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Summary of Contents for Aerotech ALAR-SP
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Page 1: Alar-Sp Large Aperture Rotary Stage
ALAR-SP Large Aperture Rotary Stage 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
Hardware Manual ALAR-SP Table of Contents ALAR-SP Large Aperture Rotary Stage Table of Contents List of Figures List of Tables EU Declaration of Incorporation Safety Procedures and Warnings Installation and Operation Electrical Warnings Motor-Related Warnings Pinch Points Handling and Storage Chapter 1: Overview 1.1. -
Page 4: List Of Figures
ALAR-SP Hardware Manual List of Figures Figure 1-1: Lifting Bolts Figure 2-1: ALAR100SP Dimensions Figure 2-2: ALAR150SP Dimensions Figure 2-3: ALAR200SP Dimensions Figure 2-4: ALAR250SP Dimensions Figure 2-5: ALAR325SP Dimensions Figure 2-6: ALAR Stage Mounting Holes Figure 3-1: Electrical Connections Figure 3-2: ALAR Motor and Feedback Wiring (Incremental Encoder Options) -
Page 5: List Of Tables
Thermistor Specifications Table 3-9: Encoder Specifications Table 3-10: Encoder Resolution Table 3-11: Maximum Speed Per Encoder Option Table 3-12: Limit Switch Specifications Table 3-13: ALAR-SP Motor Specifications (ALAR100SP, ALAR150SP, ALAR200SP) Table 3-14: ALAR-SP Motor Specifications (ALAR250SP, ALAR325SP) Table 4-1: Troubleshooting www.aerotech.com... -
Page 6: Eu Declaration Of Incorporation
ALAR-SP Hardware Manual EU Declaration of Incorporation Manufacturer Aerotech, Inc. 101 Zeta Drive Pittsburgh, PA 15238-2811 herewith declares that the product: ALAR Rotary Stage is intended to be incorporated into machinery to constitute machinery covered by the Directive 2006/42/EC as amended;... -
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: Installation And Operation
ALAR-SP Hardware Manual Installation and Operation To decrease the risk of damage to the equipment, you must obey the precautions that follow. DANGER: General Hazard Warning! This product can produce high forces and move at velocities that could cause injury. -
Page 9: Electrical Warnings
It is the responsibility of the End User/System Integrator to make sure that stages are properly connected and grounded per Engineering Standards and applicable safety requirements. It is the responsibility of the End User/System Integrator to configure the system drive or controller within the Aerotech motor/stage electrical and mechanical specifications. www.aerotech.com... -
Page 10: Motor-Related Warnings
ALAR-SP Hardware Manual Motor-Related Warnings Aerotech motors are capable of producing high forces and velocities. Obey all warnings and all applicable codes and standards when you use or operate a stage or system that incorporates Aerotech motors. DANGER: Mechanical Hazard! Personnel must be made aware of the mechanical hazards during set up or when you do service to the stage. -
Page 11: Pinch Points
Hardware Manual ALAR-SP Pinch Points A pinch point is a mechanical hazard that can occur when there are exposed parts of the stage or system that can move. For example, the travel of a stage tabletop could expose the user to a pinch point between the tabletop and the stage housing. -
Page 12: Handling And Storage
ALAR-SP Hardware Manual Handling and Storage IMPORTANT: It is the responsibility of the customer to safely and carefully lift and move the stage. Be careful when you move or transport the stage. Retain the shipping materials for future use. Transport or store the stage in its protective packaging. -
Page 13: Figure 1-1: Lifting Bolts
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 14 ALAR-SP Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 15: Chapter 1: Overview
Hardware Manual ALAR-SP Chapter 1: Overview Table 1-1: Model Numbers and Ordering Options ALAR Series Mechanical-Bearing Direct-Drive Rotary Stage ALAR100SP 100 mm clear aperture ALAR150SP 150 mm clear aperture ALAR200SP 200 mm clear aperture ALAR250SP 250 mm clear aperture ALAR325SP... -
Page 16: Environmental Specifications
Indoor use only 1.2. Accuracy and Temperature Effects Aerotech products are designed for and built in a 20°C (68°F) environment. Temperature changes could cause a decrease in performance or permanent damage to the stage. At a minimum, the environmental temperature must be controlled to within 0.25ºC per 24 hours to ensure the stage specifications are repeatable over an extended period of time. -
Page 17: Basic Specifications
