Aerotech APR100DR Series Manual de usuario

Revision 2.00

APR100DR High-Precision Mechanical

Bearing Rotary Stage

HARDWAREMANUAL

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This manual contains proprietary information and may not be reproduced,

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only and may be trademarks of their respective companies.

Table of Contents

APR100DR High-Precision Mechanical Bearing Rotary Stage 1

Table of Contents 3

List of Figures 4

List of Tables 5

EU Declaration of Incorporation 6

UKCADeclaration of Incorporation 7

Safety Procedures and Warnings 8

Installation and Operation 9

Electrical Warnings 10

Motor-Related Warnings 11

Pinch Points 12

Handling and Storage 13

Chapter 1: Overview 15

1.1. Environmental Specifications 16

1.2. Accuracy and Temperature Effects 16

1.3. Basic Specifications 17

1.4. Vacuum Operation 18

Chapter 2: Installation 19

2.1. Dimensions 19

2.2. Securing the Stage to the Mounting Surface 20

2.3. Attaching the Payload or Fixturing to the Stage 22

Chapter 3: Electrical Installation 25

3.1. Motor and Feedback Connectors 26

3.2. Motor and Feedback Wiring 31

3.3. Motor and Feedback Specifications 34

3.4. Limits, Marker, and Machine Direction 37

3.5. Motor and Feedback Phasing 38

Chapter 4: Maintenance 41

4.1. Service and Inspection Schedule 41

4.2. Cleaning and Lubrication 42

4.3. Travel Adjustment 43

4.3.1. Optical Limit Adjustments 43

4.3.2. Mechanical Hard Stop Adjustments 45

4.4. Troubleshooting 48

Appendix A: Warranty and Field Service 49

Appendix B: Revision History 51

Index 53

Hardware Manual APR100DR

www.aerotech.com 3

List of Figures

Figure 2-1: APR100DR Dimensions 19

Figure 2-2: APR100DR Stage Mounting Holes 21

Figure 2-3: Cantilevered Load Capabilities 23

Figure 3-1: Electrical Connections 26

Figure 3-2: APR100DRMotor and Feedback Wiring (-E1, -E2, -E3) 31

Figure 3-3: APR100DRMotor and Feedback Wiring (-E4) 32

Figure 3-4: APR100DRMotor and Feedback Wiring (-E5, -E6) 33

Figure 3-5: Machine Direction 37

Figure 3-6: Hall Phasing Diagram 38

Figure 3-7: Encoder Phasing Reference Diagram (Standard/Square Wave) 39

Figure 3-8: Encoder Phasing Reference Diagram (Analog/Sine Wave) 39

Figure 4-1: APR100DR Limit Flag Adjustment 44

Figure 4-2: Tabletop Screw Locations 45

Figure 4-3: Assembly Showing Hard Stops 46

Figure 4-4: Hard Stop Placement Examples 47

Figure 4-5: Tabletop Detail 47

APR100DR Hardware Manual

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List of Tables

Table 1-1: Model Numbers and Ordering Options 15

Table 1-2: Environmental Specifications 16

Table 1-3: APR100DR Series Specifications 17

Table 2-1: Stage Mounting Surface Flatness Requirement 20

Table 2-2: Stage to Mounting Surface Hardware 20

Table 2-3: Mounting Interface Flatness Requirement 22

Table 3-1: High Power D-Style Motor Connector Pinout 27

Table 3-2: Mating Connector Part Numbers for the Motor Connector 27

Table 3-3: Feedback Connector Pinout (-E1, -E2, -E3, -E5, -E6 options) 28

Table 3-4: Mating Connector Part Numbers for the Feedback Connector 28

Table 3-5: Feedback Connector Pinout (-E4 option) 29

Table 3-6: Mating Connector Part Numbers for the Feedback Connector 29

Table 3-7: Secondary Feedback Connector Pinout (-E5 and -E6 options) 30

Table 3-8: Mating Connector Part Numbers for the Feedback Connector 30

Table 3-9: Hall-Effect Sensor Specifications 34

Table 3-10: Thermistor Specifications 34

Table 3-11: Encoder Specifications 34

Table 3-12: Encoder Resolution 34

Table 3-13: Max Speed Per Encoder Bandwidth 34

Table 3-14: Limit Switch Specifications 35

Table 3-15: Brake Specifications 35

Table 3-16: APR100DR Motor Specifications 36

Table 4-1: Troubleshooting 48

Hardware Manual APR100DR

www.aerotech.com 5

EU Declaration of Incorporation

Manufacturer Aerotech, Inc.

101 Zeta Drive

Pittsburgh, PA 15238-2811

USA

herewith declares that the product:

APR100DR stage

is intended to be incorporated into machinery to constitute machinery covered by the Directive 2006/42/EC

as amended; and that the following harmonized European standards have been applied:

EN ISO 12100:2010

Safety of Machinery - Basic concepts, general principles for design

EN 60204-1:2010

Safety of Machinery - Electrical equipment of machines - Part 1:General

requirements

and further more declares that

it is not allowed to put the equipment into service until the machinery into which it is to

be incorporated or of which it is to be a component has been found and declared to

be in conformity with the provisions of the Directive 2006/42/EC and with national

implementing legislation, for example, as a whole, including the equipment referred

to in this Declaration.

