Aerotech AMG Series User manual

Revision: 1.05.00
AMG Hardware Manual

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Go to www.aerotech.com/global-technical-support for information and support about your Aerotech products. The website
provides downloadable resources (such as up-to-date software, product manuals, and Help files), training schedules, and
PC-to-PC remote technical support. You can also complete Product Return (RMA) forms and get information about repairs
and spare or replacement parts. For immediate help, contact a service office or your sales representative. Have your
customer order number available before you call or include it in your email.
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Phone: [phone]
Fax: [phone]
Email: [e-mail]
101 Zeta Drive
Pittsburgh, PA 15238-2811
www.aerotech.com
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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.
Copyright © 2006-2018, Aerotech, Inc., All rights reserved.

AMG Hardware Manual Table of Contents
Table of Contents
AMG Hardware Manual 1
Table of Contents 3
List of Figures 4
List of Tables 5
Safety Procedures and Warnings 6
EU Declaration of Incorporation 7
Chapter 1: Overview 9
1.1. Environmental Specifications 10
1.2. Accuracy and Temperature Effects 10
1.3. Basic Specifications 11
1.4. Vacuum Operation 12
1.5. Export Restrictions 12
Chapter 2: Mechanical Specifications and Installation 13
2.1. Unpacking and Handling the Stage 13
2.2. Dimensions 15
2.3. Securing the Stage to the Mounting Surface 20
2.4. Attaching the Payload to the Stage 21
Chapter 3: Electrical Specifications and Installation 23
3.1. Motor and Feedback Connectors 24
3.2. Motor and Feedback Wiring 27
3.3. Motor and Feedback Specifications 28
3.4. Limits, Marker, and Machine Direction 32
3.5. Motor and Feedback Phasing 33
Chapter 4: Maintenance 35
4.1. Service and Inspection Schedule 35
4.2. Cleaning and Lubrication 35
4.3. Troubleshooting 36
Appendix A: Warranty and Field Service 37
Appendix B: Revision History 39
Index 41
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Table of Contents AMG Hardware Manual
List of Figures
Figure 2-1: Shipping Brackets 14
Figure 2-2: AMG200 Dimensions 15
Figure 2-3: AMG300 Dimensions 16
Figure 2-4: AMG400 Dimensions 17
Figure 2-5: AMG500 Dimensions 18
Figure 2-6: AMG600 Dimensions 19
Figure 2-7: View of an AMG Stage Showing Mounting Holes 20
Figure 3-1: Motor and Feedback Wiring 27
Figure 3-2: Machine Direction 32
Figure 3-3: Hall Phasing 33
Figure 3-4: Analog Encoder Phasing Reference Diagram 34
Figure 3-5: Encoder Phasing Reference Diagram (Standard) 34
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AMG Hardware Manual Table of Contents
List of Tables
Table 1-1: Model Options 9
Table 1-2: Environmental Specifications 10
Table 1-3: AMG Series Specifications 11
Table 2-1: Stage to Mounting Surface Hardware 20
Table 3-1: 4-Pin Motor ConnectorPin Assignments [AZ and EL] 25
Table 3-2: 4-Pin Motor ConnectorMating Connector 25
Table 3-3: 25-Pin Feedback Connector Pin Assignments [AZ and EL] 26
Table 3-4: Feedback ConnectorMating Connector 26
Table 3-5: Feedback Specifications 28
Table 3-6: AMG Series Azimuth Resolution Information 28
Table 3-7: AMG Series Elevation Resolution Information 28
Table 3-8: S-130-39 Rotary Motor Specifications 29
Table 3-9: S-180-69 Rotary Motor Specifications 30
Table 3-10: S-240-63 Rotary Motor Specifications 31
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Table of Contents AMG Hardware Manual
Safety Procedures and Warnings
Read this manual in its entirety before installing, operating, or servicing this product. If you do not understand
the information contained herein, contact an Aerotech representative before proceeding. Strictly adhere to
the statements given in this section and other handling, use, and operational information given throughout
the manual to avoid injury to you and damage to the equipment.
The following statements apply wherever the Warning or Danger symbol appears within this manual. Failure
to observe these precautions could result in serious injury to those individuals performing the procedures
and/or damage to the equipment.
