Aerotech ACS LP Series User manual

Revision: 1.01.00
ACS LP Hardware Manual

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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 © 2015-2020, Aerotech, Inc., All rights reserved.

Table of Contents
ACS LP 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 12
1.2. Basic Specifications 13
1.3. Air Requirements 14
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. Clamping a Workpiece to the Collet 21
2.4.1. Load Capability 21
2.5. Changing the Workholding Devices 22
2.5.1. Collet Change Procedure 22
Chapter 3: Electrical Specifications and Installation 25
3.1. Motor and Feedback Connectors 26
3.2. Motor and Feedback Wiring 29
3.3. Motor and Feedback Specifications 30
3.4. Marker and Machine Direction 34
3.5. Motor and Feedback Phasing 35
Chapter 4: Maintenance 37
4.1. Stage Service and Inspection Schedule 37
4.2. Stage Cleaning and Lubrication 38
4.2.1. Collet and Collet Chuck Lubrication and Cleaning 39
4.3. Seal Replacement 40
4.3.1. Piston Seal Change Procedure 40
4.3.2. Rear Seal Change Procedure 44
4.4. Troubleshooting 45
Appendix A: Warranty and Field Service 47
Appendix B: Revision History 49
Index 51
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ACS LP Hardware Manual Table of Contents

List of Figures
Figure 1-1: ACS LPRotary Stage with Callouts 11
Figure 2-1: ACS100LP Dimensions 16
Figure 2-2: ACS150LP Dimensions 17
Figure 2-3: ACS200LP Dimensions 18
Figure 2-4: ACS LP Stage Mounting Holes 20
Figure 2-5: Typical ACS150LP Stage Showing Side Mounting Holes 20
Figure 2-6: Schematic of Collet Insertion Into and Removal From Collet Nut 23
Figure 2-7: Installation Procedure for Collet 23
Figure 3-1: Motor and Feedback Wiring 29
Figure 3-2: Machine Direction 34
Figure 3-3: Hall Phasing 35
Figure 3-4: Analog Encoder Phasing Reference Diagram 36
Figure 3-5: Encoder Phasing Reference Diagram (Standard) 36
Figure 4-1: Piston Seal Change Exploded View 40
Figure 4-2: Piston Seal Installation Procedure 43
Figure 4-3: Cross-Section View of Piston Showing Seal Orientation 43
Figure 4-4: Exploded Drawing of Rear Seal Components 44
List of Figures ACS LP Hardware Manual
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List of Tables
Table 1-1: ACS100LP Model Numbering System 9
Table 1-2: ACS150LP Model Numbering System 10
Table 1-3: ACS200LP Model Numbering System 11
Table 1-4: Environmental Specifications 12
Table 1-5: ACSLP Series Specifications 13
Table 2-1: Stage to Mounting Surface Hardware 19
Table 3-1: Motor Pinouts 27
Table 3-2: Mating Connector Part Numbers for the Motor Connector 27
Table 3-3: Feedback Pinouts 28
Table 3-4: Mating Connector Part Numbers for the Feedback Connector 28
Table 3-5: Feedback Specifications 30
Table 3-6: Encoder Specifications 30
Table 3-7: Maximum Speed (rpm) Per Encoder Option 30
Table 3-8: Motor Specifications (ACS100LP) 31
Table 3-9: Motor Specifications (ACS150LP) 32
Table 3-10: Motor Specifications (ACS200LP) 33
Table 4-1: Recommended Lubricants 39
Table 4-2: Piston Seal Replacement Part Numbers 40
Table 4-3: Rear Seal Replacement Part Numbers 44
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ACS LP Hardware Manual List of Tables

