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Table of Contents
Related Manuals for Aerotech ADRT Series
Summary of Contents for Aerotech ADRT Series
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Page 1: Adrt Hardware Manual
ADRT Hardware Manual Revision: 1.02.00... - 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
3.3. Motor and Feedback Specifications 3.4. Limits, Marker, and Machine Direction 3.5. Motor and Feedback Phasing Chapter 4: Maintenance 4.1. Service and Inspection Schedule 4.2. Cleaning and Lubrication 4.5. Troubleshooting Appendix A: Warranty and Field Service Appendix B: Revision History Index www.aerotech.com... -
Page 4: List Of Figures
Bottom View of the ADRT Figure 2-15: ADRT Limit Flag Adjustment Figure 3-1: Motor and Feedback Wiring Figure 3-2: Machine Direction Figure 3-3: Hall Phasing Figure 3-4: Analog Encoder Phasing Reference Diagram Figure 3-5: Encoder Phasing Reference Diagram (Standard) www.aerotech.com... -
Page 5: List Of Tables
List of Tables Table 1-1: Model Options Table 1-2: Environmental Specifications Table 1-3: ADRT Series Specifications (ADRT100 and ADRT150) Table 1-4: ADRT Series Specifications (ADRT200 and ADRT260) Table 2-1: Stage to Mounting Surface Hardware Table 3-1: 4-Pin Motor Connector Pin Assignments... - Page 6 Table of Contents ADRT Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 7: Safety Procedures And Warnings
Read this manual in its entirety before installing, operating, or servicing this product. If you do not understand the information contained herein, contact an Aerotech representative before proceeding. Strictly adhere to the statements given in this section and other handling, use, and operational information given throughout the manual to avoid injury to you and damage to the equipment. - Page 8 Electrical Safety ADRT Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 9: Eu Declaration Of Incorporation
ADRT Hardware Manual Declaration of Conformity EU Declaration of Incorporation Manufacturer: Aerotech, Inc. 101 Zeta Drive Pittsburgh, PA 15238-2811 herewith declares that the product: ADRT 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 ADRT 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 Overview ADRT Hardware Manual ADRT Series Direct Drive Rotary Stage (continued) Brake (Optional) Holding brake Note: Only available for the ADRT150 and the ADRT200. Not available with limited travel option. (1,2) Limited Travel (Optional) -TR010 ±5 degrees -TR020 ±10 degrees -TR040 ±20 degrees...
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Page 13: Environmental Specifications
Indoor use only 1.2. Accuracy and Temperature Effects Aerotech products are designed for and built in a 20°C (68°F) environment. Extreme temperature changes could cause a decrease in performance or permanent damage to the ADRT. At a minimum, the environmental temperature must be controlled to within 0.25ºC per 24 hours to ensure the ADRT specifications are repeatable over an extended period of time. -
Page 14: Basic Specifications
ADRT Hardware Manual 1.3. Basic Specifications 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. -
Page 15: Table 1-4: Adrt Series Specifications (Adrt200 And Adrt260)
Aerotech factory for multi-axis or non-standard applications. (4) Moment load based on 5 year continuous rotation at 250 rpm with maximum axial load applied. Larger moment loads possible for low speed and/or low duty cycle applications. Consult Aerotech for additional information. www.aerotech.com... - Page 16 Overview ADRT Hardware Manual This page intentionally left blank. Chapter 1 www.aerotech.com...
