with the viscous vacuum compatible lubricants could result in excessive motor operating temperatures Because of this consider all continuous torque ratings to be 40 to 60 lower than the value specified for operation in normal atmospheric environm...

Page 13: ...ving the AMG l Lift the stage by the eyebolts and flanged nuts mounted on to the elevation shipping clamps The eyebolts should be lifted vertically Angular lifting should be avoided if possible N OTE If any damage has occurred during shipping report it immediately Lifting Instructions Carefully remove the AMG from its protective shipping container Gently set the AMG on a smooth flat and clean surf...

Page 14: ...Mechanical Specifications and Installation AMG Hardware Manual Figure 2 1 Shipping Brackets 14 Chapter 2 www aerotech com ...

Page 15: ...mproves its product offerings listed options may be superseded at any time All drawings and illustrations are for reference only and were complete and accurate as of this manual s release Refer to www aerotech com for the most up to date information Figure 2 2 AMG200 Dimensions www aerotech com Chapter 2 15 ...

Page 16: ...Mechanical Specifications and Installation AMG Hardware Manual Figure 2 3 AMG300 Dimensions 16 Chapter 2 www aerotech com ...

Page 17: ...AMG Hardware Manual Mechanical Specifications and Installation Figure 2 4 AMG400 Dimensions www aerotech com Chapter 2 17 ...

Page 18: ...Mechanical Specifications and Installation AMG Hardware Manual Figure 2 5 AMG500 Dimensions 18 Chapter 2 www aerotech com ...

Page 19: ...AMG Hardware Manual Mechanical Specifications and Installation Figure 2 6 AMG600 Dimensions www aerotech com Chapter 2 19 ...

Page 20: ...opyl alcohol and allow the cleaning solvent to completely dry Gently place the stage on the mounting surface N OTE To maintain accuracy the mounting surface must be flat to within 1 µm per 50 mm N OTE The AMG is precision machined and verified for flatness prior to product assembly at the factory If machining is required to achieve the desired flatness it should be performed on the mounting surfac...

Page 21: ...l results for future reference For information on electrical installation refer to Chapter 3 and the documentation delivered with the stage N OTE If your AMG was purchased with Aerotech controls it might have been tuned with a representative payload based on the information provided at the time of order If the AMG is started up without a payload the servo gains provided by Aerotech with the shipme...

Page 22: ...Mechanical Specifications and Installation AMG Hardware Manual 22 Chapter 2 www aerotech com This page intentionally left blank ...

Page 23: ...icate the appropriate connections If system level integration was purchased an electrical drawing showing system interconnects has been supplied with the system separate from this documentation The electrical wiring from the motor and encoder are integrated at the factory Refer to the sections that follow for standard motor wiring and connector pinouts W A R N I N G Operator access to the base and...

Page 24: ...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 properly in...

Page 25: ...or Phase B A3 Motor Phase C 1 Reserved 2 Reserved 3 Reserved 4 Reserved 5 Reserved A4 Frame ground motor protective ground Table 3 2 4 Pin Motor Connector Mating Connector Mating Connector Aerotech P N Third Party P N Backshell ECK00656 Amphenol 17E 1726 2 Sockets QTY 4 ECK00659 ITT Cannon DM53744 6 Connector ECK00657 ITT Cannon DBM9W4SA197 www aerotech com Chapter 3 25 ...

Page 26: ... Reserved 10 Hall Effect sensor phase A 11 Hall Effect sensor phase C 12 Reserved 13 Reserved 14 Cosine 15 Cosine N 16 5 V power supply internally connected to Pin 3 17 Sine 18 Sine N 19 Reserved 20 Common ground internally connected to Pin 21 21 Common ground internally connected to Pin 20 22 Reserved 23 Reserved 24 Reserved 25 Reserved Table 3 4 Feedback Connector Mating Connector Mating Connect...

Page 27: ...ing 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 1 Motor and Feedback Wiring www aerotech com Chapter 3 27 ...

