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Summary of Contents for Aerotech HexGen HEX500-350HL
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Page 1: Hexgen® Hex500-350Hl Hexapod Six-Dof Positioning System
HexGen HEX500-350HL Hexapod Six-DOF ® Positioning System HARDWARE MANUAL Revision 2.00... - Page 2 Global Technical Support Portal for information and support about your Aerotech, Inc. products. The website supplies software, product manuals, Help files, training schedules, and PC-to-PC remote technical support. If necessary, you can complete Product Return (RMA) forms and get information about repairs and spare or replacement parts.
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Page 3: Table Of Contents
3.2. Motor and Feedback Wiring 3.3. Motor and Feedback Specifications 3.4. Machine Direction 3.5. 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
HEX500-350HL Horizontal Load Capabilities Figure 2-6: HEX500-350HL Inverted Load Capabilities Figure 3-1: Motor and Feedback Wiring (-E2 Connector) Figure 3-2: Motor and Feedback Wiring (-E3 Connector) Figure 3-3: Machine Direction Figure 3-4: Hall Phasing Figure 3-5: Encoder Phasing Reference Diagram (Standard) www.aerotech.com... -
Page 5: List Of Tables
Table 3-6: Thermistor Specifications Table 3-7: Encoder Specifications Table 3-8: Limit Switch Specifications Table 3-9: HEX500-350HL Motor Specifications Table 3-10: HEX500-350HL Rotary Encoder Specifications Table 3-11: HEX500-350HL Linear Encoder Specifications (-E2 Option) Table 4-1: Grease Specifications Table 4-2: Troubleshooting www.aerotech.com... - Page 6 List of Tables HEX500-350HL 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 Make sure that the product is securely mounted before you operate it. All service and maintenance must be done by approved personnel. WARNING: Securely mount and position all system cables. IMPORTANT: Carefully lift, move, and transport this product. www.aerotech.com...
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Page 9: Eu Declaration Of Incorporation
HEX500-350HL 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: HEX500-350HL is intended to be incorporated into machinery to constitute machinery covered by the Directive 2006/42/EC as amended;... - Page 10 EU Declaration of Incorporation HEX500-350HL Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 11: Chapter 1: Overview
300 mm height at mid-travel; high-load capacity version Feedback (Required) Incremental encoders Absolute encoders Performance Grade (Optional) -PL3 Base performance -PL4 Ultra high-accuracy performance Customization Additional customization may be available (Vacuum preparation, custom geometry, etc.). Contact Aerotech for details. 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
® 1. Travels are mutually-exclusive. Consult the HexGen Hexapod Sizer on the Aerotech website for detailed workspace sizing. 2. Measured with single-axis moves at a height of 50 mm above the moving platform. Results can be payload and workpoint dependent. -
Page 14: Understanding Basic Hex500-350Hl Operation
To get a copy of this guide, go to the Resources section of www.aerotech.com. Select the Manuals and Help Files tab. Then download Hexapod Programming User Guide from the User Guides category. The six axes include 3 translational axes, X, Y, and Z, and 3 rotational axes, A, B, and C. As shown in the overview, the cables exit out of the back of the base. -
Page 15: Homing
Be sure that there are no crash conditions before ® homing. Refer to the HexGen Programming Guide for more information about initializing a hexapod. If the absolute encoder option (-E2) has been ordered, there is no need to home the hexapod. www.aerotech.com... - Page 16 1.3.3. Homing HEX500-350HL Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 17: Chapter 2: Mechanical Specifications And Installation
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. 2.1. Unpacking and Handling the Hexapod If any damage has occurred during shipping, report it immediately. -
Page 18: Figure 2-1: Lifting And Shipping Brackets
Red, anodized aluminum shipping brackets have been installed to prevent unwanted motion and potential damage that could occur during shipment. You must remove the brackets before the HEX500-350HL can be operated. Retain the brackets and hardware for future use. Figure 2-1: Lifting and Shipping Brackets www.aerotech.com... -
Page 19: Dimensions
HEX500-350HL Hardware Manual 2.2. Dimensions 2.2. Dimensions Figure 2-2: HEX500-350HL Dimensions www.aerotech.com... -
Page 20: Securing The Hexapod To The Mounting Surface
IMPORTANT: To maintain accuracy, the mounting surface must be flat to within 10 µm per 100 mm. A minimum of six M8 mounting screws are required to mount the hexapod to the mounting surface. Section 2.2. Dimensions Refer to Figure 2-3 for mounting locations and Table 2-1 for tightening torque values. www.aerotech.com... -
Page 21: Figure 2-3: Mounting Hole Locations
Refer to Section 2.2. for specific model mounting locations and dimensions. Table 2-1: Stage to Mounting Surface Hardware Mounting Hardware Typical Screw Torque M8 SHCS (12 places) 17 N·m Figure 2-3: Mounting Hole Locations www.aerotech.com... -
