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Summary of Contents for Aerotech ATX115SL
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Page 1: Atx115Sl And Sle Mechanical-Bearing, Screw-Driven Linear Stage
ATX115SL and SLE Mechanical-Bearing, Screw-Driven Linear 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 ATX115SL/SLE Table of Contents ATX115SL and SLE Mechanical-Bearing, Screw-Driven Linear 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... -
Page 4: List Of Figures
ATX115SLE-E1 and -E2 DC Motor and Feedback Wiring Figure 3-3: ATX115SLE-E3 DC Motor and Feedback Wiring Figure 3-4: ATX115SL Stepper Motor and Feedback Wiring Figure 3-5: ATX115SLE-E1 and -E2 Stepper Motor and Feedback Wiring Figure 3-6: ATX115SLE-E3 Stepper Motor and Feedback Wiring... -
Page 5: List Of Tables
Hall-Effect Sensor Specifications Table 3-13: Thermistor Specifications (BMS Motor Options) Table 3-14: Encoder Specifications Table 3-15: Rotary Encoder Resolution Specifications Table 3-16: Limit Switch Specifications Table 3-17: Brake Specifications Table 3-18: ATX115SL/SLE DC Motor Specifications Table 3-19: ATX115SL/SLE Stepper Motor Specifications www.aerotech.com... -
Page 6: Eu Declaration Of Incorporation
101 Zeta Drive Pittsburgh, PA 15238-2811 herewith declares that the product: ATX115SL/SLE 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: ATX115SL/SLE 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
Hardware Manual ATX115SL/SLE 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 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 ATX115SL/SLE Motor-Related Warnings Aerotech motors are capable of producing high forces and velocities. Obey all warnings and all applicable codes and standards when you operate a 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
ATX115SL/SLE 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
Hardware Manual ATX115SL/SLE 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 14 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.
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Page 15: Chapter 1: Overview
Hardware Manual ATX115SL/SLE Chapter 1: Overview Table 1-1: Model Numbers and Ordering Options ATX1156SL/SLE Mechanical-Bearing Screw-Driven Linear Stage Direct Linear Feedback (Required) No direct linear feedback SLE-E1 Incremental linear encoder, 1 Vpp SLE-E2 Incremental linear encoder, 0.05 µm digital TTL output... -
Page 16: Environmental Specifications
Altitude Operating: 0 m to 2,000 m (0 ft to 6,562 ft) above sea level Contact Aerotech if your specific application involves use above 2,000 m or below sea level. Vibration Use the system in a low vibration environment. Floor or acoustical vibration can affect system performance. -
Page 17: Accuracy And Temperature Effects
ATX115SL/SLE 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 18: Basic Specifications
3. Achieved with Aerotech rotary motor with amplified sine encoder.The specification is unidirectional. 4. Achieved with Aerotech rotary motor with 10,000 lines/rev digital encoder. The specification is unidirectional. 5. Requires the selection of an applicable amplifier with sufficient voltage and current. -
Page 19: Chapter 2: Installation
IMPORTANT: 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 Figure 2-1: ATX115SL/SLE Dimensions www.aerotech.com... -
Page 20: Securing The Stage To The Mounting Surface
ATX115SL/SLE 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 21: Figure 2-2: Stubby Ball End Hex Key
Hardware Manual ATX115SL/SLE If you use the mounting slots, use the provided stubby ball end hex key to tighten the mounting bolts (Figure 2-2). Figure 2-2: Stubby Ball End Hex Key For foldback stages, you will have to remove part of the foldback cover to access all of the mounting slots. -
Page 22: Attaching The Payload To The Stage
If you start the ATX115SL/SLE 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 23: Figure 2-5: Stage Orientations
Hardware Manual ATX115SL/SLE For a cantilevered load, first determine if it is a Vertical, Horizontal, or a Side cantilever system (refer to Figure 2-5). The Vertical curve is for situations where the stage is mounted in a vertical orientation and the payload is mounted to the table top with its center of gravity extended outward in a direction normal to the tabletop surface. -
Page 24: Figure 2-6: Cantilevered Load Capability
