Aerotech ABRT Series User manual

ABRT Series Stage
User’s Manual
P/N: EDS126 (Revision 1.04.00)
Dedicated to the Science of Motion
Aerotech, Inc.
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Pittsburgh, PA, 15238
Phone:412-963-7470
Fax:412-963-7459
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Revision History Revision 1.04.00 April 5, 2011
Revision 1.03.00 June 10, 2009
Revision 1.02.00 January 5, 2009
Revision 1.01.00 March 10, 2008
Revision 1.00.00 September 4, 2007
Product names mentioned herein are used for identification purposes only and may be trademarks of
their respective companies.
© Aerotech, Inc. 2011

ABRT Series Stage User's Manual Table of Contents
Table of Contents
Table of Contents iii
List of Figures v
List of Tables vii
Chapter 1: Overview 1
1.1. Standard Features 1
1.1.1. Optional Features 1
1.1.2. Model Numbers 2
1.2. Dimensions 3
1.3. Safety Procedures and Warnings 6
1.4. EC Declaration of Incorporation 8
Chapter 2: Installation 9
2.1. Unpacking and Handling the Stage 9
2.2. Preparing the Mounting Surface 10
2.3. Securing the Stage to the Mounting Surface 11
2.4. Attaching the Payload to the Stage 13
2.5. Electrical Installation 14
2.6. Air Requirements 15
Chapter 3: Operating Specifications 17
3.1. Environmental Specifications 17
3.2. Basic Specifications 18
3.3. Load Capability 21
3.4. Limit Switch Wiring 21
3.5. Standard Motor Wiring 22
3.6. Vacuum Operation 24
Chapter 4: Maintenance 25
4.1. Service and Inspection Schedule 25
4.1.1. Field Service 25
4.2. Cleaning and Lubrication 25
4.2.1. Recommended Cleaning Solvents 25
Appendix A: Warranty and Field Service 27
Appendix B: Technical Changes 29
Index 31
Reader's Comments 33
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ABRT Series Stage User's Manual List Of Figures
List of Figures
Figure 1-1: Standard ABRT-200 Rotary Stage 1
Figure 1-2: ABRT-150 Dimensions 3
Figure 1-3: ABRT-200 Dimensions 4
Figure 1-4: ABRT-260 Dimensions 5
Figure 2-1: Results of Flat Versus Non-Flat Mounting 10
Figure 2-2: Top View of an ABRT-200P Stage Showing Mounting Holes 11
Figure 2-3: Side View of an ABRT-200 Stage Showing Tapped Mounting Holes 12
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ABRT Series Stage User's Manual List of Tables
List of Tables
Table 1-1: Model Numbering System 2
Table 3-1: Environmental Specifications 17
Table 3-2: ABRT Series Specifications 18
Table 3-3: ABRT Series Resolution Information 19
Table 3-4: ABRT Series Maximum Encoder Frequency 19
Table 3-5: ABRT Series Motor Specifications 20
Table 3-6: ABRT Series Load Capability 21
Table 3-7: Standard Wiring Connectors for ABRT-200MP, -250MP, and -300MP Stages 22
Table 3-8: Special Feedback Cable with Encoder Interface Box 23
Table 3-9: Motor Wiring Pinout Descriptions 24
Table B-1: Current Changes (1.04.00) 29
Table B-2: Archived Changes 30
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ABRT Series Stage User's Manual Overview
Chapter 1: Overview
This chapter introduces standard and optional features of the ABRT stages, explains the model numbering
system, and gives general safety precautions.
1.1. Standard Features
All ABRT stages stages incorporate completely non-contact air bearing surfaces, direct drive brushless
motors and feedback devices to provide a completely maintenance free stage. There is no mechanical con-
tact to become worn or require lubrication, making these stages ideal for clean room and medical appli-
cations.
The ABRT features large air-bearing surfaces and active preloading for high stiffness and load capacity. The
direct drive design is optimum for continuous production environments due to the maintenance free design of
the motor. The direct drive and slotless motor design combine to create outstanding velocity control. This is
especially useful in scanning applications where a torque ripple cannot be tolerated.
1.1.1. Optional Features
All AABRT stages incorporate a center aperture, ranging in size from 20 mm to 50 mm diameter. The table-
tops can be built with either metric or custom hole patterns depending on requirements.
Additionally, the encoder can be configured for either square-wave or amplified sine output.
Figure 1-1: Standard ABRT-200 Rotary Stage
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Overview ABRT Series Stage User's Manual
1.1.2. Model Numbers
The stage model number indicates the optional features on a particular stage. To determine the options on
your stage, refer to Table 1-1 for an explanation of the numbering system.
Example: ABRT-150-AS
This designates an ABRT-150 stage with direct drive motor and 1vpp sine wave encoder.
Aerotech continually improves its product offerings, and listed options may be superseded at any time. Refer
to the most recent edition of the Aerotech Motion Control Product Guide for the most current product infor-
mation at www.aerotech.com.
Table 1-1: Model Numbering System
ABRT Series Direct Drive Rotary Stage
ABRT-150 150 mm wide air-bearing rotary stage with 1.4 N-m peak torque output
ABRT-200 200 mm wide air-bearing rotary stage with 14.6 N-m peak torque output
ABRT-260 260 mm wide air-bearing rotary stage with 26.6 N-m peak torque output
Mounting Pattern
-M Metric dimension mounting pattern and holes
Position Transducer
-AS Standard feedback device, sine wave output; 11,840 cycles per rev on
ABRT-150; 18,000 cycles per rev on ABRT-200; 23,600 cycles per rev on
ABRT-260
-X50 Square wave digital output; 592,000 cycles per rev on ABRT-150; 900,000
cycles per rev on ABRT-200; 1,180,000 cycles per rev on ABRT-260
Note: Digitaloutput encoder signalsare synthesized with a 40 MHz clock. Care must be taken to ensure that the encoder sample rate
on the controller is at least 40 MHz or higher. Slower clock rates are available on request.
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