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Page 17: Chapter 2: Mechanical Specifications And Installation
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 during shipping. -
Page 18: Dimensions
ADRT Hardware Manual 2.2. Dimensions 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. -
Page 19: Figure 2-2: Adrt150 Dimensions
ADRT Hardware Manual Mechanical Specifications and Installation Figure 2-2: ADRT150 Dimensions www.aerotech.com Chapter 2... -
Page 20: Figure 2-3: Adrt150 Limited Travel Dimensions
Mechanical Specifications and Installation ADRT Hardware Manual Figure 2-3: ADRT150 Limited Travel Dimensions Chapter 2 www.aerotech.com... -
Page 21: Figure 2-4: Adrt200 Dimensions
ADRT Hardware Manual Mechanical Specifications and Installation Figure 2-4: ADRT200 Dimensions www.aerotech.com Chapter 2... -
Page 22: Figure 2-5: Adrt200 Limited Travel Dimensions
Mechanical Specifications and Installation ADRT Hardware Manual Figure 2-5: ADRT200 Limited Travel Dimensions Chapter 2 www.aerotech.com... -
Page 23: Figure 2-6: Adrt260 Dimensions
ADRT Hardware Manual Mechanical Specifications and Installation Figure 2-6: ADRT260 Dimensions www.aerotech.com Chapter 2... -
Page 24: Figure 2-7: Adrt260 Limited Travel Dimensions
Mechanical Specifications and Installation ADRT Hardware Manual Figure 2-7: ADRT260 Limited Travel Dimensions Chapter 2 www.aerotech.com... -
Page 25: Securing The Stage To The Mounting Surface
Shimming should be avoided if possible. If shimming is required, it should be minimized to improve the rigidity of the system. ADRT series stages have a fixed mounting pattern (as shown in Figure 2-8). -
Page 26: Figure 2-8: Mounting Holes Locations
Mechanical Specifications and Installation ADRT Hardware Manual Counterbored Mounting Holes T-Slot Grooves Tapped Mounting Holes Figure 2-8: Mounting Holes Locations Chapter 2 www.aerotech.com... -
Page 27: Attaching The Payload To The Stage
N O T E : If your ADRT 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 ADRT 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 28: Load Capability
If cantilevered loads are applied, refer to Figure 2-9 to find the loading condition. Refer to Figure 2-10 through Figure 2-13 to find the maximum allowable load. Figure 2-9: Load Orientations Figure 2-10: ADRT100 Cantilevered Load Capability Chapter 2 www.aerotech.com... -
Page 29: Figure 2-11: Adrt150 Cantilevered Load Capability
ADRT Hardware Manual Mechanical Specifications and Installation Figure 2-11: ADRT150 Cantilevered Load Capability www.aerotech.com Chapter 2... -
Page 30: Figure 2-12: Adrt200 Cantilevered Load Capability
Mechanical Specifications and Installation ADRT Hardware Manual Figure 2-12: ADRT200 Cantilevered Load Capability Figure 2-13: ADRT260 Cantilevered Load Capability Chapter 2 www.aerotech.com... -
Page 31: Travel Adjustment
Figure 2-14: Bottom View of the ADRT Figure 2-15 shows the bottom view of the ADRT with the bottom cover hidden for clarity. An optical half-limit travel of 30° is shown for reference. www.aerotech.com Chapter 2... -
Page 32: Figure 2-15: Adrt Limit Flag Adjustment
Mechanical Specifications and Installation ADRT Hardware Manual Figure 2-15: ADRT Limit Flag Adjustment Chapter 2 www.aerotech.com... -
Page 33: Hard Stop Adjustment
ADRT Hardware Manual Mechanical Specifications and Installation 2.5.2. Hard Stop Adjustment Hard stop locations are set via bolt-on table tops. If hard stop travel adjustment is required, contact your Aerotech representative to purchase alternate table top(s). www.aerotech.com Chapter 2... - Page 34 Mechanical Specifications and Installation ADRT Hardware Manual This page intentionally left blank. Chapter 2 www.aerotech.com...
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Page 35: Chapter 3: Electrical Installation
Electrical installation requirements will vary depending on product options. Installation instructions in this section are for ADRT stages equipped with standard Aerotech motors intended for use with an Aerotech motion control system. Contact Aerotech for further information regarding products that are otherwise configured. -
Page 36: 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 37: Table 3-1: 4-Pin Motor Connector Pin Assignments
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 Backshell ECK00656 Amphenol #17E-1726-2 Sockets [QTY. 4] ECK00659 ITT Cannon #DM53744-6 Connector ECK00657 ITT Cannon #DBM9W4SA197... -
Page 38: Table 3-3: 25-Pin Feedback Connector Pin Assignments
+5 V power supply Sine Sine-N Reserved Common ground Common ground Reserved Reserved Option: Signal indicating stage maximum travel produced by negative/CCW stage direction Option: Brake + Mating Connector Aerotech P/N Third Party P/N Backshell ECK00656 Amphenol #17E-1726-2 Connector ECK00300 FCI DB25S064TLF Chapter 3 www.aerotech.com... -
Page 39: Motor And Feedback Wiring
120 Ω SINE-N MARKER SWITCH 120 Ω MARKER-N BRAKE+ SAFE MOVE BRAKE- CASE CASE Limited travel models only (continuous travel models do not have this feature). Brake is optional (-BK option) Figure 3-1: Motor and Feedback Wiring www.aerotech.com Chapter 3... -
Page 40: Motor And Feedback Specifications
