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Related Manuals for Aerotech ABL1500 Series
Summary of Contents for Aerotech ABL1500 Series
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Page 1: Abl1500 Hardware Manual
ABL1500 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
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 4.2.1. Cleaning Process 4.3. Troubleshooting Appendix A: Warranty and Field Service Appendix B: Revision History Index www.aerotech.com... -
Page 4: List Of Figures
Figure 3-2: Motor and Feedback Wiring Figure 3-3: Machine Direction Figure 3-4: Hall Phasing Figure 3-5: Analog Encoder Phasing Reference Diagram Figure 3-6: Encoder Phasing Reference Diagram (Standard) Figure 4-1: Air Bearing Surfaces and Encoder Scales Require Periodic Cleaning www.aerotech.com... -
Page 5: List Of Tables
ABL1500 Hardware Manual Table of Contents List of Tables Table 1-1: Model Numbers and Ordering Options Table 1-2: Environmental Specifications Table 1-3: ABL1500 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 ABL1500 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 Safety ABL1500 Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 9: Eu Declaration Of Incorporation
ABL1500 Hardware Manual Declaration of Conformity EU Declaration of Incorporation Manufacturer: Aerotech, Inc. 101 Zeta Drive Pittsburgh, PA 15238-2811 herewith declares that the product: ABL1500 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 ABL1500 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
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 13: Basic Specifications
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. To protect air bearing against under-pressure, an in-line pressure switch tied to the motion controller/amplifier E-Stop is recommended. - Page 14 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. To protect air bearing against under-pressure, an in-line pressure switch tied to the motion controller/amplifier E-Stop is recommended.
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Page 15: Air Requirements
Overview 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 16 Overview ABL1500 Hardware Manual This page intentionally left blank. Chapter 1 www.aerotech.com...
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Page 17: Chapter 2: 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: 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 ABL1500 without the lifting features or shipping brackets attached. Chapter 2 www.aerotech.com... -
Page 19: Dimensions
ABL1500 Hardware Manual Mechanical Specifications and Installation 2.2. Dimensions Figure 2-2: ABL1500 Dimensions www.aerotech.com Chapter 2... -
Page 20: Securing The Stage To The Mounting Surface
6. Slide the air bearing carriage to one end of travel. Insert M6 socket head cap screws with flat washers into the exposed mounting locations. Do not fully tighten at this time, but bring within 1/4 turn of screw head engagement. Chapter 2 www.aerotech.com... -
Page 21: Figure 2-3: Surface Mounting Screws
7. Slide the air-bearing carriage to the opposite end of travel and insert the remaining mounting screws with flat washers. 8. Tighten the mounting screws (begin from the center out for best accuracy). The typical torque value for M6 socket head cap screws is 7 N·m. www.aerotech.com Chapter 2... -
Page 22: Attaching The Payload To The Stage
N O T E : If your ABL1500 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 ABL1500 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: Cantilever Length Diagram
ABL1500 Hardware Manual Mechanical Specifications and Installation Figure 2-5: Cantilever Length Diagram www.aerotech.com Chapter 2... -
Page 24: Figure 2-6: Pitch Offsets
Figure 2-7 show the relationships between mass carried by the stage and maximum acceleration capabilities of the stage. Peak acceleration capabilities are given. The maximum acceleration possible for the ABL1500 series stages is 2g. Figure 2-6: Pitch Offsets Figure 2-7:... -
Page 25: Chapter 3: Electrical Specifications And Installation
Aerotech motion control systems are adjusted at the factory for optimum performance. When the ABL1500 is part of a complete Aerotech motion control system, setup usually involves connecting the ABL1500 to the appropriate drive chassis with the cables provided. Labels on the system components usually indicate the appropriate connections. -
Page 26: 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 27: Table 3-1: Motor Connector Pinouts
Motor Phase C Reserved Reserved Reserved Reserved Reserved Frame ground (motor protective ground) 1. Available with -Y-CMS option Mating Connector Aerotech P/N Third Party P/N Base Backshell ECK00656 Amphenol #17E-1726-2 Base Sockets [QTY. 4] ECK00659 ITT Cannon #DM53744-6 Base Connector ECK00657... -
Page 28: Table 3-2: Feedback Connector Pinouts
Reserved Reserved Signal indicating maximum travel produced by negative/CCW stage direction Reserved Case Signal shield connection (to case) 1. Available with -Y-CMS option Mating Connector Aerotech P/N Third Party P/N Base Backshell ECK00656 Amphenol #17E-1726-2 Base Connector ECK00300 FCI DB25S064TLF Carriage Backshell... -
Page 29: 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 3-2: Motor and Feedback Wiring www.aerotech.com Chapter 3... -
Page 30: Motor And Feedback Specifications
Requires external pull-up to +5 V (10 kΩ recommended) Notes: If the ABL1500 is driven beyond the electrical limit, it will encounter a mechanical stop. Impacting the mechanical stop could cause damage to the stage even at low speeds. Chapter 3 www.aerotech.com... -
Page 31: 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 32: Limits, Marker, And Machine Direction
ABL1500 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 33: Motor And Feedback Phasing
ABL1500 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 34: Figure 3-5: Analog Encoder Phasing Reference Diagram
Electrical Specifications and Installation ABL1500 Hardware Manual Figure 3-5: Analog Encoder Phasing Reference Diagram Figure 3-6: Encoder Phasing Reference Diagram (Standard) Chapter 3 www.aerotech.com... -
Page 35: Chapter 4: Maintenance
Maintenance Chapter 4: Maintenance The ABL1500 series stages are designed to require minimum maintenance. Due to the non-contact air bearing design, there are no friction surfaces or dynamic seals to wear or require lubrication. However, it is important to clean the bearing surfaces and encoder strips to maintain the accuracy of the stage. This chapter will detail the cleaning and lubrication process and specify recommended cleaning solvents. -
Page 36: Cleaning Process
3. This should expose all previously covered surfaces. Repeat the cleaning process. Restore power to the stage after all solvents are fully dry. Figure 4-1: Air Bearing Surfaces and Encoder Scales Require Periodic Cleaning Chapter 4 www.aerotech.com... -
Page 37: Troubleshooting
Encoder (sine and cosine) signal connections (refer to Chapter 3 Stage moves Controller documentation). uncontrollably 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). www.aerotech.com Chapter 4... - Page 38 Maintenance ABL1500 Hardware Manual This page intentionally left blank. Chapter 4 www.aerotech.com...
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Page 39: 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 40 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 41: Appendix B: Revision History
Declaration of Incorporation section added Environmental Specifications section added Updated ordering information: Added safety information and warnings 1.01.00 Updated stage specifications Added motor specifications Added note about motor wire current and voltage requirements Corrected mechanical stop warning 1.00.00 New manual www.aerotech.com Appendix B... - Page 42 Revision History ABL1500 Hardware Manual This page intentionally left blank. Appendix B www.aerotech.com...
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Page 43: Index
Shipping Clamps EN 60204-1 Solvents EN ISO 12100 Specifications Encoder Specifications stabilizing stage eyebolts stage distortion Global Technical Support stabilizing Support Hall-Effect Sensors Specifications hose, air Technical Support Humidity testing stage operation Thermistor Specifications Inspection Schedule Isopropyl Alcohol www.aerotech.com Index... - Page 44 Index ABL1500 Hardware Manual Vibration Warranty and Field Service Index www.aerotech.com...