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Summary of Contents for Aerotech ABL1500Z
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Page 1: Abl1500Z Hardware Manual
ABL1500Z Hardware Manual Revision: 1.03.00... - Page 2 This manual contains proprietary information and may not be reproduced, disclosed, or used in whole or in part without the express written permission of Aerotech, Inc. Product names mentioned herein are used for identification purposes only and may be trademarks of their respective companies.
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Page 3: Table Of Contents
ABL1500Z Hardware Manual Table of Contents Table of Contents ABL1500Z Hardware Manual Table of Contents List of Figures List of Tables Safety Procedures and Warnings EU Declaration of Incorporation Chapter 1: Overview 1.1. Environmental Specifications 1.2. Accuracy and Temperature Effects 1.3. -
Page 4: List Of Figures
Table of Contents ABL1500Z Hardware Manual List of Figures Figure 1-1: Air Fitting Locations for Air Bearing Figure 1-2: Counterbalance Air Flow vs. Counterbalance Pressure Figure 2-1: Lifting Features and Shipping Clamps Figure 2-2: ABL1500Z Dimensions Figure 2-3: Surface Mounting Screws... -
Page 5: List Of Tables
ABL1500Z Hardware Manual Table of Contents List of Tables Table 1-1: Model Numbers and Ordering Options Table 1-2: Environmental Specifications Table 1-3: ABL1500Z Series Specifications Table 1-4: Air Specifications Table 3-1: Motor Connector Pinouts Table 3-2: Feedback Connector Pinouts Table 3-3:... - Page 6 Table of Contents ABL1500Z Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 7: Safety Procedures And Warnings
D A N G E R : This product contains potentially lethal voltages. To reduce the possibility of electrical shock, bodily injury, or death the following precautions must be followed. 1. Access to the ABL1500Z and component parts must be restricted while connected to a power source. - Page 8 Safety ABL1500Z Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 9: Eu Declaration Of Incorporation
ABL1500Z Hardware Manual Declaration of Conformity EU Declaration of Incorporation Manufacturer: Aerotech, Inc. 101 Zeta Drive Pittsburgh, PA 15238-2811 herewith declares that the product: ABL1500Z Stage is intended to be incorporated into machinery to constitute machinery covered by the Directive 2006/42/EC as amended;... - Page 10 Declaration of Conformity ABL1500Z Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 11: Chapter 1: Overview
Overview Chapter 1: Overview N O T E : Aerotech continually improves 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. -
Page 12: Environmental Specifications
The severity of temperature effects on all specifications depends on many different environmental conditions, including how the ABL1500Z is mounted. Contact the factory for more details. The -E1 and -E2 encoder scale in the ABL1500Z stage has a coefficient of thermal expansion (CTE) of 3.25 x 10 / °C. -
Page 13: Basic Specifications
(4) Air supply must be clean, dry to 0° F dew point and filtered to 0.25 μm or better. Recommend nitrogen at 99.9% purity. NOTES: 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 multi-axis or non-standard applications. www.aerotech.com Chapter 1... -
Page 14: Air Requirements
ABL1500Z Hardware Manual 1.4. Air Requirements The quality of the air that you supply to the stage is important to the operation of the stage. Aerotech recommends that you connect the air supply to the air inlet with a polyurethane air hose. -
Page 15: Figure 1-1: Air Fitting Locations For Air Bearing
ABL1500Z Hardware Manual Overview Figure 1-1: Air Fitting Locations for Air Bearing Figure 1-2: Counterbalance Air Flow vs. Counterbalance Pressure www.aerotech.com Chapter 1... - Page 16 Overview ABL1500Z Hardware Manual This page intentionally left blank. Chapter 1 www.aerotech.com...
