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Related Manuals for Aerotech ACS
Summary of Contents for Aerotech ACS
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Page 1: Acs Hardware Manual
ACS Hardware Manual Revision: 1.04.00... - 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
ACS Hardware Manual Table of Contents Table of Contents ACS Hardware Manual Table of Contents List of Figures List of Tables Safety Procedures and Warnings EU Declaration of Incorporation Chapter 1: Overview 1.1. Environmental Specifications 1.2. Basic Specifications 1.3. Air Requirements Chapter 2: Mechanical Specifications and Installation 2.1. -
Page 4: List Of Figures
Schematic of Collet Insertion Into and Removal From Collet Nut Figure 2-8: Installation Procedure for Collet Figure 2-9: Collet Assembly Exploded View Figure 2-10: Gripper Mounting Hole Locations in ACS Shaft Figure 2-11: Mounting Holes for Three-Jaw Gripper Figure 2-12: Air Inlets in Three-Jaw Grippers Figure 3-1:... -
Page 5: List Of Tables
ACS Hardware Manual Table of Contents List of Tables Table 1-1: ACS100 Model Numbering System Table 1-2: ACS150 Model Numbering System Table 1-3: ACS200 Model Numbering System Table 1-4: Environmental Specifications Table 1-5: ACS100 Series Specifications Table 1-6: ACS150 Series Specifications... -
Page 6: Safety Procedures And Warnings
D A N G E R : This product contains potentially lethal voltages. To reduce the possibility of electrical shock, bodily injury, or death the following precautions must be followed. 1. Access to the ACS and component parts must be restricted while connected to a power source. -
Page 7: Eu Declaration Of Incorporation
ACS Hardware Manual Table of Contents EU Declaration of Incorporation Manufacturer: Aerotech, Inc. 101 Zeta Drive Pittsburgh, PA 15238-2811 herewith declares that the product: ACS Stage is intended to be incorporated into machinery to constitute machinery covered by the Directive 2006/42/EC as amended;... - Page 8 Table of Contents ACS Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 9: Chapter 1: Overview
-CN2 25-pin D-style motor and 25-pin D-style feedback connectors Wrench (Optional) Wrench for changing collet Air Purge (Optional) Air purge fitting to positive pressurize ACS stage to limit ingress of airborne particulates Metrology (Required) -PL1 Metrology, uncalibrated with performance plots... -
Page 10: Table 1-2: Acs150 Model Numbering System
Overview ACS Hardware Manual Table 1-2: ACS150 Model Numbering System ACS Mechanical-Bearing Direct-Drive Rotary Collet Stage, 150 mm diameter Stage Size (Required) -115 115 mm stage height; 2.9 N·m continuous torque -135 135 mm stage height; 5.1 N·m continuous torque -180 185 mm stage height;... -
Page 11: Figure 1-1: Acs Rotary Stage With Callouts
ACS Hardware Manual Overview Table 1-3: ACS200 Model Numbering System ACS Mechanical-Bearing Direct-Drive Rotary Collet Stage, 200 mm diameter Stage Size (Required) -155 155 mm stage height; 11.1 N·m continuous torque -185 185 mm stage height; 15.9 N·m continuous torque... -
Page 12: Environmental Specifications
Use the system in a low vibration environment. Excessive floor or acoustical vibration can affect system performance. Contact Aerotech for information regarding your spe- cific application. Protection The ACS stages are not suited for dusty or wet environments. This equates to an Rating ingress protection rating of IP40. Indoor use only Chapter 1 www.aerotech.com... -
Page 13: Basic Specifications
3. Measured TIR of precision gage pin chucked with an ultra precision ER collet (DIN6499) 6 mm away from collet face with no load. 4. Maximum loads are mutually exclusive. Loading limits are due to the collet chuck mechanism. Contact Aerotech directly if part load requirement exceeds specifications. -
Page 14: Table 1-6: Acs150 Series Specifications
3. Measured TIR of precision gage pin chucked with an ultra precision ER collet (DIN6499) 6 mm away from collet face with no load. 4. Maximum loads are mutually exclusive. Loading limits are due to the collet chuck mechanism. Contact Aerotech directly if part load requirement exceeds specifications. -
