Related Manuals for Aerotech PRO115SL Series
Summary of Contents for Aerotech PRO115SL Series
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Page 1: Pro115Sl And Sle Mechanical Bearing, Ball-Screw Stage
PRO115SL and SLE Mechanical Bearing, Ball-Screw Stage HARDWARE MANUAL Revision 2.00... - 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 4.3. Motor Mounting 4.4. Belt Adjustment 4.5. Troubleshooting Appendix A: Warranty and Field Service Appendix B: Revision History Index www.aerotech.com... -
Page 4: List Of Figures
Attach the Coupling Adapter to the Motor Shaft Figure 4-6: Attach the Motor the Stage Figure 4-7: Tighten the Shaft Coupling to the Drive Screw Figure 4-8: Foldback Motor Cover Removal Figure 4-9: Foldback Motor Part Callouts Figure 4-10: Lubricate the Pulley Flanges www.aerotech.com... -
Page 5: List Of Tables
Table 3-12: Limit Switch Specifications Table 3-13: Brake Specifications Table 3-14: PRO115SL/SLE Motor Specifications (BMS60) Table 3-15: PRO115SL/SLE Motor Specifications (BM75) Table 3-16: Rotary Encoder Specifications for PRO115SL/SLE Stages Table 3-17: Linear Encoder Specifications for PRO115SL/SLEE Stages Table 4-1: Hardware Requirements www.aerotech.com... - Page 6 List of Tables PRO115SL/SLE Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 7: Safety Procedures And Warnings
To find the newest information about this product, refer to www.aerotech.com. If you do not understand the information in this manual, contact Aerotech Global Technical Support. IMPORTANT: This product has been designed for light industrial manufacturing or laboratory environments. - Page 8 DANGER: System travel can cause crush, shear, or pinch injuries. Restrict access to all motor and stage parts while your system is connected to a power source. Do not put yourself in the travel path of machinery. Motors are capable of very high speeds and acceleration rates. www.aerotech.com...
- Page 9 Use it to shut down the drive if the motor overheats. Make sure that the product is securely mounted before you operate it. Use care when you move the PRO115SL/SLE or you could negatively affect the per- formance of it. WARNING: Securely mount and position all system cables. www.aerotech.com...
- Page 10 Safety Procedures and Warnings PRO115SL/SLE Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 11: Eu Declaration Of Incorporation
PRO115SL/SLE 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: PRO115SL/SLE Linear Stage is intended to be incorporated into machinery to constitute machinery covered by the Directive 2006/42/EC as amended;... - Page 12 EU Declaration of Incorporation PRO115SL/SLE Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 13: Chapter 1: Overview
The specifications in this manual pertain to the second generation of PRO SL/SLE stages. Second generation stages can be distinguished from their first generation counterparts by the curved hardcover on the second generation. Contact Aerotech if you need a first generation manual. Table 1-1: Model Numbers and Ordering Options PRO115SL and PRO115SLE Series Linear Ball-Screw Stage... - Page 14 XZ or YZ assembly with L-bracket; 5 arc second orthogonality. Alignment to within 5 µm ALIGN-PA5Z orthogonality for short travel stages. HDZ115 Right angle L-bracket for 50 mm, 100 mm, and 150 mm travels only NOTE: HDZ bracket requires a tabletop when mounting to a PRO series stage www.aerotech.com...