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 AMG and component parts must be restricted while connected to a power
source.
2. Do not connect or disconnect any electrical components or connecting cables while
connected to a power source.
3. Disconnect electrical power before servicing equipment.
4. All components must be properly grounded in accordance with local electrical safety
requirements.
5. Operator safeguarding requirements must be addressed during final integration of the
product.
W A R N I N G : To minimize the possibility of electrical shock, bodily injury or death the
following precautions must be followed.
1. Moving parts can cause crushing or shearing injuries. Access to all stage and motor parts
must be restricted while connected to a power source.
2. Cables can pose a tripping hazard. Securely mount and position all system cables to avoid
potential hazards.
3. Do not expose this product to environments or conditions outside of the listed
specifications. Exceeding environmental or operating specifications can cause damage to
the equipment.
4. The AMG stage must be mounted securely. Improper mounting can result in injury and
damage to the equipment.
5. Use care when moving the AMG stage. Lifting or transporting the AMG stage improperly
can result in injury or damage to the AMG.
6. This product is intended for light industrial manufacturing or laboratory use. Use of this
product for unintended applications can result in injury and damage to the equipment.
7. If the product is used in a manner not specified by the manufacturer, the protection
provided by the product can be impaired and result in damage, shock, injury, or death.
8. Operators must be trained before operating this equipment.
9. All service and maintenance must be performed by qualified personnel.
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AMG Hardware Manual Table of Contents
EU Declaration of Incorporation
Manufacturer: Aerotech, Inc.
101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
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:
EN ISO 12100:2010
Safety of machinery - Basic concepts, general principles for design
EN 60204-1:2010
Safety of machinery - Electrical equipment of machines - Part 1:General requirements
and further more declares that
it is not allowed to put the equipment into service until the machinery into which it is to be
incorporated or of which it is to be a component has been found and declared to be in
conformity with the provisions of the Directive 2006/42/EC and with national
implementing legislation, i.e., as a whole, including the equipment referred to in this
Declaration.
This is to certify that the aforementioned product is in accordance with the applicable requirements of the
following Directive(s):
2011/65/EU RoHS2 Directive
Authorized Representative: Simon Smith, European Director
Address: Aerotech Ltd
The Old Brick Kiln, Ramsdell, Tadley
Hampshire RG26 5PR
UK
Name
/ Alex Weibel
Position Engineer Verifying Compliance
Location Pittsburgh, PA
Date 11/5/2018
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Table of Contents AMG Hardware Manual
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AMG Hardware Manual Overview
Chapter 1: Overview
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. Refer to www.aerotech.com for the most up-to-date information.
Table 1-1: Model 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
Feedback (Required)
-E1 Incremental encoder, 1 Vpp
-E2 Incremental encoder, TTL, x5 interpolation
-E3 Incremental encoder, TTL, x50 interpolation
Metrology (Required)
-PL1 Metrology, uncalibrated with performance plots
-PL2 Metrology, calibrated (HALAR) with performance plots
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Overview AMG Hardware Manual
1.1. Environmental Specifications
W A R N I N G : Do not expose this product to environments or conditions outside of the listed
specifications. Exceeding environmental or operating specifications can cause damage to the
equipment.
Table 1-2: Environmental Specifications
Ambient
Temperature
Operating:10° to 35° C (50° to 95° F)
The optimal operating temperature is 20° C ±2° C (68° F ±4° F). If at any time the
operating temperature deviates from 20° C, degradation in performance could occur.
Storage: 0° to 40° C (32° to 104° F) in original shipping packaging
Humidity Operating: 20% to 60% RH
Storage: 10% to 70% RH, non-condensing in original packaging. The stage should be
packaged with desiccant if it is to be stored for an extended time.
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. Excessive floor or acoustical vibration
can affect system performance. Contact Aerotech for information regarding your spe-
cific application.
Protection
Rating
The AMG gimbals have limited protection against airborne particles but not water. This
equates to an ingress protection rating of IP40.
