Aerotech ADRS Series User manual

Revision: 1.04.00
ADRS Hardware Manual

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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.
United States (World Headquarters)
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 © 2006-2017, Aerotech, Inc., All rights reserved.

ADRS Hardware Manual Table of Contents
Table of Contents
ADRS Hardware Manual 1
Table of Contents 3
List of Figures 4
List of Tables 5
Safety Procedures and Warnings 7
EU Declaration of Incorporation 9
Chapter 1: Overview 11
1.1. Environmental Specifications 12
1.2. Accuracy and Temperature Effects 12
1.3. Basic Specifications 13
Chapter 2: Mechanical Specifications and Installation 15
2.1. Unpacking and Handling the Stage 15
2.2. Dimensions 16
2.3. Securing the Stage to the Mounting Surface 19
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. 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. Rear Seal Change Procedure 36
4.4. Troubleshooting 37
Appendix A: Warranty and Field Service 39
Appendix B: Revision History 41
Index 43
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Table of Contents ADRS Hardware Manual
List of Figures
Figure 1-1: Typical ADRSStage 11
Figure 2-1: ADRS100 Dimensions 16
Figure 2-2: ADRS150 Dimensions 17
Figure 2-3: ADRS200 Dimensions 18
Figure 2-4: ADRS Stage Standard Mounting Hole Locations 20
Figure 2-5: Load Orientations 21
Figure 2-6: ADRS Cantilevered Load Capabilities 22
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
Figure 4-1: Exploded View of Seal Assembly 36
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ADRS Hardware Manual Table of Contents
List of Tables
Table 1-1: Model Options 11
Table 1-2: Environmental Specifications 12
Table 1-3: ADRS Series Specifications 13
Table 2-1: Stage to Mounting Surface Hardware 19
Table 3-1: 4-Pin Motor ConnectorPinout 25
Table 3-2: 4-Pin Motor ConnectorMating Connector 25
Table 3-3: 25-Pin Feedback Connector Pinout 26
Table 3-4: Feedback ConnectorMating Connector 26
Table 3-5: Feedback Specifications 28
Table 3-6: ADRS Series Resolution Information 28
Table 3-7: ADRS Series Maximum Encoder Frequency 28
Table 3-8: ADRS100 Motor Specifications [Aerotech Motor Model:S-76-35] 29
Table 3-9: ADRS150 Motor Specifications [Aerotech Motor Model:S-130-39] 30
Table 3-10: ADRS200 Motor Specifications [Aerotech Motor Model:S-180-44] 31
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Table of Contents ADRS Hardware Manual
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ADRS Hardware Manual Electrical Safety
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 ADRS 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 ADRS stage must be mounted securely. Improper mounting can result in injury and
damage to the equipment.
5. Use care when moving the ADRS stage. Lifting or transporting the ADRS stage improperly
can result in injury or damage to the ADRS.
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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Electrical Safety ADRS Hardware Manual
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ADRS Hardware Manual Declaration of Conformity
EU Declaration of Incorporation
Manufacturer: Aerotech, Inc.
101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
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:
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
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Declaration of Conformity ADRS Hardware Manual
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ADRS 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
ADRS Series Direct-Drive Rotary Stage
ADRS100 100 mm wide mechanical-bearing direct-drive rotary stage
ADRS150 150 mm wide mechanical-bearing direct-drive rotary stage
ADRS200 200 mm wide mechanical-bearing direct-drive rotary stage
Feedback (Required)
-E1 Incremental encoder, 1 Vpp
-E2 Incremental encoder, TTL, x5 interpolation
-E3 Incremental encoder, TTL, x10 interpolation
-E4 Incremental encoder, TTL, x25 interpolation
-E5 Incremental encoder, TTL, x50 interpolation
Motor (Required)
-M1 Low current, -A winding
-M2 Low voltage, -B winding
Tabletop (Required)
-TT1 Metric tabletop
-TT2 English tabletop
Lower Seal (Optional)
-SL Lower Seal
Note: The Lower Seal is not available for the ADRS100.
Metrology (Required)
-PL1 Metrology, uncalibrated with performance plots
-PL2 Metrology, calibrated (HALAR) with performance plots
Figure 1-1: Typical ADRSStage
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Overview ADRS 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 specific application.
Protection
Rating
