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Aerotech ASR1300 Hardware Manual

Mechanical-bearing directdrive rotary collet stage
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ASR1300 Mechanical-Bearing Direct-
Drive Rotary Collet Stage
HARDWARE MANUAL
Revision 2.00

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Summary of Contents for Aerotech ASR1300

  • Page 1 ASR1300 Mechanical-Bearing Direct- Drive Rotary Collet Stage HARDWARE MANUAL Revision 2.00...
  • 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.
  • Page 3 Hardware Manual ASR1300 Table of Contents ASR1300 Mechanical-Bearing Direct-Drive Rotary Collet Stage Table of Contents List of Figures List of Tables EU Declaration of Incorporation UKCA Declaration of Incorporation RoHS Conformity Declaration Safety Procedures and Warnings Installation and Operation Electrical Warnings...
  • Page 4 ASR1300 Dimensions Figure 2-2: Stage Mounting Holes Figure 2-3: Collet Installation Figure 2-4: Compression Fittings Assembly Figure 3-1: ASR1300 Motor and Feedback Wiring Figure 3-2: Machine Direction Figure 3-3: Hall Phasing Diagram Figure 3-4: Encoder Phasing Reference Diagram Figure 4-1:...
  • Page 5 ASR1300 List of Tables Table 1-1: Model Numbers and Ordering Options Table 1-2: Environmental Specifications Table 1-3: ASR1300 Series Specifications Table 2-1: Stage Mounting Surface Flatness Requirement Table 2-2: Stage to Mounting Surface Hardware Table 3-1: Motor Connector Pinout (-CN1)
  • Page 6 Aerotech, Inc. 101 Zeta Drive Address: Pittsburgh, PA 15238-2811 Product: ASR1300 - rotary positioning stage Models: This is to certify that the aforementioned product is in accordance with the applicable requirements of the following directive. 2006/42/EC Machinery Directive (partially completed machinery) 1.1 General Remarks...
  • Page 7 Aerotech, Inc. 101 Zeta Drive Pittsburgh, PA 15238-2811 herewith declares that the following Aerotech stage series: ASR1300 To which this declaration relates, meets the essential health and safety requirements and is in conformity with the relevant UK legislation listed below:...
  • Page 8 101 Zeta Drive Address: Pittsburgh, PA 15238-2811 Product: ASR1300 - rotary positioning stage Models: This is to certify that the aforementioned product is in accordance with the applicable requirements of the following directive: (EU) 2015/863 restriction of the use of hazardous substances (RoHS3)
  • Page 9 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 10 ASR1300 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. The user is responsible for its safe operation.
  • Page 11 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 12 ASR1300 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 13 Hardware Manual ASR1300 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 14 ASR1300 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 15 Hardware Manual ASR1300 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. 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.
  • Page 16 ASR1300 Hardware Manual This page intentionally left blank. www.aerotech.com...
  • Page 17 Hardware Manual ASR1300 Chapter 1: Overview Table 1-1: Model Numbers and Ordering Options ASR1300 Direct Drive Rotary Stage Speed (Required) Standard Speed High speed Water Cooling (Optional) Motor water cooling Connector (Required) -CN1 4-pin HPD motor and 25-pin D feedback connectors...
  • Page 18 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 0.25 ºC per 24 hours to ensure the stage specifications are...
  • Page 19 ASR1300. (6) The ASR1300 contains a collet chuck mechanism that is normally-open. Collet mechanism requires air to close collet chuck. Air supply must be dry (0°F dew point), oil-less air or 99.99% pure nitrogen. Air or nitrogen must be filtered to 1 micron particle size or better.
  • Page 20 5.5-7 bar (80-100 psig). Lower pressures, greater than 4 bar (60 psi), can be used but would be application specific. Aerotech recommends using the minimum pressure required for the application that securely clamps the work piece. Lower pressures reduce the possibility of workpiece damage, and ensure the highest system performance.
  • Page 21 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 degas polymers (such...
  • Page 22 ASR1300 Hardware Manual This page intentionally left blank. www.aerotech.com...
  • Page 23 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 Figure 2-1: ASR1300 Dimensions www.aerotech.com...
  • Page 24 All Frame Sizes 1 µm per 50 mm ASR1300 series stages have a fixed mounting pattern available to secure the stage to a mounting surface. Figure 2-2 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 25 Hardware Manual ASR1300 Table 2-2: Stage to Mounting Surface Hardware Mounting Hardware Typical Screw Torque M5 x 0.8 4.7 N•m Figure 2-2: Stage Mounting Holes www.aerotech.com...
  • Page 26 In worst-case scenarios, the collet could be damaged and have to be replaced. 2.4. Load Capability The ASR1300 is designed for tubular manufacturing applications. With this in mind, the tubes loaded into the collet chuck of the rotary axis must fall within the maximum load parameters in Section 1.3.
  • Page 27 ASR1300 2.5. Changing the Workholding Devices ASR1300 stages are designed to use Levin D-style collets. Levin Type D precision collets must be used to guarantee the collet runout specifications. Levin Type D Collets are available from Aerotech in many sizes for different material diameters and can be interchanged.
  • Page 28 ASR1300 Hardware Manual 2.5.1. Collet Change Procedure DANGER: Electrical Shock Hazard! Do not connect or disconnect stage/motor interconnections while connected to a live elec- trical power source. Before you set up or do maintenance, disconnect electrical power. DANGER: Pinch Hazard! Air pressure must be disconnected from the stage when the collet is being installed or removed.
  • Page 29 Hardware Manual ASR1300 Figure 2-3: Collet Installation www.aerotech.com...
  • Page 30 ASR1300 Hardware Manual 2.6. Motor Cooling with the Motor Plate The [Qty-2] compression fittings located on both sides of the housing are design for 4 mm O.D. “stiff wall” tube. Stainless steel barb inserts are included with each stage for a 2 mm I.D. tube.