Page 22: Attaching The Payload To The Hex500-350Hl
Aerotech recommends that customers use a representative payload during start-up to prevent accidental damage to the stage and the payload. Proceed with the electrical installation and test the motion control system in accordance with the system documentation. -
Page 23: Figure 2-5: Hex500-350Hl Horizontal Load Capabilities
HEX500-350HL Hardware Manual 2.4. Attaching the Payload to the HEX500-350HL Figure 2-5: HEX500-350HL Horizontal Load Capabilities Figure 2-6: HEX500-350HL Inverted Load Capabilities www.aerotech.com... - Page 24 2.4. Attaching the Payload to the HEX500-350HL HEX500-350HL Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 25: Chapter 3: Electrical Specifications And Installation
Electrical installation requirements will vary depending on product options. Installation instructions in this section are for HEX500-350HL 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 26: Motor And Feedback Connectors
Additional grounding and safety precautions are required for applications requiring access to the stage while it is energized. If the HEX500-350HL is built with standard Aerotech motors and encoders, it will arrive from the factory completely wired and assembled. www.aerotech.com... -
Page 27: Table 3-1: -E2 Option Motor And Feedback Pinout
Reserved Reserved Hall Effect sensor, phase A Hall Effect sensor, phase B Frame Ground Motor Phase C Table 3-2: Mating Connector Part Numbers 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 28: Table 3-3: -E3 Option Motor And Feedback Pinout
Over-Temperature Thermistor Sensor Hall Effect Sensor (Phase B) Frame Ground Motor Phase A Motor Phase B Motor Phase C Table 3-4: Mating Connector Part Numbers 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 29: Motor And Feedback Wiring
HEX500-350HL into a completed system. Restrict access to the hexapod when it is connected to a power source. Shielded cables are required for the motor and feedback connections. Figure 3-1: Motor and Feedback Wiring (-E2 Connector) www.aerotech.com... -
Page 30: Figure 3-2: Motor And Feedback Wiring (-E3 Connector)
3.2. Motor and Feedback Wiring HEX500-350HL Hardware Manual Figure 3-2: Motor and Feedback Wiring (-E3 Connector) www.aerotech.com... -
Page 31: Motor And Feedback Specifications
Requires external pull-up to +5 V (10 kΩ recommended) Note: If the HEX500-350HL 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. www.aerotech.com... -
Page 32: Table 3-9: Hex500-350Hl Motor Specifications
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 ; use torque constant in N·m/A when sizing. -
Page 33: Machine Direction
HEX500-350HL Hardware Manual 3.4. Machine Direction 3.4. 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 hexapod wiring (refer to Section 3.5. -
Page 34: Feedback Phasing
3.5. Feedback Phasing HEX500-350HL Hardware Manual 3.5. Feedback Phasing Motor phase voltage is measured relative to the virtual wye common point. Figure 3-4: Hall Phasing www.aerotech.com... -
Page 35: Figure 3-5: Encoder Phasing Reference Diagram (Standard)
HEX500-350HL Hardware Manual 3.5. Feedback Phasing Figure 3-5: Encoder Phasing Reference Diagram (Standard) www.aerotech.com... - Page 36 3.5. Feedback Phasing HEX500-350HL Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 37: Chapter 4: Maintenance
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 in the bearings. The motor is completely non-contact and requires no lubrication. www.aerotech.com... -
Page 38: Troubleshooting
Encoder Signal Connection or the Motor Signal Connection: Strut moves Check to make sure that the cable connections are secure. uncontrollably Refer to the Section 3.2. Motor and Feedback Wiring Incorrect Gains: Axes are unstable or squeal Refer to controller documentation www.aerotech.com... -
Page 39: Appendix A: Warranty And Field Service
All Other Repairs - After Aerotech's evaluation, the buyer shall be notified of the repair cost. At such time the buyer must issue a valid purchase order to cover the cost of the repair and freight, or authorize the product(s) to be shipped back as is, at the buyer's expense. - 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...
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Page 41: Appendix B: Revision History
HEX500-350HL Hardware Manual Appendix B: Revision History Appendix B: Revision History Revision Description 2.00 General update 1.01 Updated encoder specifications 1.00 New Manual www.aerotech.com... - Page 42 Appendix B: Revision History HEX500-350HL Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 43: Index
Electrical Specifications S-76 EN 60204-1 2010 S-76 EN ISO 12100 2010 Electrical Specifications Encoder Specifications Performance Specifications EU 2015/863 Securing the hexapod to the Mounting Surface serial number Service and Inspection Schedule Hall-Effect Sensors Specifications solvents Handling the Hexapod www.aerotech.com... - Page 44 Index HEX500-350HL Hardware Manual stabilizing stage stage distortion stabilizing Table of Contents Temperature Effects Thermistor Specifications Unpacking and Handling the Hexapod Vertical Load Capabilities Vibration Warranty and Field Service www.aerotech.com...
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