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Page 17: Chapter 2: Installation
2.1. Unpacking and Handling the Stage D A N G E R / H E A V Y : Do not attempt to manually lift the ABL1500Z. Refer to for stage mass specifications. -
Page 18: Figure 2-1: Lifting Features And Shipping Clamps
Lifting Features and Shipping Clamps N O T E : After removing the lifting features or shipping brackets, retain them for future use. Do not transport or ship the ABL1500Z without the lifting features or shipping brackets attached. Chapter 2... -
Page 19: Dimensions
ABL1500Z Hardware Manual Mechanical Specifications and Installation 2.2. Dimensions Figure 2-2: ABL1500Z Dimensions www.aerotech.com Chapter 2... -
Page 20: Securing The Stage To The Mounting Surface
Procedure for ABL1500Z mounting: W A R N I N G : Do not attempt to move the carriage of the ABL1500Z until the air supply, detailed in Section 1.4., has been installed. -
Page 21: Figure 2-3: Surface Mounting Screws
ABL1500Z Hardware Manual Mechanical Specifications and Installation Figure 2-3: Surface Mounting Screws www.aerotech.com Chapter 2... -
Page 22: Attaching The Payload To The Stage
N O T E : If your ABL1500Z 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 ABL1500Z is started up without a payload, the servo gains provided by Aerotech with the shipment may not be appropriate and servo instability can occur. -
Page 23: Figure 2-5: Offset Load Capability (Yaw) For Various Peak Applications
ABL1500Z Hardware Manual Mechanical Specifications and Installation Figure 2-5: Offset Load Capability (Yaw) for Various Peak Applications Figure 2-6: Cantilever and Offset Loading Diagram www.aerotech.com Chapter 2... -
Page 24: Setting Up The Pneumatic Counterbalance
Standard ABL1500Z stages have two counterbalance cylinders with a combined piston area of 3.79x10 . The moving mass of a standard ABL1500Z carriage assembly is 5.9 kg (13.1 lb). An estimate of the counterbalance pressure required to support additional load is given by the following: Pc = ((mp + 5.9) * 9.81) / (3.79x10... -
Page 25: Figure 2-8: Connections For Air Bearing And Counterbalance
ABL1500Z Hardware Manual Mechanical Specifications and Installation Initial pneumatic counterbalance setup: 1. Before you remove the shipping bracket, connect the air lines to the air bearing and pneumatic counterbalance stage fittings (Figure 2-8). N O T E : Refer to Section 1.4. -
Page 26: Figure 2-9: Shipping Bracket
Mechanical Specifications and Installation ABL1500Z Hardware Manual Figure 2-9: Shipping Bracket 4. By hand, gently move the carriage up and down. The carriage should move with little effort within the play of the loosened screws. If the counterbalance pressure is not high enough, the carriage will hang from the shipping bracket screws and will be hard to lift. - Page 27 ABL1500Z Hardware Manual Mechanical Specifications and Installation To turn off the air supply to the stage after the shipping brackets are removed: 1. Make sure the stage is not under servo control. 2. Gently push the carriage down to the bottom of travel until the mechanical shock engages.
- Page 28 Mechanical Specifications and Installation ABL1500Z Hardware Manual This page intentionally left blank. Chapter 2 www.aerotech.com...
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Page 29: Chapter 3: Electrical Specifications And Installation
Aerotech motion control systems are adjusted at the factory for optimum performance. When the ABL1500Z is part of a complete Aerotech motion control system, setup usually involves connecting the ABL1500Z to the appropriate drive chassis with the cables provided. Labels on the system components usually indicate the appropriate connections. -
Page 30: Motor And Feedback Connectors
Stages equipped with standard motors and encoders come from the factory completely wired and assembled. N O T E : Refer to the other documentation accompanying your Aerotech equipment. Call your Aerotech representative if there are any questions on system configuration. -
Page 31: Table 3-1: Motor Connector Pinouts
ABL1500Z Hardware Manual Electrical Specifications and Installation Table 3-1: Motor Connector Pinouts Description Connector Motor Phase A Motor Phase B Motor Phase C Reserved Reserved Reserved Reserved Reserved Frame ground (motor protective ground) Mating Connector Aerotech P/N Third Party P/N... -
Page 32: Table 3-2: Feedback Connector Pinouts
Electrical Specifications and Installation ABL1500Z Hardware Manual Table 3-2: Feedback Connector Pinouts Description Connector Signal shield connection Over-Temperature Thermistor sensor +5 V power supply Reserved Hall Effect sensor, phase B Marker-N Marker Reserved Reserved Hall Effect sensor, phase A Hall Effect sensor, phase C Signal indicating maximum travel produced by positive/CW stage direction. -