The ADRS stages have limited protection against dust, 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 ADRS. At a minimum, the
environmental temperature must be controlled to within 0.25ºC per 24 hours to ensure the ADRS
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 ADRS is mounted.
Contact the factory for more details.
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ADRS Hardware Manual Overview
1.3. Basic Specifications
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.
Resolution is dependent on encoder resolution and controller interpolation.
Table 1-3: ADRS Series Specifications
ADRS100 ADRS150 ADRS200
Tabletop Diameter 95 mm 140 mm 190 mm
Aperture 6 mm 15 mm 26 mm
Bus Voltage 340 VDC
Maximum Torque
(Continuous) 0.48 N·m 2.36 N·m 5.99 N·m
Maximum Speed(1) 1500 rpm 600 rpm 600 rpm
Accuracy(5) Uncalibrated 388 µrad (80 arc sec)
Calibrated (2) 29.1 µrad (6 arc sec)
Repeatability(5) 14.6 µrad (3 arc sec)
Max Load (3) Axial 7 kg 20 kg 40 kg
Radial 3 kg 10 kg 20 kg
Axial Error Motion (4) 2 µm 5 µm 5 µm
Radial Error Motion (4) 3 µm 5 µm 5 µm
Tilt Error Motion 48.5 µrad (10 arc sec)
Inertia (Unloaded) 0.00038 kg-m20.00242 kg-m20.00843 kg-m2
Total Mass 2.0 kg 4.3 kg 7.6 kg
Finish Tabletop Hardcoat
Stage Black Anodize
1. Maximum speed is based on stage capability. Actual speed may depend on encoder resolution, load, amplifier bus voltage, and
motor.
2. With -PL2 option.
3. Maximum loads are mutually exclusive.
4. Error motion specifications are below 700 rpm for the ADRS100. Above 700 rpm, the max radial error is 5 µm. Errors measured
25 mm above the tabletop.
5. Repeatability and accuracy are dependent on encoder resolution. To achieve the listed specifications, encoder resolution must be
0.36 arc sec or finer.
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Overview ADRS Hardware Manual
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ADRS Hardware Manual Mechanical Specifications and Installation
Chapter 2: Mechanical Specifications and Installation
W A R N I N G : ADRS 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
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 ADRS. Unsecured moving
parts may shift and cause bodily injury.
lImproper handling could adversely affect the performance of the ADRS. Use care when
moving the ADRS.
lLift only by the base. Do not use the tabletop or cables as lifting points.
N O T E : If any damage has occurred during shipping, report it immediately.
Carefully remove the ADRSfrom its protective shipping container. Gently set the ADRS on a smooth, flat,
and clean surface.
Before operating the ADRS, 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 ADRS 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
If the ADRS has shipped as part of a system, shipping clamps (typically red, anodized aluminum) may 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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Mechanical Specifications and Installation ADRS 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. Refer to www.aerotech.com for the most up-to-date information.
Figure 2-1: ADRS100 Dimensions
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ADRS Hardware Manual Mechanical Specifications and Installation
Figure 2-2: ADRS150 Dimensions
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Mechanical Specifications and Installation ADRS Hardware Manual
Figure 2-3: ADRS200 Dimensions
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ADRS Hardware Manual Mechanical Specifications and Installation
2.3. Securing the Stage to the Mounting Surface
W A R N I N G : Do not attempt to manually move the ADRS if it is connected to a power
source.
W A R N I N G : Make sure that all moving parts are secure before moving the ADRS.
Unsecured moving parts may shift and cause bodily injury.
W A R N I N G : The ADRS must be mounted securely. Improper mounting can result in injury
and damage to the equipment.
The mounting surface must be flat and have adequate stiffness in order to achieve the maximum
performance from the ADRS 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 ADRS 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 ADRS. Shimming should be avoided if possible. If shimming is required, it should
be minimized to retain maximum rigidity of the system.
ADRS series stages have a fixed mounting pattern (as shown in Figure 2-4).
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
[Top Mounting]
6 mm or 1/4" SHCS 7 N·m
[Side Mounting]
M5 x 0.8 tapped holes 4 N·m
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Mechanical Specifications and Installation ADRS Hardware Manual
Figure 2-4: ADRS Stage Standard Mounting Hole Locations
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