Aerotech ADRT Series User manual

Revision: 1.02.00
ADRT 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
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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 © 2009-2018, Aerotech, Inc., All rights reserved.

ADRT Hardware Manual Table of Contents
Table of Contents
ADRT 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 13
1.2. Accuracy and Temperature Effects 13
1.3. Basic Specifications 14
Chapter 2: Mechanical Specifications and Installation 17
2.1. Unpacking and Handling the Stage 17
2.2. Dimensions 18
2.3. Securing the Stage to the Mounting Surface 25
2.4. Attaching the Payload to the Stage 27
2.4.1. Load Capability 28
2.5. Travel Adjustment 31
2.5.1. Optical Limit Adjustment 31
2.5.2. Hard Stop Adjustment 33
Chapter 3: Electrical Installation 35
3.1. Motor and Feedback Connectors 36
3.2. Motor and Feedback Wiring 39
3.3. Motor and Feedback Specifications 40
3.4. Limits, Marker, and Machine Direction 46
3.5. Motor and Feedback Phasing 47
Chapter 4: Maintenance 49
4.1. Service and Inspection Schedule 49
4.2. Cleaning and Lubrication 49
4.5. Troubleshooting 50
Appendix A: Warranty and Field Service 51
Appendix B: Revision History 53
Index 55
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Table of Contents ADRT Hardware Manual
List of Figures
Figure 2-1: ADRT100 Dimensions 18
Figure 2-2: ADRT150 Dimensions 19
Figure 2-3: ADRT150 Limited Travel Dimensions 20
Figure 2-4: ADRT200 Dimensions 21
Figure 2-5: ADRT200 Limited Travel Dimensions 22
Figure 2-6: ADRT260 Dimensions 23
Figure 2-7: ADRT260 Limited Travel Dimensions 24
Figure 2-8: Mounting Holes Locations 26
Figure 2-9: Load Orientations 28
Figure 2-10: ADRT100 Cantilevered Load Capability 28
Figure 2-11: ADRT150 Cantilevered Load Capability 29
Figure 2-12: ADRT200 Cantilevered Load Capability 30
Figure 2-13: ADRT260 Cantilevered Load Capability 30
Figure 2-14: Bottom View of the ADRT 31
Figure 2-15: ADRT Limit Flag Adjustment 32
Figure 3-1: Motor and Feedback Wiring 39
Figure 3-2: Machine Direction 46
Figure 3-3: Hall Phasing 47
Figure 3-4: Analog Encoder Phasing Reference Diagram 48
Figure 3-5: Encoder Phasing Reference Diagram (Standard) 48
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ADRT Hardware Manual Table of Contents
List of Tables
Table 1-1: Model Options 11
Table 1-2: Environmental Specifications 13
Table 1-3: ADRT Series Specifications (ADRT100 and ADRT150) 14
Table 1-4: ADRT Series Specifications (ADRT200 and ADRT260) 15
Table 2-1: Stage to Mounting Surface Hardware 25
Table 3-1: 4-Pin Motor ConnectorPin Assignments 37
Table 3-2: 25-Pin Motor Connector Pin Assignments (ADRT100 Only) 37
Table 3-3: 25-Pin Feedback Connector Pin Assignments 38
Table 3-4: Feedback Specifications 40
Table 3-5: Encoder Specifications 41
Table 3-6: Maximum Speeds for the Encoder Option 41
Table 3-7: ADRT100 Motor Specifications (S-76-xx Rotary Motor) 42
Table 3-8: ADRT150 Motor Specifications (S-130-xx Rotary Motor) 43
Table 3-9: ADRT200 Motor Specifications (S-180-xx Rotary Motor) 44
Table 3-10: ADRT260 Motor Specifications (S-240-xx Rotary Motor) 45
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Table of Contents ADRT Hardware Manual
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ADRT 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 ADRT 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 ADRT stage must be mounted securely. Improper mounting can result in injury and
damage to the equipment.
5. Use care when moving the ADRT stage. Lifting or transporting the ADRT stage improperly
can result in injury or damage to the ADRT.