  • Page 31 Aerotech motion control systems are adjusted at the factory for optimum performance. When the ASR1300 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 32 IMPORTANT: If you are using standard Aerotech motors and cables, motor and encoder connection adjustments are not required. The protective ground connection of the ASR1300 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 33 Hardware Manual ASR1300 Table 3-3: Motor Connector Pinout (-CN2) Description Connector Case Frame Ground (motor protective ground) Motor Phase A Motor Phase B Motor Phase C Table 3-4: Mating Connector Part Numbers for D-Style Feedback Connectors Mating Connector Aerotech P/N...
  • Page 34 ASR1300 Hardware Manual Table 3-5: Feedback Connector Pinout Description Connector Case Shield Connection Reserved Reserved 5V Power Supply Input (internally connected to Pin 16) Reserved Reserved MRK- (Encoder Marker-) MRK+ (Encoder Marker+) Reserved Reserved Reserved Reserved Reserved Reserved COS+ (Encoder Cosine+)
  • Page 35 Hardware Manual ASR1300 3.2. Motor and Feedback Wiring Shielded cables are required for the motor and feedback connections. Figure 3-1: ASR1300 Motor and Feedback Wiring www.aerotech.com...
  • Page 36 ASR1300 Hardware Manual 3.3. Motor and Feedback Specifications All 5 V supplies share one common connection within the stage. Table 3-7: Encoder Specifications Specification Supply Voltage 5 V ±5% Supply Current 250 mA (typical) Sinusoidal Type (Incremental Encoder): Analog: SIN+, SIN-, COS+, COS-, Output Signals ;...
  • Page 37 (5) Torque constant and motor constant specified at stall. (6) Ambient operating temperature range 0 °C - 25 °C; consult Aerotech for performance in elevated ambient temperatures. (7) All Aerotech motors and amplifiers are rated using vector amplitude values. For sinusoidal signals, use sine wave peak value. www.aerotech.com...
  • Page 38 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 39 Hardware Manual ASR1300 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 40 ASR1300 Hardware Manual Figure 3-4: Encoder Phasing Reference Diagram www.aerotech.com...
  • Page 41 DANGER: Pinch Hazard! Air pressure must be disconnected from the stage when the collet is being installed or removed. The ASR1300 series stages are designed to require minimum maintenance. There are some items that may require preventative maintenance during the lifetime of the stage. This chapter will cover information about component maintenance and replacement, intervals between lubrication, detail the lubrication and inspection process, and specify recommended lubricants and cleaning solvents.
  • Page 42 The inspection and cleaning interval depends on application conditions such as duty cycle, speed, and environment. You should frequently inspect and clean the ASR1300 series stage until a trend develops for the application. As part of the inspection process, the stage, cables, collet/collet chuck, and seals should be examined for wear, damage, and excessive air or water leakage.
  • Page 43 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. Any metal surface on the stage can be cleaned with either acetone or isopropyl alcohol. Cleaning solvents, especially acetone, should not be used on any rubber components (o-rings and seals).
  • Page 44 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 45 Hardware Manual ASR1300 Figure 4-1: Collet and Collet Chuck Tapered Surfaces www.aerotech.com...
  • Page 46 Eccentricity Alignment in the collet chuck and Balancing in the spindle. Aerotech recommends that you return the unit to the factory to be serviced by a qualified technician.
  • Page 47 Aerotech recommends that you return the unit to the factory to be serviced by a qualified technician. The collet chuck and actuation mechanism on the ASR1300 series stages are equipped with o-ring seals that are designed to last many collet chuck (open/close) cycles. However, due to regular wear, the seals may require replacement during the lifetime of the product.
  • Page 48 ASR1300 Hardware Manual 4.4. Troubleshooting Table 4-2: Troubleshooting Symptom Possible Cause and Solution Controller trap or fault (refer to the Controller documentation). Stage will not move Encoder (sine and cosine) signal connections (refer to Chapter 3: Electrical Installation and Controller documentation).
  • Page 49 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 50 On-site Non-Warranty Repair If any Aerotech product cannot be made functional by telephone assistance or purchased replacement parts, and cannot be returned to the Aerotech service center for repair, then the following field service policy applies: Aerotech will provide an on-site Field Service Representative in a reasonable amount of time, provided that the customer issues a valid purchase order to Aerotech covering all transportation and subsistence costs and the prevailing labor cost, including travel time, necessary to complete the repair.
  • Page 51 Hardware Manual ASR1300 Appendix B: Revision History Revision General Information 2.00 General manual update. 1.01 Revision changes have been archived. If you need a copy of this revision, contact Aerotech 1.00 Global Technical Support. www.aerotech.com...
  • Page 52 ASR1300 Hardware Manual This page intentionally left blank. www.aerotech.com...
  • Page 53 ASR1300 Hardware Manual Index Index field service Accuracy and Temperature Effects Accuracy of the Ballscrew grease compressed nitrogen Air Requirements Handling Altitude Humidity Ambient Temperature installation BM75 collet Braycote® 602EF integrated collet retention cleaning label collet/collet chuck Levin D-style collets...
  • Page 54 Index ASR1300 Hardware Manual seal replacement serial number shims Solution Specifications Encoder stabilizing stage stage distortion stabilizing Storage Symptom Table of Contents Temperature Effects Troubleshooting vacuum guidelines vacuum lubricant (Braycote 602EF) Vacuum Operation Vibration Warnings Warranty and Field Service www.aerotech.com...