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Table of Contents
Related Manuals for Aerotech AGR Series
Summary of Contents for Aerotech AGR Series
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Page 1: Agr Hardware Manual
AGR Hardware Manual Revision: 1.06.00... - 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 4.3. Troubleshooting Appendix A: Warranty and Field Service Appendix B: Revision History Index www.aerotech.com... -
Page 4: List Of Figures
Figure 3-5: Limit Flag Locations Figure 3-6: Hall Phasing Figure 3-7: Analog Encoder Phasing Reference Diagram Figure 3-8: Encoder Phasing Reference Diagram (Standard) Figure 4-1: View of the Current Draw of a Typical AGR Stage Before and After Lubrication www.aerotech.com... -
Page 5: List Of Tables
List of Tables Table 1-1: AGR Model Options Table 1-2: Environmental Specifications Table 1-3: AGR Series Mechanical Specifications (AGR50, AGR75, and AGR100) Table 1-4: AGR Series Mechanical Specifications (AGR150 and AGR200) Table 2-1: Stage to Mounting Surface Hardware Table 3-1:... - Page 6 Table of Contents AGR Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 7: Safety Procedures And Warnings
Danger or Warning symbol in this manual. If you do not obey these precautions, injury to you or damage to the equipment can occur. If you do not understand the information in this manual, contact Aerotech Global Technical Support. This product has been designed for light industrial manufacturing or laboratory environments. The protection provided by the equipment could be impaired if the product is used in a manner not specified by the manufacturer. - Page 8 Electrical Safety AGR Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 9: Eu Declaration Of Incorporation
AGR Hardware Manual Declaration of Conformity EU Declaration of Incorporation Manufacturer: Aerotech, Inc. 101 Zeta Drive Pittsburgh, PA 15238-2811 herewith declares that the product: is intended to be incorporated into machinery to constitute machinery covered by the Directive 2006/42/EC as amended;... - Page 10 Declaration of Conformity AGR 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 English tabletop Mounting Plate (Optional) -MP1 Universal English/metric mounting plate Seals (Optional) (refer to Figure 1-5) -SL1 Labyrinth seal Metrology (Required) -PL0 No metrology performance plots -PL1 Metrology, uncalibrated with performance plots -PL2 Metrology, calibrated (HALAR) with performance plots Chapter 1 www.aerotech.com...
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Page 13: Figure 1-1: Agr Rotary Stage Showing Standard Features
AGR Hardware Manual Overview Figure 1-1: AGR Rotary Stage Showing Standard Features Figure 1-2: AGR Rotary Stage Motor Location Figure 1-3: AGR Rotary Stage Motor Orientation www.aerotech.com Chapter 1... -
Page 14: Figure 1-4: Encoder Option
Overview AGR Hardware Manual Figure 1-4: Encoder Option Figure 1-5: Seal Option Figure 1-6: Stage Accessories Figure 1-7: No Motor Option Chapter 1 www.aerotech.com... -
Page 15: Environmental Specifications
Operating: 0 m to 2,000 m (0 ft to 6,562 ft) above sea level. Altitude Contact Aerotech if your specific application involves use above 2,000 m or below sea level. Use the system in a low-vibration environment. Excessive floor or acoustical vibration Vibration can affect system performance. -
Page 16: Basic Specifications
1. Certified with each stage. 2. Direct encoder repeatability specifications are for systems that use the -E1 or -E3 direct encoder options only. 3. Maximum speed is load dependent. Contact an Aerotech Application Engineer if imbalanced loads are present. 4. Unloaded acceleration. -
Page 17: Table 1-4: Agr Series Mechanical Specifications (Agr150 And Agr200)
1. Certified with each stage. 2. Direct encoder repeatability specifications are for systems that use the -E1 or -E3 direct encoder options only. 3. Maximum speed is load dependent. Contact an Aerotech Application Engineer if imbalanced loads are present. 4. Unloaded acceleration. -
Page 18: Vacuum Operation
