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Summary of Contents for Aerotech ACS100
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Page 1: Acs Hardware Manual
ACS Hardware Manual Revision: 1.05.00... - 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
4.2. Stage Cleaning and Lubrication 4.2.1. Collet and Collet Chuck Lubrication and Cleaning 4.3. Seal Replacement 4.3.1. Piston Seal Change Procedure 4.3.2. Rotary Union Seals for Three-Jaw Gripper Stages 4.4. Troubleshooting Appendix A: Warranty and Field Service Appendix B: Revision History Index www.aerotech.com... -
Page 4: List Of Figures
Figure 2-11: Mounting Holes for Three-Jaw Gripper Figure 2-12: Air Inlets in Three-Jaw Grippers Figure 3-1: Motor and Feedback Wiring (ACS100 -CN1) Figure 3-2: Motor and Feedback Wiring (ACS100 -CN2) Figure 3-3: Motor and Feedback Wiring (ACS150 and ACS200) Figure 3-4:... -
Page 5: List Of Tables
Table 2-1: Stage to Mounting Surface Hardware Table 3-1: Motor Pinouts (-CN1 option on the ACS100; standard on the ACS150 and ACS200) Table 3-2: Mating Connector Part Numbers for the Motor Connector (-CN1 option on the ACS100; standard on the ACS150 and ACS200) -
Page 6: 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 7: Eu Declaration Of Incorporation
ACS Hardware Manual EU Declaration of Incorporation EU Declaration of Incorporation Manufacturer: Aerotech, Inc. 101 Zeta Drive Pittsburgh, PA 15238-2811 herewith declares that the product: ACS Stage is intended to be incorporated into machinery to constitute machinery covered by the Directive 2006/42/EC as amended;... - Page 8 EU Declaration of Incorporation ACS Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 9: Chapter 1: Overview
Chapter 1: 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. -
Page 10: Table 1-2: Acs150 Model Numbering System
NOTE: Digital output encoder signals are synthesized with a 16 MHz clock. Ensure that the encoder sample rate on the controller is at least 16 MHz or higher (slower clock rates are available on request). Rear Seal (Optional) Rear seal Wrench (Optional) Wrench for changing the collet Aerotech P/N: MCA01857 [Qty-1] Aerotech P/N: MCA02007 [Qty-1] Metrology (Required) -PL1 Uncalibrated with performance plots -PL2... -
Page 11: Figure 1-1: Acs Rotary Stage With Callouts
16 MHz or higher (slower clock rates are available on request). Metrology (Required) -PL1 Uncalibrated with performance plots -PL2 Calibrated (HALAR) with performance plots Accessories (To be Ordered as a Separate Line Item) Collet and gripper filtration kit Figure 1-1: ACS Rotary Stage with Callouts www.aerotech.com... -
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
3. Measured TIR of precision gage pin chucked with an ultra precision ER collet (DIN6499) 6 mm away from collet face with no load. 4. Maximum loads are mutually exclusive. Loading limits are due to the collet chuck mechanism. Contact Aerotech directly if part load requirement exceeds specifications. -
Page 14: Table 1-6: Acs150 Series Specifications
3. Measured TIR of precision gage pin chucked with an ultra precision ER collet (DIN6499) 6 mm away from collet face with no load. 4. Maximum loads are mutually exclusive. Loading limits are due to the collet chuck mechanism. Contact Aerotech directly if part load requirement exceeds specifications. -
Page 15: Table 1-7: Acs200 Series Specifications
2. Measured TIR of precision gage pin 10 mm away from gripper face with no load. 3. Maximum loads are mutually exclusive. Loading limits are due to the collet chuck mechanism. Contact Aerotech directly if part load requirement exceeds specifications. -
Page 16: Air Requirements
Because of the noncontact rotary union design on collet-equipped stages, a small amount of leakage will occur. Approximate leakage rates of between 10 Lpm (0.5 CFM) and 40 Lpm (1.4 CFM), depending on pressure, will be observed when the collet is open. www.aerotech.com... -
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-free air to remove any dust or debris that has collected during shipping. -
Page 18: Dimensions
ACS 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: Acs150 (-Er Chuck Style) Dimensions
ACS Hardware Manual 2.2. Dimensions Figure 2-2: ACS150 (-ER Chuck Style) Dimensions www.aerotech.com... -
Page 20: Figure 2-3: Acs150 (-3J Chuck Style) Dimensions
2.2. Dimensions ACS Hardware Manual Figure 2-3: ACS150 (-3J Chuck Style) Dimensions www.aerotech.com... -
Page 21: Figure 2-4: Acs200 (-3J Chuck Style) Dimensions
ACS Hardware Manual 2.2. Dimensions Figure 2-4: ACS200 (-3J Chuck Style) Dimensions www.aerotech.com... -
Page 22: Securing The Stage To The Mounting Surface
T-slots are identical for the ACS150 and ACS200 (refer to Figure 2-6). T-slots are not available on the ACS100 series stages. Tightening torque values for the mounting hardware are dependent on the properties of the surface to which the stage is being mounted. Values provided in... -
Page 23: Figure 2-5: Acs Stage Mounting Holes