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 ADRT Hardware Manual
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ADRT 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:
ADRT 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
Date 10/31/2018
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Declaration of Conformity ADRT Hardware Manual
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ADRT 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
ADRT Series Direct Drive Rotary Stage
ADRT100 ADRT100 mechanical-bearing direct-drive rotary stage
ADRT150 ADRT150 mechanical-bearing direct-drive rotary stage
ADRT200 ADRT200 mechanical-bearing direct-drive rotary stage
ADRT260 ADRT260 mechanical-bearing direct-drive rotary stage
Stage Height (Required)
-85 85 mm stage height - Only available for ADRT100
-115 115 mm stage height - Only available for ADRT150
-135 135 mm stage height - Only available for ADRT100 and ADRT150
-155 155 mm stage height - Only available for ADRT200
-160 160 mm stage height - Only available for ADRT260
-180 180 mm stage height - Only available for ADRT150 and ADRT 260
-185 185 mm stage height - Only available for ADRT200
Motor (Required)
-M1 Low current, -A winding
-M2 Low voltage, -B winding
Note: Only available for ADRT260.
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
Connector (Required)
-CN1 4-pin HPD motor and 25-pin D feedback connectors
-CN2 25-pin D motor and 25-pin D feedback connectors
Note: Only available for ADRT100.
Rear Seal (Optional)
-SL Rear seal
Note: Only available for ADRT100.
Air Purge (Optional)
-PR Air-purge fitting
Note: Only available for ADRT100.
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Overview ADRT Hardware Manual
ADRT Series Direct Drive Rotary Stage (continued)
Brake (Optional)
-BK Holding brake
Note: Only available for the ADRT150 and the ADRT200. Not available with limited travel option.
Limited Travel (Optional) (1,2)
-TR010 ±5 degrees
-TR020 ±10 degrees
-TR040 ±20 degrees
-TR060 ±30 degrees
-TR080 ±40 degrees
-TR090 ±45 degrees
-TR100 ±50 degrees
-TR120 ±60 degrees
-TR140 ±70 degrees
-TR160 ±80 degrees
-TR180 ±90 degrees
-TR200 ±100 degrees
-TR220 ±110 degrees
-TR240 ±120 degrees
-TR260 ±130 degrees
-TR270 ±135 degrees - Only available on ADRT200 and ADRT260
-TR280 ±140 degrees - Only available on ADRT200 and ADRT260
-TR300 ±150 degrees - Only available on ADRT200 and ADRT260
(1) Not available with ADRT100.
(2) Not available with brake option.
NOTE:-TRxxx options include electrical limits and mechanical hardstops. There are an extra 1.5° per side between the nominal
travel and the electrical limits, and an extra 5° per side between the nominal travel and mechanical hardstops. (Ex: -TR90 has ±45°
of nominal travel, with ±46.5° of travel between electrical limits and ±50 degrees of travel between mechanical hardstops.)
Metrology (Required)
-PL0 No metrology performance plots
-PL1 Uncalibrated with performance plots
-PL2 Calibrated (HALAR) with performance plots
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ADRT Hardware Manual Overview
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 ADRT stages have limited protection against particles but not liquids. This
equates to an ingress protection rating of IP30.
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 ADRT. At a minimum, the
environmental temperature must be controlled to within 0.25ºC per 24 hours to ensure the ADRT
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 ADRT is mounted.
Contact the factory for more details.
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Overview ADRT Hardware Manual
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.
Table 1-3: ADRT Series Specifications (ADRT100 and ADRT150)
ADRT100-85 ADRT100-135 ADRT150-115 ADRT150-135 ADRT150-180
Maximum Torque
(Continuous) 0.48 N·m 1.6 N·m 2.85 N·m 5.06 N·m 9.29 N·m
Bus Voltage (1) Up to 340 V
Accuracy
(2)(3) Uncalibrated 60 arc sec
Calibrated 5 arc sec
Repeatability (3) 3 arc sec
Axial Error Motion 5 μm
Radial Error Motion (4) 5 μm
Tilt Error Motion 10 arc sec
Height 85 mm 135 mm 115 mm 135 mm 180 mm
Aperture 13 mm 50 mm
Radial Load (3) 10 kg 25 kg
Axial Load 15 kg 30 kg
Rated Speed 1500 rpm 600 rpm
Inertia 0.00028
kg·m20.00067 kg·m20.003379 kg·m20.004958 kg·m20.008118 kg·m2
Mass 2.0 kg 3.6 kg 5.3 kg 6.9 kg 10.2 kg
Finish (Table) Hardcoat
Finish (Stage) Black Anodized
(1) Bus voltage for ADRT100 with -25D connector is limited to 160 V.