Because of this, consider all continuous torque ratings to be 40 to 60% lower than the value specified for operation in normal atmospheric environment. Reduce motor usage accordingly. Chapter 1 www.aerotech.com... -
Page 19: Chapter 2: Installation
Aerotech. Use compressed nitrogen or clean, dry, oil-free air to remove any dust or debris that has collected during shipping. -
Page 20: Dimensions
Mechanical Specifications and Installation AGR Hardware Manual 2.2. Dimensions Figure 2-1: AGR50 Dimensions Chapter 2 www.aerotech.com... -
Page 21: Figure 2-2: Agr50 -Mp1 Mounting Plate Accessories
AGR Hardware Manual Mechanical Specifications and Installation Figure 2-2: AGR50 -MP1 Mounting Plate Accessories Figure 2-3: AGR50 Tabletop Accessories www.aerotech.com Chapter 2... -
Page 22: Figure 2-4: Agr75 Dimensions
Mechanical Specifications and Installation AGR Hardware Manual Figure 2-4: AGR75 Dimensions Chapter 2 www.aerotech.com... -
Page 23: Figure 2-5: Agr75 -Mp1 Mounting Plate Accessories
AGR Hardware Manual Mechanical Specifications and Installation Figure 2-5: AGR75 -MP1 Mounting Plate Accessories Figure 2-6: AGR75 Tabletop Accessories www.aerotech.com Chapter 2... -
Page 24: Figure 2-7: Agr100 Dimensions
Mechanical Specifications and Installation AGR Hardware Manual Figure 2-7: AGR100 Dimensions Chapter 2 www.aerotech.com... -
Page 25: Figure 2-8: Agr100 -Mp1 Mounting Plate Accessories
AGR Hardware Manual Mechanical Specifications and Installation Figure 2-8: AGR100 -MP1 Mounting Plate Accessories Figure 2-9: AGR100 Tabletop Accessories www.aerotech.com Chapter 2... -
Page 26: Figure 2-10: Agr150 Dimensions
Mechanical Specifications and Installation AGR Hardware Manual Figure 2-10: AGR150 Dimensions Chapter 2 www.aerotech.com... -
Page 27: Figure 2-11: Agr150 Mounting Plate Accessories
AGR Hardware Manual Mechanical Specifications and Installation Figure 2-11: AGR150 Mounting Plate Accessories Figure 2-12: AGR150 Tabletop Accessories www.aerotech.com Chapter 2... -
Page 28: Figure 2-13: Agr200 Dimensions
Mechanical Specifications and Installation AGR Hardware Manual Figure 2-13: AGR200 Dimensions Chapter 2 www.aerotech.com... -
Page 29: Figure 2-14: Agr200 Mounting Plate Accessories
AGR Hardware Manual Mechanical Specifications and Installation Figure 2-14: AGR200 Mounting Plate Accessories Figure 2-15: AGR200 Tabletop Accessories www.aerotech.com Chapter 2... -
Page 30: Securing The Stage To The Mounting Surface
AGR75, 6 mm SHCS for the AGR100 and AGR150, and 8 mm SHCS for the AGR200. AGR series stages also have a fixed mounting pattern on the side of the stage. The size of the side mounting holes are M5 for the AGR50 and AGR75; M6 for the AGR100 and AGR150; and M8 for the AGR200. -
Page 31: Figure 2-16: View Of An Agr Stage Showing Mounting Holes
AGR Hardware Manual Mechanical Specifications and Installation Figure 2-16: View of an AGR Stage Showing Mounting Holes www.aerotech.com Chapter 2... -
Page 32: Attaching The Payload To The Stage
N O T E : If your AGR 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 AGR 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 33: Figure 2-17: Agr50 Axial And Radial Cantilevered Load Capability
AGR Hardware Manual Mechanical Specifications and Installation Figure 2-17: AGR50 Axial and Radial Cantilevered Load Capability Figure 2-18: AGR75 Axial and Radial Cantilevered Load Capability www.aerotech.com Chapter 2... -
Page 34: Figure 2-19: Agr100 Axial And Radial Cantilevered Load Capability
Mechanical Specifications and Installation AGR Hardware Manual Figure 2-19: AGR100 Axial and Radial Cantilevered Load Capability Figure 2-20: AGR150 Axial and Radial Cantilevered Load Capability Chapter 2 www.aerotech.com... -
Page 35: Figure 2-21: Agr200 Axial And Radial Cantilevered Load Capability
AGR Hardware Manual Mechanical Specifications and Installation Figure 2-21: AGR200 Axial and Radial Cantilevered Load Capability www.aerotech.com Chapter 2... - Page 36 Mechanical Specifications and Installation AGR Hardware Manual This page intentionally left blank. Chapter 2 www.aerotech.com...