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Page 15: Environmental Specifications
Altitude Operating: 0 m to 2,000 m (0 ft to 6,562 ft) above sea level Contact Aerotech if your specific application involves use above 2,000 m or below sea level. Vibration Use the system in a low vibration environment. Excessive floor or acoustical vibration can affect system performance. -
Page 16: Basic Specifications
6. 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. 7. Specifications listed are non-foldback kit options. Contact the factory for specifications when a foldback kit (-FBx) is used. -
Page 17: Table 1-4: Pro115Sl/Sle Series Specifications (-300 To -600)
6. 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. 7. Specifications listed are non-foldback kit options. Contact the factory for specifications when a foldback kit (-FBx) is used. -
Page 18: Vacuum Operation
Teflon cables. Aerotech recommends that customers bake out vacuum systems when first installing them in the vacuum chamber. Contact Aerotech to discuss your application and the recommended bakeout procedure. -
Page 19: Chapter 2: Installation
Before you operate the stage, let it stabilize at room temperature for at least 12 hours. This will ensure that all of the alignments, preloads, and tolerances are the same as they were when they were tested at Aerotech. Each stage has a label listing the system part number and serial number. These numbers contain information necessary for maintenance or system hardware and software updates. -
Page 20: Dimensions
2.2. Dimensions PRO115SL/SLE Hardware Manual 2.2. Dimensions Figure 2-1: PRO115SL Dimensions www.aerotech.com... -
Page 21: Figure 2-2: Pro115Sle Dimensions
PRO115SL/SLE Hardware Manual 2.2. Dimensions Figure 2-2: PRO115SLE Dimensions www.aerotech.com... -
Page 22: Figure 2-3: Tabletop Accessory Dimensions (-Tt3 Option)
2.2. Dimensions PRO115SL/SLE Hardware Manual Figure 2-3: Tabletop Accessory Dimensions (-TT3 Option) www.aerotech.com... -
Page 23: Figure 2-4: Z-Axis Bracket Dimensions
PRO115SL/SLE Hardware Manual 2.2. Dimensions Figure 2-4: Z-Axis Bracket Dimensions www.aerotech.com... -
Page 24: Securing The Stage To The Mounting Surface
Refer to Section 2.2. for mounting locations and dimensions. Table 2-2: Stage to Mounting Surface Hardware Mounting Hardware Typical Screw Torque M6 x 18 mm (or 1/4" x 3/4") SHCS with flat washers 7 N·m [5 ft·lb] www.aerotech.com... -
Page 25: Attaching The Payload To The Stage
If you start the PRO115SL/SLE without a payload, the servo gains provided by Aerotech with the shipment may not be appropriate and servo instability can occur. Refer to the controller help file for tuning assistance. -
Page 26: Figure 2-5: Stage Orientations
2.4. Attaching the Payload to the Stage PRO115SL/SLE Hardware Manual Figure 2-5: Stage Orientations Figure 2-6: Cantilevered Load Capability www.aerotech.com... -
Page 27: Figure 2-7: Load Torque Equation
Torque π (Efficiency) Figure 2-7: Load Torque Equation For PRO115SL/SLE series stages, the ball screw efficiency is rated at 90% (0.90). Refer to Section 1.3. Load Capacity specifications. Figure 2-8: Torque Required to Turn Ball Screw in Vertical Orientation www.aerotech.com... - Page 28 2.4. Attaching the Payload to the Stage PRO115SL/SLE Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 29: Chapter 3: Electrical Installation
Electrical installation requirements will depend on the ordered product options. Installation instructions in this section are for Aerotech stages equipped with standard Aerotech motors intended for use with an Aerotech motion control system. Contact Aerotech for further information on products that are otherwise configured. -
Page 30: Motor And Feedback Connectors
IMPORTANT: Refer to the other documentation accompanying your Aerotech equipment. Call your Aerotech representative if there are any questions on system configuration. IMPORTANT: If you are using standard Aerotech motors and cables, motor and encoder connection adjustments are not required. -
Page 31: Table 3-1: Brushless Motor Connector Pinout
Reserved Reserved Reserved Reserved Reserved Frame Ground (motor protective ground) Table 3-2: Mating Connector Part Numbers for the Brushless 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 32: Table 3-3: Brushless Motor Feedback Connector Pinout