Page 15: Table 1-7: Acs200 Series Specifications
2. Measured TIR of precision gage pin 10 mm away from gripper face with no load. 3. Maximum loads are mutually exclusive. Loading limits are due to the collet chuck mechanism. Contact Aerotech directly if part load requirement exceeds specifications. -
Page 16: Air Requirements
Overview ACS Hardware Manual 1.3. Air Requirements The air pressure supplied to the collet holder or gripper is important in ensuring that the material or tool is released properly, or for the optional gripper, that the material is held securely. -
Page 17: Chapter 2: Mechanical Specifications And Installation
Mechanical Specifications and Installation Chapter 2: Mechanical Specifications and Installation W A R N I N G : ACS installation must be in accordance to instructions provided by this manual and any accompanying documentation. Failure to follow these instructions could result in injury or damage to the equipment. -
Page 18: Dimensions
ACS Hardware Manual 2.2. Dimensions N O T E : Aerotech continually improves its product offerings; listed options may be superseded at any time. All drawings and illustrations are for reference only and were complete and accurate as of this manual’s release. -
Page 19: Figure 2-2: Acs150 (-Er Chuck Style) Dimensions
ACS Hardware Manual Mechanical Specifications and Installation Figure 2-2: ACS150 (-ER Chuck Style) Dimensions www.aerotech.com Chapter 2... -
Page 20: Figure 2-3: Acs150 (-3J Chuck Style) Dimensions
Mechanical Specifications and Installation ACS Hardware Manual Figure 2-3: ACS150 (-3J Chuck Style) Dimensions Chapter 2 www.aerotech.com... -
Page 21: Figure 2-4: Acs200 (-3J Chuck Style) Dimensions
ACS Hardware Manual Mechanical Specifications and Installation Figure 2-4: ACS200 (-3J Chuck Style) Dimensions www.aerotech.com Chapter 2... -
Page 22: Securing The Stage To The Mounting Surface
ACS Hardware Manual 2.3. Securing the Stage to the Mounting Surface W A R N I N G : Make sure that all moving parts are secure before moving the ACS. Unsecured moving parts may shift and cause bodily injury. -
Page 23: Figure 2-5: Acs Stage Mounting Holes
ACS Hardware Manual Mechanical Specifications and Installation Figure 2-5: ACS Stage Mounting Holes Figure 2-6: Typical ACS150 Stage Showing Side Mounting Holes and T-Slot Detail www.aerotech.com Chapter 2... -
Page 24: Clamping A Workpiece To The Collet
Once air is supplied, material of the appropriate size can be placed in the collet. All collets supplied by Aerotech are clearly labeled with their clamping size range and collet style. Be sure to use only the correct size material in the collet. If an incorrect material size is clamped, the accuracy of the collet could be compromised. -
Page 25: Changing The Workholding Devices
Section 2.5.1. ACS series stages are equipped with an ER style collet or a three-jaw gripper chuck. It may be necessary to change the style of collet or gripper. It is important that only collets designed for a particular collet holder are used. -
Page 26: Figure 2-7: Schematic Of Collet Insertion Into And Removal From Collet Nut
Mechanical Specifications and Installation ACS Hardware Manual Figure 2-7: Schematic of Collet Insertion Into and Removal From Collet Nut Figure 2-8: Installation Procedure for Collet Chapter 2 www.aerotech.com... -
Page 27: Changing Collet Chucks (Acs150)
Step 2: Apply air pressure to loosen the collet chuck. Step 3: Remove the collet nut by turning it counterclockwise. If necessary, use a spanner wrench (available from Aerotech). Use caution when removing the collet nut as the collet may fall from its housing and be damaged. - Page 28 Mechanical Specifications and Installation ACS Hardware Manual Step 5: Referring to Figure 2-9, remove every other collet cover screw. DO NOT remove all of the screws at once as the cap is under tension from several springs and will be damaged or cause bodily harm if removed without caution.