Page 28: ...relative to ground Digital Output Incremental Encoder RS422 485 compatible Table 3 6 AMG Series Azimuth Resolution Information AMG200 AMG300 AMG400 AMG500 AMG600 Lines 11840 lines rev 15744 lines rev 15744 lines rev 23600 lines rev 23600 lines rev E1 sine 0 27 μrad Max 0 2 μrad Max 0 2 μrad Max 0 13 μrad Max 0 13 μrad Max E2 27 μrad 20 μrad 20 μrad 13 μrad 13 μrad E3 2 7 μrad 2 μrad 2 μrad 1 3 μra...

Page 29: ...f Poles 18 1 Performance is dependent upon heat sink configuration system cooling conditions and ambient temperature 2 Values shown 75 C rise above a 25 C ambient temperature with housed motor mounted to a 330 mm x 330 mm x 13 mm aluminum heat sink 3 Peak force assumes correct rms current consult Aerotech 4 Torque constant and motor constant specified at stall 5 All performance and electrical spec...

Page 30: ...umber of Poles 18 1 Performance is dependent upon heat sink configuration system cooling conditions and ambient temperature 2 Values shown 75 C rise above a 25 C ambient temperature with housed motor mounted to a 330 mm x 330 mm x 13 mm aluminum heat sink 3 Peak force assumes correct rms current consult Aerotech 4 Torque constant and motor constant specified at stall 5 Allperformance and electrica...

Page 31: ...les 26 1 Performance is dependent upon heat sink configuration system cooling conditions and ambient temperature 2 Values shown 75 C rise above a 25 C ambient temperature with housed motor mounted to a 330 mm x 330 mm x 13 mm aluminum heat sink 3 Peak force assumes correct rms current consult Aerotech 4 Torque constant and motor constant specified at stall 5 All performance and electrical specific...

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 2 shows the machine direction of AMG stages Figure 3 2 Machine Di...

Page 33: ...are 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 3 Hall Phasing www aerotech com Chapter 3 33 ...

Page 34: ...Electrical Specifications and Installation AMG Hardware Manual Figure 3 4 Analog Encoder Phasing Reference Diagram Figure 3 5 Encoder Phasing Reference Diagram Standard 34 Chapter 3 www aerotech com ...

Page 35: ...the application process uses only a small portion of travel for most of the duty cycle periodically drive the stage through full travel to redistribute the lubrication in the bearingsand worm drive Monthly inspections should include but not be limited to l Visually inspect the stage and cables l Re tighten loose connectors l Replace or repair damaged cables l Clean the AMG and any components and c...

Page 36: ...ation Stage moves uncontrollably l Encoder sine and cosine signal connections refer to Chapter 3 and Controller documentation l Motor Connections refer to Chapter 3 and the Controller documentation Stage oscillates or squeals l Gains misadjusted refer to the Controller documentation l Encoder signals refer to the Controller documentation 36 Chapter 4 www aerotech com ...

Page 37: ...uch 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 thirty...

Page 38: ... 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 reaso...

Page 39: ...t update l Product dimensions updated Section 2 2 l General revision l Updated safety information and warnings 1 03 00 Changed pin 8 to reserved 1 02 00 l Added Export Restrictions l Added Declaration of Incorporation l Added Environmental Specifications l Safety information and warnings added l Motor specifications added l Note about motor and ground wire current and voltage requirements added 1 ...

Page 40: ...Revision History AMG Hardware Manual 40 Appendix B www aerotech com This page intentionally left blank ...

Page 41: ... schedule 35 Inspection Schedule 35 isopropyl alcohol 35 L label 13 Lifting Instructions 13 lubrication 35 Lubrication 35 M mounting surface cleaning 20 securing stage 20 P part number 13 Performance Specifications S 130 29 S 180 30 S 240 31 Protection Rating 10 protective ground connection 24 S S 130 Electrical Specifications 29 Performance Specifications 29 S 180 Electrical Specifications 30 Per...

Page 42: ...Index AMG Hardware Manual stage distortion 20 stabilizing 13 Support 2 T Technical Support 2 Thermistor Specifications 28 V Vibration 10 W Warranty and Field Service 37 42 Index www aerotech com ...