ATX115SL/SLE Hardware Manual Figure 2-6: Cantilevered Load Capability www.aerotech.com... -
Page 25: Figure 2-7: Load Torque Equation
Hardware Manual ATX115SL/SLE The approximate amount of torque required to turn the ball screw of ATX115SL/SLE series stages can be found from Figure 2-8 or the following equation: Figure 2-7: Load Torque Equation (AxialLoad) (LeadofScrew) Torque π (Efficiency) For ATX115SL/SLE series stages, the ball screw efficiency is rated at 90% (0.90). Refer to Section 1.3. - Page 26 ATX115SL/SLE 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 ATX115SL/SLE 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
The motor output of the second axis will not be available to drive a motor. The protective ground connection of the ATX115SL/SLE 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: 4-Pin Motor Connector Pinout For The -M1 Through -M4 Options
Hardware Manual ATX115SL/SLE Table 3-1: 4-Pin Motor Connector Pinout for the -M1 through -M4 Options Description Connector Case Shield Connection Reserved Reserved Reserved Reserved Reserved Reserved Frame Ground (motor protective ground) Table 3-2: 4-Pin Motor Mating Connector Part Numbers Mating Connector... -
Page 30: Table 3-3: 25-Pin Feedback Connector Pinout For The -M1 Through -M4 Options
ATX115SL/SLE Hardware Manual Table 3-3: 25-Pin Feedback Connector Pinout for the -M1 through -M4 Options Description Connector Case Shield Connection Reserved Reserved 5V Power Supply Input (PIN 3 is internally connected to PIN 16) Reserved Reserved MRK- (Encoder Marker-) MRK+ (Encoder Marker+) -
Page 31: Table 3-5: 4-Pin Motor Connector Pinout For The -M5 Option
Hardware Manual ATX115SL/SLE Table 3-5: 4-Pin Motor Connector Pinout for the -M5 Option Description Connector Motor Phase A Motor Phase B Motor Phase A Return Reserved Reserved Reserved Frame Ground (motor protective ground) Frame Ground (motor protective ground) Motor Phase B Return... -
Page 32: Table 3-7: 25-Pin Feedback Connector Pinout For The -M5 Option
ATX115SL/SLE Hardware Manual Table 3-7: 25-Pin Feedback Connector Pinout for the -M5 Option Description Connector Case Shield Connection Reserved Reserved 5V Power Supply Input (PIN 3 is internally connected to PIN 16) Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved +/CW LMT (End-of travel limit signal that indicates maximum permitted stage travel in the “machine positive”... -
Page 33: Table 3-9: 15-Pin Linear Encoder Connector Pinout (-Sle1/-Sle2)
Hardware Manual ATX115SL/SLE Table 3-9: 15-Pin Linear Encoder Connector Pinout (-SLE1/-SLE2) Description Connector Case Shield Connection Reserved 5 V Supply Common, 0 V (PIN 2 is connected internally to PIN 9) Reserved MRK- (Encoder Marker-) SIN- (Encoder Sine-) COS- (Encoder Cosine-) 5V Power Supply Input (PIN 7 is internally connected to PIN 8) 5V Power Supply Input (PIN 8 is internally connected to PIN 7) -
Page 34: Motor And Feedback Wiring
ATX115SL/SLE Hardware Manual 3.2. Motor and Feedback Wiring Shielded cables are required for the motor and feedback connections. Figure 3-1: ATX115SL DC Motor and Feedback Wiring www.aerotech.com... -
Page 35: Figure 3-2: Atx115Sle-E1 And -E2 Dc Motor And Feedback Wiring
Hardware Manual ATX115SL/SLE Figure 3-2: ATX115SLE-E1 and -E2 DC Motor and Feedback Wiring www.aerotech.com... -
Page 36: Figure 3-3: Atx115Sle-E3 Dc Motor And Feedback Wiring
ATX115SL/SLE Hardware Manual Figure 3-3: ATX115SLE-E3 DC Motor and Feedback Wiring www.aerotech.com... -
Page 37: Figure 3-4: Atx115Sl Stepper Motor And Feedback Wiring
Hardware Manual ATX115SL/SLE Figure 3-4: ATX115SL Stepper Motor and Feedback Wiring www.aerotech.com... -
Page 38: Figure 3-5: Atx115Sle-E1 And -E2 Stepper Motor And Feedback Wiring
ATX115SL/SLE Hardware Manual Figure 3-5: ATX115SLE-E1 and -E2 Stepper Motor and Feedback Wiring www.aerotech.com... -
Page 39: Figure 3-6: Atx115Sle-E3 Stepper Motor And Feedback Wiring
Hardware Manual ATX115SL/SLE Figure 3-6: ATX115SLE-E3 Stepper Motor and Feedback Wiring www.aerotech.com... -
Page 40: Motor And Feedback Specifications
ATX115SL/SLE Hardware Manual 3.3. Motor and Feedback Specifications IMPORTANT: All 5 V supplies share one common connection within the stage. Table 3-12: Hall-Effect Sensor Specifications Specification Supply Voltage 5 V ±5% Supply Current 50 mA Output Type Open Collector Output Voltage 24 V max (pull up) -
Page 41: Table 3-16: Limit Switch Specifications