±9.7 µrad (±2 arc sec) Tilt-Error Motion 9.7 µrad (2.0 arc sec) (1) Square-wave digital encoder options will limit maximum speed below the listed value. (2) Resolution assumes -E1 encoder with 2000X controller multiplication. (3) Certified with each stage. Requires an Aerotech controller. www.aerotech.com... -
Page 18: Table 1-4: Alar Series Specifications (Alar250Sp, Alar325Sp)
±9.7 µrad (±2 arc sec) Tilt-Error Motion 9.7 µrad (2.0 arc sec) (1) Square-wave digital encoder options will limit maximum speed below the listed value. (2) Resolution assumes -E1 encoder with 2000X controller multiplication. (3) Certified with each stage. Requires an Aerotech controller. www.aerotech.com... -
Page 19: Vacuum Operation
Hardware Manual ALAR-SP 1.4. Vacuum Operation Vacuum option preparations are available as special orders. Contact Aerotech for more information. There are two vacuum preparation options: Low Vacuum (for use in atmospheric pressures to 10 Torr) High Vacuum (preparation for environments from 10 to 10 Torr). - Page 20 ALAR-SP Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 21: Chapter 2: Installation
Hardware Manual ALAR-SP Chapter 2: Installation The stage installation must be in accordance with the instructions provided by this manual and any accompanying documentation. Failure to follow these instructions could result in injury or damage to the equipment. 2.1. Dimensions... -
Page 22: Figure 2-2: Alar150Sp Dimensions
ALAR-SP Hardware Manual Figure 2-2: ALAR150SP Dimensions www.aerotech.com... -
Page 23: Figure 2-3: Alar200Sp Dimensions
Hardware Manual ALAR-SP Figure 2-3: ALAR200SP Dimensions www.aerotech.com... -
Page 24: Figure 2-4: Alar250Sp Dimensions
ALAR-SP Hardware Manual Figure 2-4: ALAR250SP Dimensions www.aerotech.com... -
Page 25: Figure 2-5: Alar325Sp Dimensions
Hardware Manual ALAR-SP Figure 2-5: ALAR325SP Dimensions www.aerotech.com... -
Page 26: Securing The Stage To The Mounting Surface
ALAR-SP Hardware Manual 2.2. Securing the Stage to the Mounting Surface DANGER: Mechanical Hazard! Personnel must be made aware of the mechanical hazards during set up or when you do service to the stage. Do not manually move the stage if it is connected to a power source. -
Page 27: Figure 2-6: Alar Stage Mounting Holes
Hardware Manual ALAR-SP Figure 2-6: ALAR Stage Mounting Holes www.aerotech.com... -
Page 28: Attaching The Payload Or Fixturing To The Stage
If you start the ALAR 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 29: Chapter 3: Electrical Installation
Aerotech motion control systems are adjusted at the factory for optimum performance. When the ALAR is part of a complete Aerotech motion control system, setup should only require that you connect the stage to the appropriate drive chassis with the cables provided. Labels on the system components should indicate the appropriate connections. -
Page 30: Motor And Feedback Connectors
Stages equipped with standard motors and encoders come from the factory completely wired and assembled. 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: High Power D-Style Motor Connector Pinout
Hardware Manual ALAR-SP Table 3-1: High Power D-Style Motor Connector Pinout Description Connector Case Shield Connection Motor Phase A Motor Phase B Motor Phase C Reserved Reserved Reserved Reserved Reserved Frame Ground (motor protective ground) Table 3-2: Mating Connector Part Numbers for the Motor Connector... -
Page 32: Table 3-3: Feedback Connector Pinout (Incremental Encoder Options)
ALAR-SP Hardware Manual The wiring of the feedback connector depends on the selected encoder option: sine wave (analog) or absolute. Table 3-3: Feedback Connector Pinout (Incremental Encoder Options) Description Connector Case Shield Connection Reserved Over-Temperature Thermistor Sensor Encoder 5V Supply Input (internally connected to PIN-16) -
Page 33: Table 3-5: Feedback Connector Pinout (Absolute Encoder Option)
Hardware Manual ALAR-SP Table 3-5: Feedback Connector Pinout (Absolute Encoder Option) Description Connector Case Shield Connection Reserved Over-Temperature Thermistor Sensor Encoder 5V Supply Input (internally connected to PIN-16) Reserved Hall Effect Sensor (Phase B) CLK- (Absolute Encoder Clock-) CLK+ (Absolute Encoder Clock+) -
Page 34: Motor And Feedback Wiring
ALAR-SP Hardware Manual 3.2. Motor and Feedback Wiring Shielded cables are required for the motor and feedback connections. Figure 3-2: ALAR Motor and Feedback Wiring (Incremental Encoder Options) www.aerotech.com... -
