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Related Manuals for Aerotech AMG Series
Summary of Contents for Aerotech AMG Series
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Page 1: Amg Series Motorized Position And Rate Gimbals
AMG Series Motorized Position and Rate Gimbals 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 Table of Contents AMG Series Motorized Position and Rate Gimbals Table of Contents List of Figures List of Tables EU Declaration of Incorporation UKCA Declaration of Incorporation Safety Procedures and Warnings Installation and Operation Electrical Warnings Motor-Related Warnings Pinch Points... -
Page 4: List Of Figures
Figure 2-6: View of AMG Showing Mounting Holes Figure 3-1: AMG Motor and Feedback Wiring Figure 3-2: Machine Direction Figure 3-3: Hall Phasing Diagram Figure 3-4: Encoder Phasing Reference Diagram (Standard/Square Wave) Figure 3-5: Encoder Phasing Reference Diagram (Analog/Sine Wave) www.aerotech.com... -
Page 5: List Of Tables
Table 3-6: Thermistor Specifications Table 3-7: Encoder Specifications Table 3-8: Azimuth Resolution Information Table 3-9: Elevation Resolution Information Table 3-10: S-130-39 Rotary Motor Specifications Table 3-11: S-180-69 Rotary Motor Specifications Table 3-12: S-240-63 Rotary Motor Specifications Table 4-1: Troubleshooting www.aerotech.com... -
Page 6: Eu Declaration Of Incorporation
Hardware Manual EU Declaration of Incorporation Manufacturer Aerotech, Inc. 101 Zeta Drive Pittsburgh, PA 15238-2811 herewith declares that the product: AMG gimbal is intended to be incorporated into machinery to constitute machinery covered by the Directive 2006/42/EC as amended; and that the following harmonized European standards have been applied:... -
Page 7: Ukca Declaration Of Incorporation
Hardware Manual UKCA Declaration of Incorporation Manufacturer Aerotech, Inc. 101 Zeta Drive Pittsburgh, PA 15238-2811 herewith declares that the product: AMG gimbal To which this declaration relates, meets the essential health and safety requirements and is in conformity with the relevant UK Legislation listed below:... -
Page 8: 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 9: Installation And Operation
Use care when you move the AMG or you could negatively affect the performance of WARNING: Trip Hazard! Route, house, and secure all cables, duct work, air, or water lines. Failure to do so could introduce trip hazards around the system that could result in physical injury or could damage the equipment. www.aerotech.com... -
Page 10: 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 11: Motor-Related Warnings
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 12: Pinch Points
(during normal operation, for example). when the system is moved manually (during the installation process or when you do maintenance, for example). Motors are capable of very high speeds and acceleration rates. Figure 1: Typical Pinch Point Locations www.aerotech.com... -
Page 13: Handling And Storage
Use a cart, dolly, or similar device to move the stage to a new location. Gently set the stage on a smooth, flat, and clean surface. Use compressed nitrogen or clean, dry, oil- free air to remove any dust or debris that has collected during shipping. www.aerotech.com... -
Page 14: Figure 1-1: Shipping Brackets
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 15: Figure 1-2: Lifting Features
Store the gimbal in the original shipping container. If the original packaging included ESD protective packaging, make sure to store the gimbal in it. The storage location must be dry, free of dust, free of vibrations, and flat. Section 1.1. Environmental Specifications Refer to www.aerotech.com... - Page 16 Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 17: Chapter 1: Overview
Hardware Manual Chapter 1: Overview Table 1-1: Model Numbers and Ordering Options AMG Series Direct-Drive Gimbals AMG200 200 mm nominal aperture AMG300 300 mm nominal aperture AMG400 400 mm nominal aperture AMG500 500 mm nominal aperture AMG600 600 mm nominal aperture... -
Page 18: 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 gimbal. At a minimum, the environmental temperature must be controlled to within 0.25ºC per 24 hours to ensure the gimbal specifications are repeatable over an extended period of time. -
Page 19: Basic Specifications
(2) ±24 µrad calibrated; ±144 µrad uncalibrated. (3) Maximum speed based on stage capability; maximum application velocity may be limited by system data rate and system resolution. (4) With x500 multiplication on AS encoder. Higher resolutions available. (5) Tolerance equals +0/−0.25. (6) Unloaded inertia. www.aerotech.com... -
Page 20: Vacuum Operation
6. To reduce outgassing during the initial pump-down to vacuum pressure, Aerotech recommends that you bake out vacuum systems when you first install them into the vacuum chamber. Bake the vacuum components at 60 °C for 24 to 48 hours to desorb water vapor from surfaces and... -
Page 21: Export Restrictions
This product is export controlled by United States Commerce Department export regulations. If you are from a non-US country and wish to make a purchase, contact Aerotech to determine if an export license is required. People in countries embargoed by the United States cannot purchase and import one of these products. - Page 22 Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 23: Chapter 2: Installation