Use Indoor use only
1.2. Accuracy and Temperature Effects
Aerotech products are designed for and built in a 20°C (68°F) environment. Extreme temperature changes
could cause a decrease in performance or permanent damage to the AMG. At a minimum, the environmental
temperature must be controlled to within 0.25ºC per 24 hours to ensure the AMG specifications are
repeatable over an extended period of time. The severity of temperature effects on all specifications depends
on many different environmental conditions, including how the AMG is mounted. Contact the factory for
more details.
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AMG Hardware Manual Overview
1.3. Basic Specifications
Basic AMG series positioning stage specifications are shown in Table 1-3.
Table 1-3: AMG Series Specifications
Basic Model AMG200 AMG300 AMG400 AMG500 AMG600
Travel 360° continuous, Azimuth (AZ )/ Elevation (EL)
Maximum Bus Voltage 340 VDC 340 VDC 340 VDC 340 VDC 340 VDC
Maximum Torque
(continuous)
Azimuth 2.85 N·m 11.12
N·m
11.12
N·m 19.71 N·m 19.71 N·m
Elevation 2.85 N·m 2.85 N·m 2.85 N·m 11.12 N·m 11.12
N·m
Clear Aperture Diameter(1) 194 mm 292 mm 394 mm 489 mm 591 mm
Accuracy ±24 to ±144 μrad(2) (±5 to ±30 arc sec)
Repeatability ±2.4 μrad (±0.5 arc sec)
Maximum Rotary Speed(3) 100 rpm 100 rpm 100 rpm 50 rpm 50 rpm
Maximum Load Capability 20 kg 40 kg 40 kg 70 kg 70 kg
Axis Wobble 48 μrad (10 arc sec)
Orthogonality 24 μrad (5 arc sec)
Standard Finish Black Anodize with Hard-Coated Cell
Maximum Component Diameter(4) 206 mm 306 mm 407 mm 509 mm 610 mm
Nominal Component Thickness 41 mm 54 mm 64 mm 95 mm 102 mm
Mass (Without Mirror) 29 kg 47 kg 54 kg 116 kg 137 kg
Inertia(5) Azimuth 0.521
kg•m21.198 kg•m22.246 kg•m28.289 kg•m212.362 kg•m2
Elevation 0.016
kg•m20.103 kg•m20.265 kg•m20.950 kg•m22.310 kg•m2
AZ Aperture When Slip Ring Is Removed
(AZ Travel Must Be Limited) 50 mm 75 mm 75 mm 100 mm 100 mm
Aperture With Slip Ring 12.7 mm 12.7 mm 12.7 mm 38.1 mm 38.1 mm
1. Special cell adapters and slip ring assemblies available by special order.
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. Tolerance equals +0/-0.25
5. Unloaded inertia
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Overview AMG Hardware Manual
1.4. Vacuum Operation
Contact the factory for information regarding operation in a vacuum environment.
Preparation and considerations for operation in a vacuum environment:
lLubrication with vacuum-compatible lubricants
lUse of materials, fasteners, and coatings with vacuum outgas performance compatible with the level of
vacuum specified
lFor high vacuum stages, elimination of situations that may allow gases to become temporarily trapped
during pump down
lExtensive cleaning prior to assembly in a clean environment and packaging in a special polyethylene
bag
lUse of components able to withstand elevated temperatures (non-operating) for bake-out performances
Reduced air pressure eliminates significant convective heat transfer. This, coupled with the viscous
vacuum-compatible lubricants, could result in excessive motor operating temperatures. Because of this,
consider all continuous torque ratings to be 40 to 60% lower than the value specified for operation in normal
atmospheric environment. Reduce motor usage accordingly.
1.5. Export Restrictions
The AMG200 is export controlled by United States Commerce Department export regulations. If you are
from a non-US country and wish to purchase this gimbal, contact Aerotech to determine if an export license
is required to purchase this product. People in countries embargoed by the United States cannot purchase
and import this product.
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AMG Hardware Manual Mechanical Specifications and Installation
Chapter 2: Mechanical Specifications and Installation
W A R N I N G : AMG 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.
2.1. Unpacking and Handling the Stage
D A N G E R / H E A V Y : Manually lifting and moving the stage requires a minimum of two
people on either side of the stage. Refer to Section 1.3. for stage mass specifications.
lDo not attempt to lift heavy loads single handed.
lFollow the lifting instructions and only manually lift from the specified surfaces (if lifting
hardware hasn't been supplied).
lDo not use any of the cables as lifting points.