ACS Hardware Manual 2.3. Securing the Stage to the Mounting Surface Figure 2-5: ACS Stage Mounting Holes Figure 2-6: Typical ACS150 Stage Showing Side Mounting Holes and T-Slot Detail www.aerotech.com... -
Page 24: Clamping A Workpiece To The Collet
Once air is supplied, material of the appropriate size can be placed in the collet. All collets supplied by Aerotech are clearly labeled with their clamping size range and collet style. Be sure to use only the correct size material in the collet. If an incorrect material size is clamped, the accuracy of the collet could be compromised. -
Page 25: Changing The Workholding Devices
Step 2: Apply air pressure to loosen the collet chuck. Step 3: Remove the collet nut by turning it counterclockwise. If necessary, use a spanner wrench (available from Aerotech). Use caution when removing the collet nut as the collet may fall from its housing and be damaged. -
Page 26: Figure 2-7: Schematic Of Collet Insertion Into And Removal From Collet Nut
2.5.1. Collet Change Procedure ACS Hardware Manual Figure 2-7: Schematic of Collet Insertion Into and Removal From Collet Nut Figure 2-8: Installation Procedure for Collet www.aerotech.com... -
Page 27: Changing Collet Chucks (Acs150)
Step 2: Apply air pressure to loosen the collet chuck. Step 3: Remove the collet nut by turning it counterclockwise. If necessary, use a spanner wrench (available from Aerotech). Use caution when removing the collet nut as the collet may fall from its housing and be damaged. - Page 28 Step 18: Apply air pressure to the stage in order to install the collet. Step 19: Install the new collet and collet nut as described in Section 2.5.1. Step 20: Restore the air supply to the original settings and restore power to the stage. www.aerotech.com...
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Page 29: Gripper Configurations (Acs150 And Acs200)
O-Ring when it is bolted to the stage. 5. Bolt the gripper to the stage shaft using the holes labeled either “NC” (normally-closed), or “NO” (normally-open). 6. Restore power and air supply to the stage. Figure 2-10: Gripper Mounting Hole Locations in ACS Shaft www.aerotech.com... -
Page 30: Figure 2-11: Mounting Holes For Three-Jaw Gripper
2.5.3. Gripper Configurations (ACS150 and ACS200) ACS Hardware Manual Figure 2-11: Mounting Holes for Three-Jaw Gripper Figure 2-12: Air Inlets in Three-Jaw Grippers www.aerotech.com... -
Page 31: 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 ACS is part of a complete Aerotech motion control system, setup usually involves connecting the ACS to the appropriate drive chassis with the cables provided. -
Page 32: Motor And Feedback Connectors
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. N O T E : If using standard Aerotech motors and cables, motor and encoder connection adjustments are not required. -
Page 33: Table 3-1: Motor Pinouts (-Cn1 Option On The Acs100; Standard On The Acs150 And Acs200)
Reserved Reserved Frame Ground (motor protective ground) NOTE: -CN1 is one of the connector options for the ACS100 (e.g., ACS100-CN1). The ACS150 and ACS200 do not have connector options and come standard with a -CN1 connector. Table 3-2: Mating Connector Part Numbers for the Motor Connector (-CN1 option on the ACS100;... -
Page 34: Table 3-3: Motor Pinouts (-Cn2 Option On The Acs100 Only)
Motor Phase B Motor Phase C CASE Frame Ground (motor protective ground) NOTE: -CN2 is one of the connector options available for the ACS100 (e.g., ACS100-CN2). Table 3-4: Mating Connector Part Numbers for the -CN2 Motor Option Connector Mating Connector Aerotech P/N... -
Page 35: Table 3-5: Feedback Pinouts
Reserved Cosine Cosine-N +5 V power supply Sine Sine-N Reserved Common ground Common ground Reserved Encoder Fault (Reserved on ACS100) Reserved Reserved Table 3-6: Mating Connector Part Numbers for the Feedback Connector Mating Connector Aerotech P/N Third Party P/N Backshell ECK00656... -
Page 36: 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: Motor and Feedback Wiring (ACS100 -CN1) www.aerotech.com... -
Page 37: Figure 3-2: Motor And Feedback Wiring (Acs100 -Cn2)
ACS Hardware Manual 3.2. Motor and Feedback Wiring Figure 3-2: Motor and Feedback Wiring (ACS100 -CN2) www.aerotech.com... -
Page 38: Figure 3-3: Motor And Feedback Wiring (Acs150 And Acs200)
3.2. Motor and Feedback Wiring ACS Hardware Manual Figure 3-3: Motor and Feedback Wiring (ACS150 and ACS200) www.aerotech.com... -
Page 39: Motor And Feedback Specifications
500 rpm N O T E : The encoders used on all ACS 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 40: Table 3-10: Motor Specifications (Acs100)
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 41: Table 3-11: Motor Specifications (Acs150)
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 42: Table 3-12: Motor Specifications (Acs200)
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: Marker And Machine Direction