Chapter 2: Installation The gimbal 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 Figure 2-1: AMG200 Dimensions www.aerotech.com... -
Page 24: Figure 2-2: Amg300 Dimensions
Hardware Manual Figure 2-2: AMG300 Dimensions www.aerotech.com... -
Page 25: Figure 2-3: Amg400 Dimensions
Hardware Manual Figure 2-3: AMG400 Dimensions www.aerotech.com... -
Page 26: Figure 2-4: Amg500 Dimensions
Hardware Manual Figure 2-4: AMG500 Dimensions www.aerotech.com... -
Page 27: Figure 2-5: Amg600 Dimensions
Hardware Manual Figure 2-5: AMG600 Dimensions www.aerotech.com... -
Page 28: Securing The Base To The Mounting Surface
Stage Mounting Surface Flatness Requirement Stage Flatness Requirement All Frame Sizes 1 µm per 50 mm AMG series stages have a fixed mounting pattern (refer to Figure 2-6). Refer to Section 2.1. specific model mounting locations and dimensions. Tightening torque values for the mounting hardware are dependent on the properties of the surface to which the stage is being mounted. -
Page 29: Figure 2-6: View Of Amg Showing Mounting Holes
Hardware Manual Figure 2-6: View of AMG Showing Mounting Holes www.aerotech.com... -
Page 30: Attaching The Payload To The Stage
If you start the AMG 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 31: Chapter 3: Electrical Installation
Aerotech motion control systems are adjusted at the factory for optimum performance. When the AMG is part of a complete Aerotech motion control system, setup should only require that you connect the gimbal to the appropriate drive chassis with the cables provided. Labels on the system components should indicate the appropriate connections. -
Page 32: 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 33: Table 3-1: High Power D-Style Motor Connector Pinout
Reserved Reserved Reserved Reserved Reserved Frame Ground (motor protective ground) Table 3-2: Mating Connector Part Numbers for the 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 ECK00657 ITT Cannon #DBM9W4SA197 www.aerotech.com... -
Page 34: Table 3-3: Feedback Connector Pinout
SIN+ (Encoder Sine+) SIN- (Encoder Sine-) Reserved Common ground Common ground Reserved Reserved Reserved Reserved Table 3-4: Mating Connector Part Numbers for the 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 35: Motor And Feedback Wiring
Hardware Manual 3.2. Motor and Feedback Wiring Shielded cables are required for the motor and feedback connections. Figure 3-1: AMG Motor and Feedback Wiring www.aerotech.com... -
Page 36: Motor And Feedback Specifications
0.27 μrad Max. 0.27 μrad Max. 0.2 μrad Max. 0.2 μrad Max. 27 μrad 27 μrad 27 μrad 20 μrad 20 μrad 2.7 μrad 2.7 μrad 2.7 μrad 2.0 μrad 2.0 μrad * With x500 multiplication on -E1 encoder. www.aerotech.com... -
Page 37: Table 3-10: S-130-39 Rotary 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 38: Table 3-11: S-180-69 Rotary 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 39: Table 3-12: S-240-63 Rotary 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 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 3.5. Motor and Feedback Phasing Motor phase voltage is measured relative to the virtual wye common point. Figure 3-3: Hall Phasing Diagram www.aerotech.com... -
Page 42: Figure 3-4: Encoder Phasing Reference Diagram (Standard/Square Wave)
Hardware Manual Figure 3-4: Encoder Phasing Reference Diagram (Standard/Square Wave) Figure 3-5: Encoder Phasing Reference Diagram (Analog/Sine Wave) www.aerotech.com... -
Page 43: Chapter 4: Maintenance
Visually inspect the stage and cables. Re-tighten loose connectors. Replace or repair damaged cables. Clean the AMG and any components and cables as needed. Repair any damage before operating the AMG. Inspect and perform an operational check on all safeguards and protective devices. www.aerotech.com... -
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. -
Page 45: 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 46 Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 47: 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 48 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 49: Appendix B: Revision History
Hardware Manual Appendix B: Revision History Revision General Information 2.00 General product and manual update 1.05 1.04 1.03 Revision changes have been archived. If you need a copy of this revision, contact Aerotech Global Technical Support. 1.02 1.01 1.00 www.aerotech.com... - Page 50 Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 51: Index
Performance Specifications Electrical Specifications S-130 S-130 S-180 S-180 S-240 S-240 Protection Rating Electrical Warnings protective ground connection EN 60204-1 2010 EN ISO 12100 2010 Encoder Specifications red, anodized aluminum EU 2015/863 Export Restrictions S-130 Electrical Specifications gimbal Performance Specifications distortion www.aerotech.com... -
Page 52: Vibration
Specifications Encoder Hall-Effect Sensors Thermistor Specifications stabilizing stage stage stabilizing Storage 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...