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Page 37: Chapter 3: Electrical Specifications And Installation
W A R N I N G : Electrical installation must be performed by properly qualified personnel. Aerotech motion control systems are adjusted at the factory for optimum performance. When the AGR is part of a complete Aerotech motion control system, setup usually involves connecting the AGR to the appropriate drive chassis with the cables provided. -
Page 38: 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 39: Table 3-1: Brushless Motor Connector Pinout (Agr50, Agr75, Agr100, Agr150)
Reserved Reserved Reserved Reserved Reserved Frame Ground (motor protective ground) Table 3-2: Mating Connector Part Numbers for the D-Style Motor 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... -
Page 40: Table 3-4: Stepper Motor Connector Pinout
Motor Phase B Return Brake - Brake + Reserved Frame Frame Table 3-5: Mating Connector Part Numbers for the D-Style Motor 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... -
Page 41: Table 3-6: Brushless Motor Feedback Connector Pinout (Agr50, Agr75, Agr100, Agr150)
Reserved Brake + 1. BMS motors only (otherwise Reserved) 2. with brake option only Table 3-7: Mating Connector Part Numbers for the 25-Pin D-Style Feedback Connector Mating Connector Aerotech P/N Third Party P/N Backshell ECK00656 Amphenol 17E-1726-2 Connector ECK00300 FCI DB25S064TLF www.aerotech.com... -
Page 42: Table 3-8: Brushless Motor Feedback Connector Pinout (Agr200)
Hall Effect sensor, phase A Over-Temperature Thermistor sensor Hall Effect sensor, phase B Reserved P/N: MS3102R20-29P Hall Effect sensor, phase C Reserved Brake + Brake - (1) BMS motors only; reserved on all other motors (2) With Brake option only Chapter 3 www.aerotech.com... -
Page 43: Table 3-9: Stepper Motor Feedback Connector Pinout
Sine-N Reserved Common ground Common ground Reserved Reserved Reserved Reserved Table 3-10: Mating Connector Part Numbers for the 25-Pin D-Style Feedback Connector Mating Connector Aerotech P/N Third Party P/N Backshell ECK00656 Amphenol 17E-1726-2 Connector ECK00300 FCI DB25S064TLF www.aerotech.com Chapter 3... -
Page 44: Table 3-11: 9-Pin Limit Connector Pinout [-Li1 And -Li2 Option]
Signal indicating stage maximum travel produced by negative/CCW stage direction Reserved Reserved Reserved Reserved Table 3-12: Mating Connector Part Numbers for the 9-Pin Limit Connector Mating Connector Aerotech P/N 3rd Party P/N Backshell ECK01021 Amphenol #17E-1724-2 Connector ECK00340 FCI #DE09S064TLF Table 3-13:... -
Page 45: 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. Figure 3-1: Brushless Motor and Feedback Wiring (AGR50, AGR75, AGR100, AGR150) www.aerotech.com Chapter 3... -
Page 46: Figure 3-2: Brushless Motor And Feedback Wiring (Agr200)
Electrical Specifications and Installation AGR Hardware Manual Figure 3-2: Brushless Motor and Feedback Wiring (AGR200) Chapter 3 www.aerotech.com... -
Page 47: Figure 3-3: Stepper Motor And Feedback Wiring
AGR Hardware Manual Electrical Specifications and Installation Figure 3-3: Stepper Motor and Feedback Wiring www.aerotech.com Chapter 3... -
Page 48: Motor And Feedback Specifications
High impedance (Logic "1") when not in limit Requires external pull-up to +5 V (10 kΩ recommended) Brake Specifications Supply Voltage 24 VDC AGR50, AGR75, AGR100, AGR150: 250 mA Typical Supply Current AGR200: 500 mA Typical (1) Current required to release the brake and allow motion Chapter 3 www.aerotech.com... -
Page 49: Table 3-16: Encoder Specifications (Agr50 And Agr75)
BMS (Amplified Sine) 2.571/1.286 arc sec/line Direct Rotary Encoder 40000 lines/rev 0.008/0.004 arc sec/line 1.62 arc sec/line 0.162 arc sec/line 1. 1.8° step angle, 20 microsteps 2. BMS (Amplified Sine) and -E1 show x4000 / x8000 total interpolation www.aerotech.com Chapter 3... -
Page 50: Table 3-19: Bms35 And Bms60 Motor Specifications
5. All performance and electrical specifications ±10% 6. Maximum winding temperature is 100 °C (thermistor trips at 100 °C) 7. Ambient operating temperature range 0 °C - 25 °C; consult Aerotech for performance in elevated ambient temperatures 8. All Aerotech amplifiers are rated A ;... -
Page 51: Table 3-20: Bms280 Motor Specifications