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Page 29: Gripper Configurations (Acs150 And Acs200)
Mechanical Specifications and Installation 2.5.3. Gripper Configurations (ACS150 and ACS200) The grippers are configurable in both normally-closed and normally-open modes. The center shaft of the ACS stages has two sets of mounting holes for the three-jaw grippers, one for a normally-open configuration and one for a normally-closed configuration. -
Page 30: Figure 2-11: Mounting Holes For Three-Jaw Gripper
Mechanical Specifications and Installation ACS Hardware Manual Figure 2-11: Mounting Holes for Three-Jaw Gripper Figure 2-12: Air Inlets in Three-Jaw Grippers Chapter 2 www.aerotech.com... -
Page 31: Chapter 3: Electrical Specifications And Installation
W A R N I N G : Electrical installation must be performed by properly qualified personnel. Aerotech motion control systems are adjusted at the factory for optimum performance. When the ACS is part of a complete Aerotech motion control system, setup usually involves connecting the ACS to the appropriate drive chassis with the cables provided. -
Page 32: Motor And Feedback Connectors
N O T E : Refer to the other documentation accompanying your Aerotech equipment. Call your Aerotech representative if there are any questions on system configuration. N O T E : If using standard Aerotech motors and cables, motor and encoder connection adjustments are not required. -
Page 33: Table 3-1: Motor Pin Assignments (-Cn1 Option)
ACS Hardware Manual Electrical Specifications and Installation Table 3-1: Motor Pin Assignments (-CN1 Option) Description Connector Motor Phase A Motor Phase B Motor Phase C Motor Shield (EMI shield) Reserved Reserved Reserved Reserved Frame ground (motor protective ground) NOTE: -CN1 is one of the connector options for the ACS100 (e.g., ACS100-CN1). The ACS150 and ACS200 do not have connector options and come standard with a -CN1 connector. -
Page 34: Table 3-2: Motor Pin Assignments (-Cn2 Option)
Electrical Specifications and Installation ACS Hardware Manual Table 3-2: Motor Pin Assignments (-CN2 Option) Pin Description Connector Motor Phase A Motor Phase B Motor Phase C Frame ground (motor protective ground) NOTE: -CN2 is one of the connector options available for the ACS100 (e.g., ACS100-CN2). -
Page 35: Table 3-3: Feedback Pin Assignments
ACS Hardware Manual Electrical Specifications and Installation Table 3-3: Feedback Pin Assignments Description Connector Signal shield connection Over-Temperature Thermistor sensor +5 V power supply Stage ID Hall Effect sensor, phase B Marker-N Marker Reserved Reserved Hall Effect sensor, phase A Hall Effect sensor, phase C... -
Page 36: Motor And Feedback Wiring
Electrical Specifications and Installation ACS Hardware Manual 3.2. Motor and Feedback Wiring All motor and controller manufacturers have their own designations for motor ØA/ØB/ØC and Hall signals A/B/C (refer to Section 3.5. for motor phasing). Shielded cables are required for the motor and feedback connections. -
Page 37: Motor And Feedback Specifications
500 rpm N O T E : The encoders used on all ACS series stages come standard with a 16 MHz clock rate. Aerotech can provide slower or faster clock rates to match the controller being used. Consult Aerotech for more information. -
Page 38: Table 3-7: Motor Specifications (Acs100)
6. Specifications given are for the motor only. When integrated into a housing with bearings additional losses should be considered. 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 ;... -
Page 39: Table 3-8: Motor Specifications (Acs150)
6. Specifications given are for the motor only. When integrated into a housing with bearings additional losses should be considered. 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 ;... -
Page 40: Table 3-9: Motor Specifications (Acs200)
6. Specifications given are for the motor only. When integrated into a housing with bearings additional losses should be considered. 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 ;... -
Page 41: Marker And Machine Direction
Electrical Specifications and Installation 3.4. 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 3.5. -
Page 42: Motor And Feedback Phasing
Electrical Specifications and Installation ACS 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 Chapter 3 www.aerotech.com... -
Page 43: Figure 3-4: Analog Encoder Phasing Reference Diagram
ACS Hardware Manual Electrical Specifications and Installation Figure 3-4: Analog Encoder Phasing Reference Diagram Figure 3-5: Encoder Phasing Reference Diagram (Standard) www.aerotech.com Chapter 3... - Page 44 Electrical Specifications and Installation ACS Hardware Manual This page intentionally left blank. Chapter 3 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 ACS and any components and cables as needed. Repair any damage before operating the ACS. Inspect and perform an operational check on all safeguards and protective devices. -
Page 46: Stage Cleaning And Lubrication
4.2. Stage Cleaning and Lubrication Cleaning Before using a cleaning solvent on any part of the ACS, blow away small particles and dust with nitrogen or, less preferably, clean, dry, compressed air. Any external metal surface of the ACS can be cleaned with isopropyl alcohol on a lint-free cloth. -
Page 47: Collet And Collet Chuck Lubrication And Cleaning
If the wear marks are large, or excessive polishing is required to remove these marks, the collet chuck and collet may need to be replaced. Contact Aerotech Technical Support for more information. Wear and fretting can be prevented with proper lubrication and maintenance intervals. -
Page 48: Seal Replacement
Step 3: Remove the collet nut by turning it counterclockwise. Spanner wrenches may be necessary for removal and are available from Aerotech. Step 4: Remove air pressure from the stage. This will allow the internal springs to relax slightly and ease further disassembly. - Page 49 ACS Hardware Manual Maintenance D A N G E R : The collet cover is under tension from internal springs. Removing the collet cover screws incorrectly can result in personal harm and damage to the equipment. Step 5: Refer to Figure 4-1.