Common ground Reserved Reserved Reserved Reserved Brake + (with Brake Option) Table 3-4: Mating Connector Part Numbers for the Brushless Motor Feedback Connector Mating Connector Aerotech P/N Third Party P/N 25-Socket D-Connector ECK00300 FCI DB25S064TLF Backshell ECK00656 Amphenol 17E-1726-2 www.aerotech.com... -
Page 33: Table 3-5: Linear Encoder Connector Pinout (-Sle Only)
+5 V power supply Sine Sine-N Reserved Common ground Common ground Reserved Reserved Reserved Reserved Table 3-6: Mating Connector Part Numbers for the Encoder Connector Mating Connector Aerotech P/N Third Party P/N 25-Socket D-Connector ECK00300 FCI DB25S064TLF Backshell ECK00656 Amphenol 17E-1726-2 www.aerotech.com... -
Page 34: Table 3-7: Limit Connector Wiring
+Limit/CW (Positive/Clockwise Travel Limit) Home Limit -Limit/CCW (Negative/Counterclockwise Limit) Reserved Common ground Reserved Reserved Table 3-8: Mating Connector Part Numbers for the Limit Connector Mating Connector Aerotech P/N Third Party P/N 9-Pin D-Connector ECK00340 FCI DE09S064TLF Backshell ECK01021 Amphenol 17E-1724-2 www.aerotech.com... -
Page 35: Motor And Feedback Wiring
PRO115SL/SLE Hardware Manual 3.2. Motor and Feedback Wiring 3.2. Motor and Feedback Wiring Shielded cables are required for the motor and feedback connections. Figure 3-1: Brushless Motor and Feedback Wiring [-SL Option] www.aerotech.com... -
Page 36: Figure 3-2: Brushless Motor And Feedback Wiring [-Sle Option]
3.2. Motor and Feedback Wiring PRO115SL/SLE Hardware Manual Figure 3-2: Brushless Motor and Feedback Wiring [-SLE Option] www.aerotech.com... -
Page 37: Motor And Feedback Specifications
Note: If the PRO115SL/SLE 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. Table 3-13: Brake Specifications Specification Supply Voltage 24 VDC Supply Current (typical) 250 mA (current required to release the brake and allow motion) www.aerotech.com... -
Page 38: Table 3-14: Pro115Sl/Sle Motor Specifications (Bms60)
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 39: Table 3-15: Pro115Sl/Sle Motor Specifications (Bm75)
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 40: Table 3-16: Rotary Encoder Specifications For Pro115Sl/Sle Stages
Table 3-17: Linear Encoder Specifications for PRO115SL/SLEE Stages Fundamental Signal Encoder Option Digital Resolution Period -E1 with x4000 Interpolation 5 nm -E1 with x16000 Interpolation 20 µm 1.25 nm 100 nm 0.5 µm 1. Quadrature decoding included in interpolated resolution calculations www.aerotech.com... -
Page 41: Limits, Marker, And Machine Direction
3.4. Limits, Marker, and Machine Direction 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 Section 3.2.). -
Page 42: Motor And Feedback Phasing
3.5. Motor and Feedback Phasing PRO115SL/SLE Hardware Manual 3.5. Motor and Feedback Phasing Motor phase voltage is measured relative to the virtual wye common point. Figure 3-4: Hall Phasing Diagram www.aerotech.com... -
Page 43: Figure 3-5: Encoder Phasing Reference Diagram (Standard/Square Wave)
PRO115SL/SLE Hardware Manual 3.5. Motor and Feedback Phasing Figure 3-5: Encoder Phasing Reference Diagram (Standard/Square Wave) Figure 3-6: Encoder Phasing Reference Diagram (Analog/Sine Wave) www.aerotech.com... - Page 44 3.5. Motor and Feedback Phasing PRO115SL/SLE Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 45: Chapter 4: Maintenance
Visually inspect the stage and cables. Re-tighten loose connectors. Replace or repair damaged cables. Clean the PRO115SL/SLE and any components and cables as needed. Repair any damage before operating the PRO115SL/SLE. Inspect and perform an operational check on all safeguards and protective devices. www.aerotech.com... -
Page 46: Cleaning And Lubrication
5. We recommend that you do not disassemble the stage beyond the instructions given in this manual. Proper assembly and calibration can only be done at the factory. Contact Aerotech for more information. For stages equipped with foldback motors, you should check the belt tension when you clean or lubricate the stage. - Page 47 9. Clean the linear bearing guides with a clean, lint-free cloth or swab. 10. Apply a thin, continuous film of lubricant to the ball-screw threads and linear bearing guides. Aerotech recommends that you use a good quality, natural bristle artist's brush.