Page 35: Figure 3-3: Alar Motor And Feedback Wiring (Absolute Encoder Option)
Hardware Manual ALAR-SP Figure 3-3: ALAR Motor and Feedback Wiring (Absolute Encoder Option) www.aerotech.com... -
Page 36: Motor And Feedback Specifications
ALAR-SP Hardware Manual 3.3. Motor and Feedback Specifications Hall Effect, Encoder, and Limit wiring share a common 5V supply connection inside the feedback connector. Table 3-7: Hall-Effect Sensor Specifications Specification Supply Voltage 5 V ±5% Supply Current 50 mA Output Type... -
Page 37: Table 3-11: Maximum Speed Per Encoder Option
Hardware Manual ALAR-SP Table 3-11: Maximum Speed Per Encoder Option Encoder Option 100SP 150SP 200SP 250SP 325SP 300 rpm 250 rpm 90 rpm 140 rpm 150 rpm 300 rpm 250 rpm 90 rpm 140 rpm 150 rpm 300 rpm 250 rpm... -
Page 38: Table 3-13: Alar-Sp Motor Specifications (Alar100Sp, Alar150Sp, Alar200Sp)
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.Ambient operating temperature range 0 °C - 25 °C; consult Aerotech for performance in elevated ambient temperatures 9. -
Page 39: Table 3-14: Alar-Sp Motor Specifications (Alar250Sp, Alar325Sp)
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.Ambient operating temperature range 0 °C - 25 °C; consult Aerotech for performance in elevated ambient temperatures 9. -
Page 40: Limits, Marker, And Machine Direction
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 3.2.). -
Page 41: Motor And Feedback Phasing
Hardware Manual ALAR-SP 3.5. Motor and Feedback Phasing Motor phase voltage is measured relative to the virtual wye common point. Figure 3-5: Hall Phasing Diagram www.aerotech.com... -
Page 42: Figure 3-6: Encoder Phasing Reference Diagram (Standard/Square Wave)
ALAR-SP Hardware Manual Figure 3-6: Encoder Phasing Reference Diagram (Standard/Square Wave) Figure 3-7: Encoder Phasing Reference Diagram (Analog/Sine Wave) www.aerotech.com... -
Page 43: Chapter 4: Maintenance
Hardware Manual ALAR-SP Chapter 4: Maintenance IMPORTANT: Read the Safety Procedures and Warnings Page 7) before you do maintenance to the stage. IMPORTANT: Keep the bearing area free of foreign matter and moisture or the performance and life expectancy of the stage will be reduced. -
Page 44: Cleaning And Lubrication
4. 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. Cleaning Use isopropyl alcohol on a lint-free cloth to clean any external metal surface of the ALAR. -
Page 45: Travel Adjustment
If you are unsure how to adjust the electrical limit, contact Aerotech for support. If you set the electrical limits to an angle greater than the mechanical hard stop, the stage will hit the hard stop before it is able to safely stop at the electrical limit. -
Page 46: Mechanical Hard Stop Adjustments
Hardware Manual Figure 4-1: Limit Flag Adjustment 4.3.2. Mechanical Hard Stop Adjustments The mechanical hard stop-to-hard stop limit travel is not adjustable in the field and must be sent back to the factory to change. Contact Aerotech for details. www.aerotech.com... -
Page 47: Troubleshooting
Hardware Manual ALAR-SP 4.4. Troubleshooting Table 4-1: Troubleshooting Symptom Possible Cause and Solution In Limit condition. Check limits (refer to Chapter 3: Electrical Installation) and refer to the Controller documentation for polarity and compatibility Stage will not move requirements (Example: voltage requirements). - Page 48 ALAR-SP Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 49: 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 50 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 51: Appendix B: Revision History
Separated -SP, -LP, and -XP into separate manuals 2.00 Updated safety information 1.10 1.09 1.08 1.07 1.06 Revision changes have been archived. If you need a copy of this revision, contact 1.05 Aerotech Global Technical Support. 1.04 1.03 1.02 1.01 1.00 www.aerotech.com... - Page 52 ALAR-SP Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 53: Index
ALAR-SP Hardware Manual Index Index Inspection Schedule isopropyl alcohol 2006/42/EC 2011/65/EU label 12-13 Limit Switch Specifications lubricant Accuracy and Temperature Effects vacuum Accuracy of the Ballscrew Altitude Ambient Temperature Maximum Speed Per Encoder Option Attaching the Payload Motor-Related Warnings mounting surface... - Page 54 Index ALAR-SP Hardware Manual Table of Contents Temperature Effects Thermistor Specifications Troubleshooting vacuum guidelines vacuum lubricant (Braycote 602EF) Vacuum Operation Vibration Warnings Warranty and Field Service www.aerotech.com...