5. All performance and electrical specifications ±10% 6. Maximum winding temperature is 100 °C (thermistor trips at 100 °C) 7. Ambient operating temperature range 0 °C - 25 °C; consult Aerotech for performance in elevated ambient temperatures 8. All Aerotech amplifiers are rated A ;... -
Page 52: Table 3-21: Bm22 And Bm75 Motor Specifications
5. Torque constant and motor constant specified at stall 6. Maximum winding temperature is 130 °C 7. Ambient operating temperature range 0 °C - 25 °C; consult Aerotech for performance in elevated ambient temperatures 8. All Aerotech amplifiers are rated A ;... -
Page 53: Table 3-22: Bm250 Motor Specifications
5. Torque constant and motor constant specified at stall 6. Maximum winding temperature is 130 °C 7. Ambient operating temperature range 0 °C - 25 °C; consult Aerotech for performance in elevated ambient temperatures 8. All Aerotech amplifiers are rated A ;... -
Page 54: Table 3-23: Stepper Motor Specifications
22.5 (50) Maximum Thrust Load N (lb) 28.4 (2.2) 14.7 (3.4) 6.1 (14) Weight kg (lb) 0.50 (1.1) 0.70 (1.6) 3.8 (8.4) W A R N I N G : The motor case temperature may exceed 75°C. Chapter 3 www.aerotech.com... -
Page 55: Limits, Marker, And Machine Direction
Electrical Specifications and Installation 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 56: Figure 3-5: Limit Flag Locations
Electrical Specifications and Installation AGR Hardware Manual Figure 3-5: Limit Flag Locations Chapter 3 www.aerotech.com... -
Page 57: Motor And Feedback Phasing
AGR 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 3-6: Hall Phasing www.aerotech.com Chapter 3... -
Page 58: Figure 3-7: Analog Encoder Phasing Reference Diagram
Electrical Specifications and Installation AGR Hardware Manual Figure 3-7: Analog Encoder Phasing Reference Diagram Figure 3-8: Encoder Phasing Reference Diagram (Standard) Chapter 3 www.aerotech.com... -
Page 59: Chapter 4: Maintenance
4.1. Service and Inspection Schedule Lubricant inspection and replenishment in AGR series stages depends on conditions such as duty cycle, speed, and the environment. An inspection interval of once every two weeks is recommended until a trend develops for the application. -
Page 60: Cleaning And Lubrication
Figure 4-1: View of the Current Draw of a Typical AGR Stage Before and After Lubrication Chapter 4 www.aerotech.com... -
Page 61: Troubleshooting
Access to the motor coupling is provided by removing half of the split top cover has been selected or that is directly above the rotary motor (refer to Figure 1-1 for locations of the for motor service coupling access holes). www.aerotech.com Chapter 4... - Page 62 Maintenance AGR Hardware Manual This page intentionally left blank. Chapter 4 www.aerotech.com...
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Page 63: 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 64 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 65: Appendix B: Revision History
Removed Figure 2-16: View of an AGR Stage Showing Mounting Holes Removed Table 3-6: Limits with Flying Leads Removed section - Appendix A: Stepper Motor Removal 1.04.00 1.03.00 Revision changes have been archived. If you need a copy of this revision, contact Aerotech 1.02.00 Global Technical Support. 1.01.00 1.00.00 www.aerotech.com... - Page 66 Revision History AGR Hardware Manual This page intentionally left blank. Appendix B www.aerotech.com...
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Page 67: Index
BMS60 AGR200 BMS60 Motor Specifications (AGR100/150) 310SM Stepper Motor Specifications Brake Specifications BM250 Motor Specifications BMS280 Motor Specifications cleaning Dimensions mounting surface Mounting Plate Accessories solvents Tabletop Accessories Cleaning AGR50 BM22 Motor Specifications Directive 2006/42/EC BMS35 Motor Specifications www.aerotech.com Index... - Page 68 Technical Support Limit Switch Specifications Thermistor Specifications Limits Connector (AVS) Lubrication Vibration Mechanical Specifications 16-17 Warranty and Field Service mounting surface cleaning securing stage MS3101A18-10P MS3102R20-29P NEMA17 Stepper Motor Specifications (AGR50/75) part number Protection Rating protective ground connection Index www.aerotech.com...