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Page 48: Figure 4-1: Hardcover Rear End Plate Removal
4.2. Cleaning and Lubrication PRO115SL/SLE Hardware Manual Figure 4-1: Hardcover Rear End Plate Removal Figure 4-2: Hardcover Screw Removal www.aerotech.com... -
Page 49: Figure 4-3: Hardcover Removal
PRO115SL/SLE Hardware Manual 4.2. Cleaning and Lubrication Figure 4-3: Hardcover Removal www.aerotech.com... -
Page 50: Motor Mounting
4-4). Loctite products are printed with an expiration date. Before use, be sure that the expiration date is legible and the product has not expired. If your stage is used in a vacuum or cleanroom environment, contact Aerotech. Figure 4-4:... -
Page 51: Figure 4-5: Attach The Coupling Adapter To The Motor Shaft
6. Attach the Motor to the Stage in the correct orientation (Figure 4-6). Use a hex wrench to ensure that the motor flange is fully seated and the hardware is tight. The motor housing prevents the use of a torque wrench. Figure 4-6: Attach the Motor the Stage www.aerotech.com... -
Page 52: Figure 4-7: Tighten The Shaft Coupling To The Drive Screw
Tighten the Shaft Coupling to the Drive Screw 8. Rotate the drive screw by hand to ensure that the drive screw rotates freely. IMPORTANT: You must reapply Loctite to the mounting hardware if the Motor or Shaft Coupling screws are removed, adjusted, loosened, or replaced. www.aerotech.com... -
Page 53: Belt Adjustment
11. Check the pulley flanges for lubrication. 12. Add small amounts of Parker Super O-Lube lubricant around the circumference of both pulley flanges (Figure 4-10). 13. Replace the foldback cover and mounting screws. 14. Restore power to the stage and resume normal use. www.aerotech.com... -
Page 54: Figure 4-8: Foldback Motor Cover Removal
4.4. Belt Adjustment PRO115SL/SLE Hardware Manual Figure 4-8: Foldback Motor Cover Removal IMPORTANT: If the stage has been calibrated (-PL2 option), note the orientation of the two pulleys with regard to each other or recalibration might be required. www.aerotech.com... -
Page 55: Figure 4-9: Foldback Motor Part Callouts
PRO115SL/SLE Hardware Manual 4.4. Belt Adjustment Figure 4-9: Foldback Motor Part Callouts Figure 4-10: Lubricate the Pulley Flanges www.aerotech.com... -
Page 56: Troubleshooting
Chapter 3: Electrical Installation and Controller documentation). Stage moves uncontrollably Motor Connections (refer to Chapter 3: Electrical Installation 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... -
Page 57: Appendix A: Warranty And Field Service
Aerotech’s products are specifically designed and/or manufactured for buyer’s use or purpose. Aerotech’s liability on any claim for loss or damage arising out of the sale, resale, or use of any of its products shall in no event exceed the selling price of the unit. - 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
Updates have been made to: 2.00 Section 1.3. Basic Specifications Section 4.3. Motor Mounting 1.07 1.06 1.05 1.04 Revision changes have been archived. If you need a copy of this revision, contact Aerotech Global Technical Support. 1.03 1.02 1.01 1.00 www.aerotech.com... - Page 60 Appendix B: Revision History PRO115SL/SLE Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 61: Index
24-25 multiaxis combinations Cleaning cleaning solvent part number Possible Cause Dimensions Protection Rating Directive 2006/42/EC protective ground connection Electrical Installation Rotary Encoder Specifications EN 60204-1 2010 EN ISO 12100 2010 Encoder Specifications serial number EU 2015/863 shimming www.aerotech.com... - Page 62 Thermistor Specifications stabilizing stage stage distortion stabilizing Symptom Table of Contents Temperature Effects thermal expansion coefficient Thermistor Specifications torque Troubleshooting Unpacking and Handling the Stage vacuum guidelines vacuum lubricant (Braycote 602EF) Vacuum Operation Vibration Warnings Warranty and Field Service www.aerotech.com...
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