This is to certify that the aforementioned product is in accordance with the applicable requirements

of the following directive(s):

EU 2015/863 Directive, Restricted Substances (RoHS 3)

Authorized

Representative: / Norbert Ludwig

Managing Director

Aerotech GmbH

Gustav-Weißkopf-Str.18

90768 Fürth

Germany

Engineer Verifying

Compliance / Alex Weibel

Aerotech, Inc.

101 Zeta Drive

Pittsburgh, PA 15238-2811

USA

Date 6/15/2023

APR100DR Hardware Manual

6 www.aerotech.com

UKCADeclaration of Incorporation

Manufacturer Aerotech, Inc.

101 Zeta Drive

Pittsburgh, PA 15238-2811

USA

herewith declares that the product:

APR100DR stage

To which this declaration relates, meets the essential health and safety requirements and is in

conformity with the relevant UK Legislation listed below:

Supply of Machinery (Safety) Regulations 2008

Hazardous Substances in Electrical and Electronic Equipment Regulations

2012

Using the relevant section of the following UK Designated Standards and other normative

documents when installed in accordance with the installation instructions supplied by the

manufacturer.

EN ISO 12100:2010

Safety of Machinery - Basic concepts, general principles for design

EN 60204-1:2010

Safety of Machinery - Electrical equipment of machines - Part 1:General

requirements

and furthermore declares that it is not allowed to put the product 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 Supply of Machinery (Safety) Regulations 2008 UK

Legislation and with national implementing legislation, for example, as a whole, including the

equipment referred to in this Declaration.

Authorized

Representative: / Simon Smith

Managing Director

Aerotech Ltd

The Old Brick Kiln, Ramsdell, Tadley

Hampshire RG26 5PR

Engineer Verifying

Compliance / Alex Weibel

Aerotech, Inc.

101 Zeta Drive

Pittsburgh, PA 15238-2811

USA

Date 6/15/2023

Hardware Manual APR100DR

www.aerotech.com 7

Safety Procedures and Warnings

IMPORTANT: This manual tells you how to carefully and correctly use and operate the

stage.

lRead all parts of this manual before you install or operate the stage or before you do

maintenance to your system.

lTo prevent injury to you and damage to the equipment, obey the precautions in this

manual.

lAll specifications and illustrations are for reference only and were complete and

accurate as of the release of this manual. To find the newest information about this

product, refer to www.aerotech.com.

If you do not understand the information in this manual, contact Aerotech Global

Technical Support.

IMPORTANT: This product has been designed for light industrial manufacturing or

laboratory environments. If the product is used in a manner not specified by the

manufacturer:

lThe protection provided by the equipment could be impaired.

lThe life expectancy of the product could be decreased.

Safety notes and symbols are placed throughout this manual to warn you of the potential risks at the

moment of the safety note or if you fail to obey the safety note.

Shock/Electrocution Hazard Pinch, Shear, or Crush Hazard

General/Conditional Awareness Rotational Machinery Hazard

Hot Surface Hazard Pinch/Entanglement Hazard

Magnetic Field Hazard Trip Hazard

Heavy, Bulky Lifting Hazard Appropriate Equipment Required

Pressure/Explosive Atmosphere

Hazard Electrostatic Discharge Hazard

A blue circle symbol is an action or tip that you should obey. Some examples include:

General tip Read the manual/section

Wear personal protective equipment

(PPE): Safety Glasses If applicable, do not lift unassisted

Wear personal protective equipment

(PPE): Gloves

Wear personal protective equipment

(PPE): Hearing Protection

APR100DR Hardware Manual

8 www.aerotech.com

Installation and Operation

To decrease the risk of damage to the equipment, you must obey the precautions that follow.

DANGER: General Hazard Warning!

This product can produce high forces and move at velocities that could cause injury.

The user is responsible for its safe operation. The following general equation is

provided to assist with risk assessments in regards to contact and pinch points:

WARNING: General Hazard Warning!

lOnly trained operators should operate this equipment.

lAll service and maintenance must be done by approved personnel.

lUse this product only in environments and operating conditions that are approved in

this manual.

lNever install or operate equipment that appears to be damaged.

lMake sure that the product is securely mounted before you operate it.

lMake sure that all pneumatic lines are securely connected.

lUse care when you move the APR100DR or you could negatively affect the per-

formance of it.

WARNING:Trip Hazard!

Route, house, and secure all cables, duct work, air, or water lines. Failure to do so could

introduce trip hazards around the system that could result in physical injury or could

damage the equipment.

Hardware Manual APR100DR

www.aerotech.com 9

Electrical Warnings

To decrease the risk of electrical shock, injury, death, and damage to the equipment, obey the

precautions that follow.

DANGER: Electrical Shock Hazard!

lStage motor phase voltage levels could be hazardous live.

lPersonnel are protected from hazardous voltages unless electrical interconnections,

protective bonding (safety ground), or motor/stage enclosures are compromised.

lDo not connect or disconnect stage/motor interconnections while connected to a live

electrical power source.

lBefore you set up or do maintenance, disconnect electrical power.

lIt is the responsibility of the End User/System Integrator to make sure that stages are

properly connected and grounded per Engineering Standards and applicable safety

requirements.

lIt is the responsibility of the End User/System Integrator to configure the system

drive or controller within the Aerotech motor/stage electrical and mechanical

specifications.

APR100DR Hardware Manual

10 www.aerotech.com

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