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.
101 Zeta Drive,
Pittsburgh, PA, 15238
Phone:412-963-7470
Fax:412-963-7459
www.aerotech.com

Product Registration Register online at: http://www.-
aerotech.com/prodreg.cfm
Technical Support United States Headquarters:
Phone: [phone]
Fax: [phone]
Email: [e-mail]
United Kingdom:
Phone: [phone]
Fax: [phone]
Email: [e-mail]
Germany:
Phone: [phone]
Fax: [phone]
Email: [e-mail]
Japan:
Phone: [phone] (Sales)
Phone: [phone] (Service)
Fax: [phone]
Email: [e-mail]
China:
Phone: [phone]
Email: [e-mail]
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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Table of Contents ABRT Series Stage User's Manual
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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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List of Figures ABRT Series Stage User's Manual
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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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ABRT Series Stage User's Manual Overview
1.2. Dimensions
Figure 1-2: ABRT-150 Dimensions
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Overview ABRT Series Stage User's Manual
Figure 1-3: ABRT-200 Dimensions
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ABRT Series Stage User's Manual Overview
Figure 1-4: ABRT-260 Dimensions
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Overview ABRT Series Stage User's Manual
1.3. Safety Procedures and Warnings
The following statements apply throughout this manual. Failure to observe these precautions could result in
serious injury to those performing the procedures and damage to the equipment.
This manual and any additional instructions included with the stage should be retained for the lifetime of the
stage.
To minimize the possibility of electrical shock and bodily injury or death, disconnect all elec-
trical power prior to making any electrical connections.
To minimize the possibility of electrical shock and bodily injury or death when any electrical
circuit is in use, ensure that no person comes in contact with the circuitry when the stage is
connected to a power source.
To minimize the possibility of bodily injury or death, disconnect all electrical power prior to
making any mechanical adjustments.
Moving parts of the stage can cause crushing or shearing injuries. All personnel must
remain clear of any moving parts.
Improper use of the stage can cause damage, shock, injury, or death. Read and understand
this manual before operating the stage.
If the stage is used in a manner not specified by the manufacturer, the protection provided
by the stage can be impaired.
Stage cables can pose a tripping hazard. Securely mount and position all stage cables to
avoid potential hazards.
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ABRT Series Stage User's Manual Overview
Do not expose the stage to environments or conditions outside the specified range of oper-
ating environments. Operation in conditions other than those specified can cause damage to
the equipment.
The stage must be mounted securely. Improper mounting can result in injury and damage to
the equipment.
Use care when moving the stage. Manually lifting or transporting stages can result in injury.
Only trained personnel should operate, inspect, and maintain the stage.
This stage is intended for light industrial manufacturing or laboratory use. Use of the stage
for unintended applications can result in injury and damage to the equipment.
Before using this stage, perform an operator risk assessment to determine the needed
safety requirements.
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Overview ABRT Series Stage User's Manual
1.4. EC Declaration of Incorporation
Manufactorer: Aerotech, Inc.
101 Zeta Drive
Pittsburgh, PA 15238
USA
herewith declares that the product:
Aerotech, Inc. ABRT Stage
is intended to be incorporated into machinery to constitute machinery covered by the Directive
2006/42/EC as amended;
does therefore not in every respect comply with the provisions of this directive;
and that the following harmonized European standards have been applied:
EN ISO 12100-1,-2:2003+A1:2009
Safety of machinery - Basic concepts, general principles for design
ISO 14121-1:2007
Safety of machinery - Risk assessment - Par 1: Principles
EN 60204-1:2005
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.
Authorized Representative: Manfred Besold
Address: AEROTECH GmbH
Süd-West-Park 90
D-90449 Nürnberg
Name:
Alex Weibel /
Position: Engineer Verifying Compliance
Location: Pittsburgh, PA
Date: April 5, 2011
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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

ABRT Series Stage User's Manual Installation
Chapter 2: Installation
This chapter describes the installation procedure for the ABRT stage, including handling the stage properly,
preparing the mounting surface to accept the stage, securing the stage to the mounting surface, attaching the
payload, and making the electrical connections.
Installation must follow the instruction in this chapter. Failure to follow these instructions
could result in injury and damage to the equipment.
2.1. Unpacking and Handling the Stage
Carefully remove the stage from the protective shipping container. Blow the stage off with compressed
nitrogen or clean, dry air. Before operating the stage, it is important to let the stage stabilize at room tem-
perature for at least 12 hours. Set the stage on a smooth, flat, and clean surface.
Before the stage can be operated, the shipping clamps must be removed. These are the only red anodized
parts on the stage and must all be removed.
Each stage 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 infor-
mation for later reference. If any damage has occurred during shipping, report it immediately.
Improper stage handling could adversely affect the stage’s performance. Therefore, use
care when moving the stage. Manually lifting or transporting the stage can cause injury.
Lift the stage only by the base. Do not use the tabletop or wiring connections to support the
stage.
Do not attempt to rotate the stage table until the air supply, detailed in Section 2.6. , has
been installed. Moving the stage table without air supplied can cause permanent damage to
the stage.
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Installation ABRT Series Stage User's Manual
2.2. Preparing the Mounting Surface
The mounting surface should be flat and have adequate stiffness in order to achieve the maximum per-
formance from the ABRT. When an ABRT series stage is mounted to a non-flat surface, the stage can be dis-
torted as the mounting screws are tightened. This distortion will decrease the overall accuracy of the stage.
To maintain accuracy, the mounting surface should be flat within 2µm TIR. Adjustments to the mounting sur-
face must be done before the stage is secured. The effects of flatness on mounting are illustrated in Figure 2-
1.
Figure 2-1: Results of Flat Versus Non-Flat Mounting
N O T E : The stage base is precision machined and verified for flatness prior to stage assembly at the fac-
tory. If machining is required to achieve the desired flatness, it should be performed on the mounting sur-
face rather than the stage base. Shimming should be avoided if possible. If shimming is required, it should
be minimized to improve the rigidity of the system.
It is recommended that the stage be mounted with the axis of rotation in the vertical direction. Mounting the
stage with the axis of rotation in a horizontal orientation is generally acceptable as well, but this arrangement
can potentially have a negative effect on performance. Please consult the factory for more information regard-
ing stage performance in a horizontal axis of rotation configuration.
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ABRT Series Stage User's Manual Installation
2.3. Securing the Stage to the Mounting Surface
ABRT series stages have counterbored mounting holes available to secure the stage to a mounting surface.
Figure 2-2 shows these mounting holes in the base of the stage. These counterbored holes are designed for
6mm socket head cap screws. Additionally, the sides of the stage are equipped with several M6x1.0 tapped
holes with reinforced threaded inserts (see Figure 2-3). These tapped holes may also be used for mounting
the stage, depending on customer requirements.
The stage must be mounted securely. Improper mounting can result in injury and damage to
the equipment.
Figure 2-2: Top View of an ABRT-200P Stage Showing Mounting Holes
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Installation ABRT Series Stage User's Manual
Figure 2-3: Side View of an ABRT-200 Stage Showing Tapped Mounting Holes
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