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Summary of Contents for Aerotech ADRS
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Page 1: Adrs High-Precision Mechanical Bearing Direct-Drive Rotary Stage
ADRS High-Precision Mechanical Bearing Direct-Drive 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 ADRS Table of Contents ADRS High-Precision Mechanical Bearing Direct-Drive Rotary Stage 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
ADRS200 Dimensions Figure 2-4: Stage Mounting Holes Figure 2-5: Load Orientations Figure 2-6: Cantilevered Load Capabilities Figure 3-1: ADRS 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:... -
Page 5: List Of Tables
ADRS List of Tables Table 1-1: Model Numbers and Ordering Options Table 1-2: Environmental Specifications Table 1-3: ADRS Series Specifications Table 2-1: Stage Mounting Surface Flatness Requirement Table 2-2: Stage to Mounting Surface Hardware Table 2-3: Mounting Interface Flatness Requirement... -
Page 6: Eu Declaration Of Incorporation
101 Zeta Drive Pittsburgh, PA 15238-2811 herewith declares that the product: ADRS stage 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
101 Zeta Drive Pittsburgh, PA 15238-2811 herewith declares that the product: ADRS stage To which this declaration relates, meets the essential health and safety requirements and is in conformity with the relevant UK Legislation listed below: Supply of Machinery (Safety) Regulations 2008... -
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
Make sure that the product is securely mounted before you operate it. Make sure that all pneumatic lines are securely connected. Use care when you move the ADRS 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. -
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 ADRS 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
ADRS Hardware Manual 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 13: Handling And Storage
Ensure that the antistatic material is not damaged during unpacking. DANGER: Lifting Hazard! Use care when you move the ADRS or you could negatively affect the performance of it. Use the correct lifting techniques, mechanical assistance, or additional help to lift or move this product. - Page 14 Shipping Brackets If the ADRS has shipped as part of a system, shipping brackets (typically red, anodized aluminum) might have been installed to secure the system prior to shipment. The shipping clamps, if installed, will need to be removed prior to machine start up.
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Page 15: Chapter 1: Overview
Hardware Manual ADRS Chapter 1: Overview Table 1-1: Model Numbers and Ordering Options ADRS Series ADRS100 Mechanical-bearing direct-drive rotary stage ADRS150 Mechanical-bearing direct-drive rotary stage ADRS200 Mechanical-bearing direct-drive rotary stage Feedback (Required) Incremental encoder, 1 Vpp Incremental encoder, digital RS422, electrical resolution 10.24 arc sec (ADRS100) or 6.48 arc sec (ADRS150, ADRS200) -
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
(3) Calibrated accuracy requires the -PL2 option and Aerotech controls. (4) Maximum loads are mutually exclusive. (5) For the ADRS-100, error motion specifications are below 700 rpm. Above 700 rpm the max radial error is 5 microns. Errors measured 25 mm above the tabletop. -
Page 18: Vacuum Operation
ADRS Hardware Manual 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 19: Chapter 2: Installation
Hardware Manual ADRS 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 20: Figure 2-2: Adrs150 Dimensions
ADRS Hardware Manual Figure 2-2: ADRS150 Dimensions www.aerotech.com... -
Page 21: Figure 2-3: Adrs200 Dimensions
Hardware Manual ADRS Figure 2-3: ADRS200 Dimensions www.aerotech.com... -
Page 22: Securing The Stage To The Mounting Surface
Flatness Requirement All Frame Sizes 5 µm ADRS series stages have a fixed mounting pattern available to secure the stage to a mounting surface. Figure 2-4 shows the main mounting holes in the base of the stage. Tightening torque values for the mounting hardware are dependent on the properties of the surface to which the stage is being mounted. -
Page 23: Figure 2-4: Stage Mounting Holes
Hardware Manual ADRS Figure 2-4: Stage Mounting Holes www.aerotech.com... -
Page 24: Attaching The Payload Or Fixturing To The Stage
If you start the ADRS 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 25: Figure 2-6: Cantilevered Load Capabilities
Hardware Manual ADRS Figure 2-6: Cantilevered Load Capabilities www.aerotech.com... - Page 26 ADRS Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 27: Chapter 3: Electrical Installation