Third party controller LIMIT inputs typically require 10 kΩ pull-up to logic VDC supply. Note: If the ATX115SL/SLE 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. Refer to Section 3.2. -
Page 42: Limits, Marker, And Machine Direction
ATX115SL/SLE Hardware Manual 3.4. Limits, Marker, and Machine Direction Aerotech stages have both a positive and negative Machine Direction and a positive and negative Programming Direction. Machine Direction: The machine direction is defined by how the encoder and motor are mounted and the electrical wiring connections in the stage. -
Page 43: Motor And Feedback Phasing
Hardware Manual ATX115SL/SLE 3.5. Motor and Feedback Phasing Motor phase voltage is measured relative to the virtual wye common point. Figure 3-8: Hall Phasing Diagram www.aerotech.com... -
Page 44: Figure 3-9: Encoder Phasing Reference Diagram (Standard/Square Wave)
ATX115SL/SLE Hardware Manual Figure 3-9: Encoder Phasing Reference Diagram (Standard/Square Wave) Figure 3-10: Digital Encoder Phasing Reference Diagram (Sine Wave) www.aerotech.com... -
Page 45: Chapter 4: Maintenance
4.1. Service and Inspection Schedule Inspect the ATX115SL/SLE 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 46: Cleaning And Lubrication
5. 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 47: Figure 4-1: Hardcover Removal (Left)
Hardware Manual ATX115SL/SLE IMPORTANT: During the lubrication procedure, inspect the bearings and ball screw for any damage or signs of wear. 1. Drive the stage to the end of travel closest to the motor. Remove the four flat head screws Slide the exposed hardcover out from under the carriage. -
Page 48: Figure 4-2: Hardcover Removal (Right)
8. Apply a thin, continuous film of lubricant to the ball-screw threads and linear bearing guides. Aerotech recommends that you use a good quality, natural bristle artist's brush. 9. Move the stage to the opposite end of travel. If the stage has an optional brake, the stage cannot be moved by hand. -
Page 49: Foldback Motor Belt Adjustment
Hardware Manual ATX115SL/SLE 4.3. Foldback Motor Belt Adjustment This section applies to stages equipped with foldback motor options. On foldback stages, the motor torque is transferred to the ball screw via a timing belt. Belt tension is critical to stage performance and accuracy. -
Page 50: Figure 4-3: Foldback Motor Cover Removal
ATX115SL/SLE Hardware Manual Figure 4-3: Foldback Motor Cover Removal IMPORTANT: If the stage has been calibrated (-PL2 option), note the orientation of the two pulleys with regard to each other or recalibration might be required. www.aerotech.com... -
Page 51: Figure 4-4: Foldback Motor Part Callouts
Hardware Manual ATX115SL/SLE Figure 4-4: Foldback Motor Part Callouts www.aerotech.com... -
Page 52: Troubleshooting
ATX115SL/SLE Hardware Manual 4.4. Troubleshooting Symptom Possible Cause and Solution Shipping brackets still installed. Remove the red anodized shipping brackets. Brake not released (if equipped with brake). In Limit condition. Check limits (refer to Chapter 3: Electrical Installation) and Stage will not move refer to the Controller documentation for polarity and compatibility requirements (Example: voltage requirements). -
Page 53: 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 54 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 55: Appendix B: Revision History
Hardware Manual ATX115SL/SLE Appendix B: Revision History Revision Description General updates 2.00 Safety section updated 1.03 Added maximum speed for all motor options: Section 1.3. 1.02 Updated dimension drawing 1.01 Updated dimension drawing 1.00 New Manual www.aerotech.com... - Page 56 ATX115SL/SLE Hardware Manual This page intentionally left blank. www.aerotech.com...
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Page 57: Index
ATX115SL/SLE Hardware Manual Index Index Foldback Motor Belt Tension Adjustment Procedure Hall-Effect Sensors Specifications 2006/42/EC Handling Humidity Accuracy and Temperature Effects Accuracy of the Ballscrew Inspection Schedule acetone (caution) isopropyl alcohol Altitude Ambient Temperature Attaching the Payload label 13-14 Limit Switch Specifications... - Page 58 Index ATX115SL/SLE Hardware Manual stage distortion stabilizing Storage Symptom Table of Contents Temperature Effects thermal expansion coefficient Thermistor Specifications torque Troubleshooting Vibration Warnings Warranty and Field Service www.aerotech.com...
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