3.4. Marker and Machine Direction 3.4. 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 44: Motor And Feedback Phasing
3.5. Motor and Feedback Phasing ACS Hardware Manual 3.5. Motor and Feedback Phasing Motor phase voltage is measured relative to the virtual wye common point. Figure 3-5: Hall Phasing www.aerotech.com... -
Page 45: Figure 3-6: Analog Encoder Phasing Reference Diagram
ACS Hardware Manual 3.5. Motor and Feedback Phasing Figure 3-6: Analog Encoder Phasing Reference Diagram Figure 3-7: Encoder Phasing Reference Diagram (Standard) www.aerotech.com... - Page 46 3.5. Motor and Feedback Phasing ACS Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 47: Chapter 4: Maintenance
Visually inspect the stage and cables. Re-tighten loose connectors. Replace or repair damaged cables. Clean the ACS and any components and cables as needed. Repair any damage before operating the ACS. Inspect and perform an operational check on all safeguards and protective devices. www.aerotech.com... -
Page 48: Stage Cleaning And Lubrication
The bearings should not require relubrication under normal operating conditions in a clean environment. If the application process uses only a small portion of travel for most of the duty cycle, periodically drive the stage through full travel to redistribute the lubrication. www.aerotech.com... -
Page 49: Collet And Collet Chuck Lubrication And Cleaning
If the wear marks are large, or excessive polishing is required to remove these marks, the collet chuck and collet may need to be replaced. Contact Aerotech Technical Support for more information. Wear and fretting can be prevented with proper lubrication and maintenance intervals. -
Page 50: Seal Replacement
Step 1: Remove power to the stage. Step 2: Supply air to the stage in order to release the collet. Step 3: Remove the collet nut by turning it counterclockwise. Spanner wrenches may be necessary for removal and are available from Aerotech. www.aerotech.com... - Page 51 Step 18: Reinstall the collet piston assembly into its housing. There are chamfers to help guide the piston into place, but use caution not to twist or damage the seals. It is recommended that a small amount of o- ring lubricant be used. www.aerotech.com...
- Page 52 Step 20: Apply air pressure to the stage in order to install the collet. Step 21: Install the new collet as described in Section 2.5.1. Step 22: Restore the air supply to the original settings and restore power to the stage. www.aerotech.com...
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Page 53: Figure 4-2: Piston Seal Installation Procedure
ACS Hardware Manual 4.3.1. Piston Seal Change Procedure Figure 4-2: Piston Seal Installation Procedure Figure 4-3: Cross-Section View of Piston Showing Seal Orientation www.aerotech.com... -
Page 54: Rotary Union Seals For Three-Jaw Gripper Stages
Note the orientation of the seals in Figure 4-5. Check to make sure that the seals are seated completely by running a fingernail along the edge. If the seal is seated improperly a leak may result. 8. Replace the retaining rings. www.aerotech.com... -
Page 55: Figure 4-5: Cross-Section View Of Rear Seal Showing Seal Orientations
10. Replace the rear seal housing retaining screws to a torque of 1.8 to 2.0 N·m (16 to 18 in-lbs). 11. Replace the airline and reconnect power. Figure 4-5: Cross-section View of Rear Seal Showing Seal Orientations www.aerotech.com... -
Page 56: Troubleshooting
(refer to Collet Chuck will not Section 1.3.). open The collet is jammed due to debris, fretting, etc. Clean and lubricate the the collet assembly (refer to Section 4.2.1.) www.aerotech.com... -
Page 57: 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 58 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 59: Appendix B: Revision History
Added information on ACS LP stages Added stage dimensions Added Declaration of Incorporation 1.02.00 Added Environmental Specifications section Added safety information and warnings Added motor specifications Added note about current and voltage requirements of wires 1.01.00 Section added: Section 4.2.1. 1.00.00 New manual www.aerotech.com... - Page 60 Appendix B: Revision History ACS Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 61: Index
(air) collet/collet chuck lubrication mounting surface collet/collet chuck solvents Lubrication Cleaning collet installation maintenance collet removal MCA01857 collet/collet chuck MCA02007 cleaning MFB25378-01 lubrication Motor Specifications (ACS100-85 and ACS100-135) compressed air Motor Specifications (ACS150-115, ACS150-135, and ACS150-180) 41-42 www.aerotech.com... - Page 62 Index ACS Hardware Manual mounting surface S-76-85 (ACS100-135) Motor Specifications cleaning serial number securing stage shipping clamps Shipping Clamps nitrogen solvents Specifications part number stabilizing stage Performance Specifications stage S-130 distortion S-180 stabilizing S-76 Support piston seal replacement Protection Rating...
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