Aerotech motion control systems are adjusted at the factory for optimum performance. When the ADRS 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 28: Motor And Feedback Connectors
IMPORTANT: If you are using standard Aerotech motors and cables, motor and encoder connection adjustments are not required. The protective ground connection of the ADRS provides motor frame ground protection only. Additional grounding and safety precautions are required for applications requiring access to the stage while it is energized. -
Page 29: Table 3-1: High Power D-Style Motor Connector Pinout
Hardware Manual ADRS 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 30: Table 3-3: Feedback Connector Pinout
ADRS Hardware Manual Table 3-3: Feedback Connector Pinout Description Connector Case Shield Connection Reserved Over-Temperature Thermistor Sensor 5V Power Supply Input Reserved Hall Effect Sensor (Phase B) MRK- (Encoder Marker-) MRK+ (Encoder Marker+) Reserved Reserved Hall Effect Sensor (Phase A) -
Page 31: Motor And Feedback Wiring
Hardware Manual ADRS 3.2. Motor and Feedback Wiring Shielded cables are required for the motor and feedback connections. Figure 3-1: ADRS Motor and Feedback Wiring www.aerotech.com... -
Page 32: Motor And Feedback Specifications
Digital Output (Incremental Encoder): TTL Encoder line-driver signals; E8, -E9, -E10) RS422/485 compatible The encoders used on all ADRS series stages come standard with a 40 MHz clock rate. Aerotech can provide slower or faster clock rates to match your controller. Contact the Aerotech for more information. -
Page 33: Table 3-10: Adrs100 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 34: Table 3-11: Adrs150 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 35: Table 3-12: Adrs200 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 36: 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 37: Motor And Feedback Phasing
Hardware Manual ADRS 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 38: Figure 3-4: Encoder Phasing Reference Diagram (Standard/Square Wave)
ADRS 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 39: Chapter 4: Maintenance
The ADRS series stages are designed to require minimum maintenance. 4.1. Service and Inspection Schedule Inspect the ADRS at least once per month. The need for a longer or shorter inspection interval will depend on the application and conditions, such as the duty cycle, speed, and environment. -
Page 40: Cleaning And Lubrication
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 ADRS. WARNING: General Hazard Warning! Make sure that all solvent has completely evaporated before you move the stage. -
Page 41: Rear Seal Change Procedure
Hardware Manual ADRS 4.3. Rear Seal Change Procedure The seals on ADRS150 and ADRS200 stages could need to be replaced because of excess wear. Figure 4-1 shows an exploded view of the assembly and includes all parts involved in the process. -
Page 42: Troubleshooting
ADRS Hardware Manual 4.4. Troubleshooting Table 4-1: Troubleshooting Symptom Possible Cause and Solution Shipping restraints still installed. Remove the red anodized shipping brackets. In Limit condition. Check limits (refer to Chapter 3: Electrical Installation) Stage will not move and refer to the Controller documentation for polarity and compatibility requirements (Example: voltage requirements). -
Page 43: 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 44 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 45: Appendix B: Revision History
Updated the EU Declaration of Incorporation. 1.04 Updated the Maximum Torque (Continuous) specification for ADRS100 Updated the motor specifications Updated the dimension drawings 1.03 1.02 Revision changes have been archived. If you need a copy of this revision, contact Aerotech Global Technical Support. 1.01 1.00 www.aerotech.com... - Page 46 ADRS Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 47: Index
ADRS Hardware Manual Index Index Hall-Effect Sensors Specifications Handling Humidity 2006/42/EC Inspection Schedule Accuracy and Temperature Effects isopropyl alcohol Accuracy of the Ballscrew Altitude Ambient Temperature label 13-14 Attaching the Payload lubricant vacuum Lubrication Braycote® 602EF Maximum Speed Per Encoder Option... - Page 48 Index ADRS Hardware Manual S-180 Electrical Specifications Performance Specifications S-76 Electrical Specifications Performance Specifications serial number 13-14 shims shipping brackets shipping clamps Solution solvents Specifications Encoder Hall-Effect Sensors Thermistor Specifications stabilizing stage stage distortion stabilizing Storage Symptom Table of Contents...
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