Page 33: Motor And Feedback Wiring
ABL1500Z Hardware Manual Electrical Specifications and Installation 3.2. Motor and Feedback Wiring 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. -
Page 34: Motor And Feedback Specifications
Electrical Specifications and Installation ABL1500Z Hardware Manual 3.3. Motor and Feedback Specifications Table 3-3: Feedback Specifications Hall-Effect Sensors Specifications Supply Voltage 5 V ±5% Supply Current 50 mA Output Type Open Collector Output Voltage 24 V max (pull up) Output Current... -
Page 35: Table 3-4: Encoder Specifications
4. Force constant and motor constant specified at stall 5. All Aerotech amplifiers are rated Apk; use force constant in N·m/Apk when sizing. 6. Values shown @ 100°C rise above a 25°C ambient temperature, with motor mounted to the specified aluminum heat sink. -
Page 36: Limits, Marker, And Machine Direction
ABL1500Z Hardware Manual 3.4. Limits, Marker, and Machine Direction Aerotech stages are configured to have positive and negative "machine" directions. The machine direction defines the phasing of the feedback and motor signals and is dictated by the stage wiring (refer to Section 3.5. -
Page 37: Motor And Feedback Phasing
ABL1500Z Hardware 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... -
Page 38: Figure 3-5: Analog Encoder Phasing Reference Diagram
Electrical Specifications and Installation ABL1500Z Hardware Manual Figure 3-5: Analog Encoder Phasing Reference Diagram Figure 3-6: Encoder Phasing Reference Diagram (Standard) Chapter 3 www.aerotech.com... -
Page 39: Chapter 4: Maintenance
4.1. Service and Inspection Schedule Inspect the ABL1500Z at least once per month. A longer or shorter inspection interval may be required depending on the specific application, and conditions such as the duty cycle, speed, and environment. -
Page 40: Cleaning Process
(tools, watches, keys, etc.) may cause personal injury and/or damage to the equipment. W A R N I N G : Do not attempt to move the carriage of the ABL1500Z until the air supply, detailed in Section 1.4., has been installed. -
Page 41: Figure 4-1: Air Bearing Surfaces And Encoder Scales Require Periodic Cleaning
ABL1500Z Hardware Manual Maintenance Figure 4-1: Air Bearing Surfaces and Encoder Scales Require Periodic Cleaning www.aerotech.com Chapter 4... -
Page 42: Troubleshooting
Maintenance ABL1500Z Hardware Manual 4.3. Troubleshooting Symptom Possible Cause and Solution Shipping restraints still installed. Remove the red anodized shipping brackets. In Limit condition. Check limits (refer to Chapter 3) and refer to the Controller documentation for polarity and compatibility requirements (Example: voltage requirements). -
Page 43: Appendix A: Warranty And Field Service
Aerotech makes no warranty that its products are fit for the use or purpose to which they may be put by the buyer, whether or not such use or purpose has been disclosed to Aerotech in specifications or drawings previously or subsequently provided, or whether or not Aerotech’s... - Page 44 Aerotech's approval. On-site Warranty Repair If an Aerotech product cannot be made functional by telephone assistance or by sending and having the customer install replacement parts, and cannot be returned to the Aerotech service center for repair, and if Aerotech determines the problem could be warranty-related, then the following policy applies:...
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Page 45: Appendix B: Revision History
ABL1500Z Hardware Manual Revision History Appendix B: Revision History Revision Description Safety information updated 1.03.00 General revision 1.02.00 Limit operation section added Declaration of Incorporation section added Environmental Specifications section added Updated ordering information: Added safety information and warnings 1.01.00... - Page 46 Revision History ABL1500Z Hardware Manual This page intentionally left blank. Appendix B www.aerotech.com...
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Page 47: Index
ABL1500Z Hardware Manual Index Index Inspection Schedule Isopropyl Alcohol 2010 label Acetone lifting bars Air Fitting Locations Lifting Hardware air hose Limit Switch Specifications Air Requirements lubrication Alcohol Lubrication Altitude Ambient Temperature MCA03094 Attaching the Payload mounting surface securing stage... - Page 48 Index ABL1500Z Hardware Manual testing stage operation Thermistor Specifications Vibration Warranty and Field Service Index www.aerotech.com...