W A R N I N G : It is the customer's responsibility to safely and carefully lift the stage.
lMake sure that all moving parts are secure before moving the AMG. Unsecured moving
parts may shift and cause bodily injury.
lImproper handling could adversely affect the performance of the AMG. Use care when
moving the AMG.
lLift the stage by the eyebolts and flanged nuts mounted on to the elevation shipping
clamps. The eyebolts should be lifted vertically. Angular lifting should be avoided if
possible.
N O T E : If any damage has occurred during shipping, report it immediately.
Lifting Instructions
Carefully remove the AMGfrom its protective shipping container. Gently set the AMG on a smooth, flat, and
clean surface.
Before operating the AMG, it is important to let it stabilize at room temperature for at least 12 hours. Allowing
it to stabilize to room temperature will ensure that all of the alignments, preloads, and tolerances are the
same as they were when tested at Aerotech. Use compressed nitrogen or clean, dry, oil-less air to remove
any dust or debris that has collected during shipping.
Each AMG has a label listing the system part number and serial number. These numbers contain information
necessary for maintaining or updating system hardware and software. Locate this label and record the
information for later reference.
Shipping Clamps
Before the stage can be operated, remove all of the red anodized shipping brackets (refer to Figure 2-1).
Save the shipping brackets to be used for long-term storage of the stage or return shipping for service.
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Mechanical Specifications and Installation AMG Hardware Manual
Figure 2-1: Shipping Brackets
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AMG Hardware Manual Mechanical Specifications and Installation
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. Refer to www.aerotech.com for the most up-to-date information.
Figure 2-2: AMG200 Dimensions
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Mechanical Specifications and Installation AMG Hardware Manual
Figure 2-3: AMG300 Dimensions
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AMG Hardware Manual Mechanical Specifications and Installation
Figure 2-4: AMG400 Dimensions
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Mechanical Specifications and Installation AMG Hardware Manual
Figure 2-5: AMG500 Dimensions
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AMG Hardware Manual Mechanical Specifications and Installation
Figure 2-6: AMG600 Dimensions
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Mechanical Specifications and Installation AMG Hardware Manual
2.3. Securing the Stage to the Mounting Surface
W A R N I N G : The AMG must be mounted securely. Improper mounting can result in injury and
damage to the equipment.
W A R N I N G : Make sure that all moving parts are secure before moving the AMG. Unsecured
moving parts may shift and cause bodily injury.
The mounting surface must be flat and have adequate stiffness in order to achieve the maximum
performance from the AMG stage. When it is mounted to a non-flat surface, the stage can be distorted as the
mounting screws are tightened. This distortion will decrease overall accuracy. Adjustments to the mounting
surface must be done before the stage is secured.
Inspect the mounting surface for dirt or unwanted residue and clean if necessary. Use precision flatstones
on the mounting surface to remove any burrs or high spots. Clean the mounting surface with a lint-free cloth
and acetone or isopropyl alcohol and allow the cleaning solvent to completely dry. Gently place the stage on
the mounting surface.
N O T E : To maintain accuracy, the mounting surface must be flat to within 1 µm per 50 mm.
N O T E : The AMG is precision machined and verified for flatness prior to product assembly at the factory.
If machining is required to achieve the desired flatness, it should be performed on the mounting surface
rather than the AMG. Shimming should be avoided if possible. If shimming is required, it should be
minimized to retain maximum rigidity of the system.
AMG series stages have a fixed mounting pattern (as shown in Figure 2-7).
Tightening torque values for the mounting hardware are dependent on the properties of the surface to which
the stage is being mounted. Values provided in Table 2-1 are typical values and may not be accurate for your
mounting surface. Refer to Section 2.2. for specific model mounting locations and dimensions.
Table 2-1: Stage to Mounting Surface Hardware
Mounting Hardware Typical Screw
Torque
AMG200, 300, 400 M5 SHCS 7 N·m
AMG500, 600 M6 SHCS 17 N·m
Figure 2-7: View of an AMG Stage Showing Mounting Holes
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