Brake Specifications Brake Supply Voltage 24 VDC Brake Supply Current ADRT150 = 615 mA (typical) ADRT200 = 470 mA (1) Current through the brake coil is required to release the brake and allow motion. Chapter 3 www.aerotech.com... -
Page 41: Table 3-5: Encoder Specifications
375 rpm N O T E : The encoders used on all ADRT series stages come standard with a 16 MHz clock rate. Aerotech can provide slower or faster clock rates to match the controller being used. Consult Aerotech for more information. -
Page 42: Table 3-7: Adrt100 Motor Specifications (S-76-Xx Rotary Motor)
6. Specifications given are for the motor only. When integrated into a housing with bearings additional losses should be considered. 7. Maximum winding temperature is 100 °C (thermistor trips at 100 °C) 8. Ambient operating temperature range 0 °C - 25 °C; consult Aerotech for performance in elevated ambient temperatures 9. All Aerotech amplifiers are rated A ;... -
Page 43: Table 3-8: Adrt150 Motor Specifications (S-130-Xx Rotary Motor)
6. Specifications given are for the motor only. When integrated into a housing with bearings additional losses should be considered. 7. Maximum winding temperature is 100 °C (thermistor trips at 100 °C) 8. Ambient operating temperature range 0 °C - 25 °C; consult Aerotech for performance in elevated ambient temperatures 9. All Aerotech amplifiers are rated A ;... -
Page 44: Table 3-9: Adrt200 Motor Specifications (S-180-Xx Rotary Motor)
6. Specifications given are for the motor only. When integrated into a housing with bearings additional losses should be considered. 7. Maximum winding temperature is 100 °C (thermistor trips at 100 °C) 8. Ambient operating temperature range 0 °C - 25 °C; consult Aerotech for performance in elevated ambient temperatures 9. All Aerotech amplifiers are rated A ;... -
Page 45: Table 3-10: Adrt260 Motor Specifications (S-240-Xx Rotary Motor)
6. Specifications given are for the motor only. When integrated into a housing with bearings additional losses should be considered. 7. Maximum winding temperature is 100 °C (thermistor trips at 100 °C) 8. Ambient operating temperature range 0 °C - 25 °C; consult Aerotech for performance in elevated ambient temperatures 9. All Aerotech amplifiers are rated A ;... -
Page 46: Limits, Marker, And Machine Direction
ADRT 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 47: Motor And Feedback Phasing
Motor phase voltage is measured relative to the virtual wye common point. Motor Phase A (ØA) BEMF CW Rotation (Positive Machine Direction) Hall A Motor Phase B (ØB) BEMF Hall B Motor Phase C (ØC) BEMF Hall C Positive MOVE (Clockwise) Figure 3-3: Hall Phasing www.aerotech.com Chapter 3... -
Page 48: Figure 3-4: Analog Encoder Phasing Reference Diagram
CW Rotation (Positive Machine Direction) SIN-N 0° 90° 180° 270° 360° 450° 540° 630° 720° 810° COS-N 0° 90° 180° 270° 360° 450° 540° 630° 720° 810° MRK-N Positive MOVE (Clockwise) Figure 3-5: Encoder Phasing Reference Diagram (Standard) Chapter 3 www.aerotech.com... -
Page 49: Chapter 4: Maintenance
4.2. Cleaning and Lubrication There are no elements on ADRT stages that require lubrication. The bearings, motors, and encoders for the ADRT series require no added lubrication or maintenance. Periodic cleaning is recommended. Before using a cleaning solvent on any part of the ADRT, blow away small particles and dust with nitrogen or, less preferably, clean, dry, compressed air. -
Page 50: Troubleshooting
Encoder (sine and cosine) signal connections (refer to Chapter 3 uncontrollably Controller documentation). Motor Connections (refer to Chapter 3 and the Controller documentation). Gains misadjusted (refer to the Controller documentation). Stage oscillates or squeals Encoder signals (refer to the Controller documentation). Chapter 4 www.aerotech.com... -
Page 51: 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 52 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 53: Appendix B: Revision History
Added safety information and warnings Added note about current requirements of motor and ground wires Description of limit switches changed JP6 options changed, and Limit Switch Wiring figure updated: Pin 8 is now Reserved 1.00.00 New manual www.aerotech.com Appendix B... - Page 54 Revision History ADRT Hardware Manual This page intentionally left blank. Appendix B www.aerotech.com...
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Page 55: Index
S-240 Electrical Specifications S-76 S-130 Protection Rating S-180 protective ground connection S-240 S-76 red, anodized aluminum EN 60204-1 EN ISO 12100 S-130 Encoder Specifications Electrical Specifications Performance Specifications field service S-180 Electrical Specifications Global Technical Support Performance Specifications www.aerotech.com Index... - Page 56 Index ADRT Hardware Manual S-240 Electrical Specifications Performance Specifications S-76 Electrical Specifications Performance Specifications serial number Service shipping clamps Shipping Clamps stabilizing stage stage distortion stabilizing Support Technical Support Thermistor Specifications Vibration Warranty and Field Service Index www.aerotech.com...