- Page 50 Maintenance ACS Hardware Manual Step 19: Installation of the collet cover is the reverse of removal. Begin by inserting the four 12 mm long screws in every other hole and tightening until they bottom out in their respective holes. Then install the shorter original screws into the remaining holes and tighten in a cross pattern until the collet cover is seated against the shaft.
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Page 51: Figure 4-2: Piston Seal Installation Procedure
ACS Hardware Manual Maintenance Figure 4-2: Piston Seal Installation Procedure Figure 4-3: Cross-Section View of Piston Showing Seal Orientation www.aerotech.com Chapter 4... -
Page 52: Rotary Union Seals For Three-Jaw Gripper Stages
This section applies only to ACS150 and ACS200 stages equipped with the three-jaw gripper chuck option. Unlike ACS stages with ER collet holders, stages equipped with three-jaw grippers include a sealed rotary union. Due to friction of the seals on the shaft, wear can occur over a period of time and the seals may require replacement. -
Page 53: Figure 4-5: Cross-Section View Of Rear Seal Showing Seal Orientations
ACS Hardware Manual Maintenance 10. Replace the rear seal housing retaining screws to a torque of 1.8 to 2.0 Nm (16 to 18 in-lbs). 11. Replace the airline and reconnect power. Figure 4-5: Cross-section View of Rear Seal Showing Seal Orientations www.aerotech.com... -
Page 54: Troubleshooting
Maintenance ACS Hardware Manual 4.4. Troubleshooting This section provides some information regarding typical problems. Symptom Possible Cause and Solution Stage will not move Controller trap or fault (refer to controller documentation). Stage moves Encoder (sine and cosine) signal connections (refer to... -
Page 55: Appendix A: Warranty And Field Service
Aerotech makes no warranty that its products are fit for the use or purpose to which they may be put by the buyer, whether or not such use or purpose has been disclosed to Aerotech in specifications or drawings previously or subsequently provided, or whether or not Aerotech’s... - Page 56 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 57: Appendix B: Revision History
Appendix B: Revision History Revision General Information 1.04.00 Product update General revision Updated safety/warning information Created separate manual for ACS LP 1.03.00 Changed pin 8 to reserved 1.02.00 Added information on ACS LP stages Added stage dimensions Added Declaration of Incorporation... - Page 58 Revision History ACS Hardware Manual This page intentionally left blank. Appendix B www.aerotech.com...
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Page 59: Index
ACS Hardware Manual Index Index S-76 EN 60204-1 2010 EN ISO 12100 Encoder Specifications ACS100-135 Motor Specifications (S-76-85) ACS100-85 Motor Specifications (S-76-35) Global Technical Support ACS150-115 Motor Specifications (S-130-39) ACS150-135 Motor Specifications (S-130-60) Hall-Effect Sensors Specifications ACS150-180 Motor Specifications (S-130-81) - Page 60 Index ACS Hardware Manual S-76 Three-Jaw Grippers piston seal replacement Protection Rating Vibration protective ground connection Warranty and Field Service red, anodized aluminum Rotary Union Seals S-130-39 (ACS150-115) Motor Specifications S-130-60 (ACS150-135) Motor Specifications S-130-81 (ACS150-180) Motor Specifications S-180 Electrical Specifications...