(2) Calibrated accuracy requires -PL2 option and Aerotech controls.
(3) Repeatability and accuracy are dependent on encoder resolution. To achieve the listed specifications, encoder resolution must
be 0.36 arc sec or finer.
(4) Specifications are for single-axis systems ; performance of multi-axis system is payload and workpoint dependent. Consult the
Aerotech factory for multi-axis or non-standard applications.
(5) Moment load based on 5 year continuous rotation at 250 rpm with maximum axial load applied. Larger moment loads possible
for low speed and/or low duty cycle applications. Consult Aerotech for additional information.
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ADRT Hardware Manual Overview
Table 1-4: ADRT Series Specifications (ADRT200 and ADRT260)
ADRT200-155 ADRT200-185 ADRT260-160 ADRT260-180
Maximum Torque
(Continuous) 11.12 N·m 15.93 N·m 19.71 N·m 29.09 N·m
Bus Voltage (1) Up to 340 VDC
Accuracy
(1)(2) Uncalibrated 60 arc sec
Calibrated 5 arc sec
Repeatability (2) 3 arc sec
Axial Error Motion 5 μm
Radial Error Motion (3) 5 μm
Tilt Error Motion 10 arc sec
Height 155 mm 160 mm
Aperture 75 mm 100 mm
Radial Load (2) 80 kg 110 kg
Axial Load 140 kg 170 kg
Rated Speed 600 rpm 375 rpm
Inertia 0.020991
kg·m20.027666 kg·m20.066488 kg·m20.08566 kg·m2
Mass 13.4 kg 16.7 kg 25.4 kg 30.6 kg
Finish (Table) Hardcoat
Finish (Stage) Black Anodized
(1) Calibrated accuracy requires -PL2 option and Aerotech controls.
(2) Repeatability and accuracy are dependent on encoder resolution. To achieve the listed specifications, encoder resolution must
be 0.36 arc sec or finer.
(3) Specifications are for single-axis systems ; performance of multi-axis system is payload and workpoint dependent. Consult the
Aerotech factory for multi-axis or non-standard applications.
(4) Moment load based on 5 year continuous rotation at 250 rpm with maximum axial load applied. Larger moment loads possible
for low speed and/or low duty cycle applications. Consult Aerotech for additional information.
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Overview ADRT Hardware Manual
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ADRT Hardware Manual Mechanical Specifications and Installation
Chapter 2: Mechanical Specifications and Installation
W A R N I N G : ADRT 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 : Do not attempt to manually lift a stage that is too heavy (in excess of
18 kg). Refer to Section 1.3. for stage mass specifications.
lDo not attempt to manually lift heavy loads single handed.
lWith two or more people, only manually lift from the specified surfaces (if lifting hardware
hasn't been supplied).
lLift from the base.
lDo not use any of the cables as lifting points.
lUse a fork lift or cart to transport 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 ADRT. Unsecured moving
parts may shift and cause bodily injury.
lImproper handling could adversely affect the performance of the ADRT. Use care when
moving the ADRT.
N O T E : If any damage has occurred during shipping, report it immediately.
The ADRT260 exceeds safe single-person lifting and handling specifications. Because of its weight (in
excess of 25 kg (55 lbs)), two people should be on hand to carefully lift and move the ADRT260. Lift only by
the base and, ideally, lift and move the stage on to a cart to transport the stage to its final location.
Carefully remove the ADRTfrom its protective shipping container. Gently set the ADRT on a smooth, flat,
and clean surface.
Before operating the ADRT, 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 ADRT 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 ADRT 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 ADRT 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: ADRT100 Dimensions
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ADRT Hardware Manual Mechanical Specifications and Installation
Figure 2-2: ADRT150 Dimensions
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Mechanical Specifications and Installation ADRT Hardware Manual
Figure 2-3: ADRT150 Limited Travel Dimensions
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