Safety Procedures and Warnings
This manual tells you how to carefully and correctly use and operate the ACS LP. Read all parts of this
manual before you install or operate the ACS LP or before you do maintenance to your system. To prevent
injury to you and damage to the equipment, obey the precautions in this manual. The precautions that follow
apply when you see a Danger or Warning symbol in this manual. If you do not obey these precautions, injury
to you or damage to the equipment can occur. If you do not understand the information in this manual,
contact Aerotech Global Technical Support.
This product has been designed for light industrial manufacturing or laboratory environments. The protection
provided by the equipment could be impaired if the product is used in a manner not specified by the
manufacturer.
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 ACS LP 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 ACS LP stage must be mounted securely. Improper mounting can result in injury and
damage to the equipment.
5. Use care when moving the ACS LP stage. Lifting or transporting the ACS LP stage
improperly can result in injury or damage to the ACS LP.
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.
Safety Procedures and Warnings ACS LP Hardware Manual
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EU Declaration of Incorporation
Manufacturer: Aerotech, Inc.
101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
herewith declares that the product:
ACS LP 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, for example, 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 fol-
lowing Directive(s):
EU 2015/863 RoHS3 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 3/31/2020
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ACS LP Hardware Manual EU Declaration of Incorporation

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EU Declaration of Incorporation ACS LP Hardware Manual
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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: ACS100LP Model Numbering System
ACS Mechanical-Bearing Direct-Drive Rotary Collet Stage, 100 mm diameter
Chuck Style (Required)
-ER8 ER8 ultra-precision collet
-ER8MB ER8 microbore collet
Feedback (Required)
-E1 Incremental encoder, 1 Vpp, sine wave output
-E2 Incremental encoder, Digital, RS422 line-driver, x5 interpolation
-E3 Incremental encoder, Digital, RS422 line-driver, x10 interpolation
-E4 Incremental encoder, Digital, RS422 line-driver, x25 interpolation
-E5 Incremental encoder, Digital, RS422 line-driver, x50 interpolation
NOTE: Digital output encoder signals are synthesized with a 16 MHz clock. Ensure that the encoder sample rate on the controller is
at least 16 MHz or higher (slower clock rates are available on request).
Wrench (Optional)
-WR Wrench for changing the collet
Aerotech P/N:MFB25378-01 [Qty-2]
Metrology (Required)
-PL1 Uncalibrated with performance plots
-PL2 Calibrated (HALAR) with performance plots
Accessories (To be Ordered as a Separate Line Item)
Collet-ER8-CLTxx ER8 DIN6499AA electropolished collet, 0.5 mm to 5 mm part sizes diameter
available
Collet-ER8MB-CLTxx ER8 DIN6499AA electropolished mircro-bore collet, 0.2 mm to 0.9 mm part sizes
diameter available
CGF Collet and gripper filtration kit
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ACS LP Hardware Manual Chapter 1: Overview

Table 1-2: ACS150LP Model Numbering System
ACS Mechanical-Bearing Direct-Drive Rotary Collet Stage, 150 mm diameter
Motor (Required)
-M1 Low current, -A winding
-M2 Low current, -B winding
Feedback (Required)
-E1 Incremental encoder, 1 Vpp, sine wave output
-E2 Incremental encoder, Digital, RS422 line-driver, x5 interpolation
-E3 Incremental encoder, Digital, RS422 line-driver, x10 interpolation
-E4 Incremental encoder, Digital, RS422 line-driver, x25 interpolation
-E5 Incremental encoder, Digital, RS422 line-driver, x50 interpolation
NOTE: Digital output encoder signals are synthesized with a 16 MHz clock. Ensure that the encoder sample rate on the controller is
at least 16 MHz or higher (slower clock rates are available on request).
Rear Seal (Optional)
-SL Rear seal
Wrench (Optional)
-WR Wrench for changing the collet
Aerotech P/N:MFB25378-02 [Qty-2]
Metrology (Required)
-PL1 Uncalibrated with performance plots
-PL2 Calibrated (HALAR) with performance plots
Accessories (To be Ordered as a Separate Line Item)
-Collet-ER25-CLTxx ER25 DIN6499AA Electropolished Collet, 0.5 mm to 15 mm part holding
sizes available
-CGF Collet and gripper filtration kit
Chapter 1: Overview ACS LP Hardware Manual
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Table 1-3: ACS200LP Model Numbering System
ACS Mechanical-Bearing Direct-Drive Rotary Collet Stage, 200 mm diameter
Stage Size (Required)
-200LP 200 mm stage width; 5.99 N·m continuous torque
Motor (Required)
-M1 Low current Standard motor winding
-M2 Optional motor winding for ACS-150LP and ACS-200LP
Feedback (Required)
-E1 Incremental encoder, 1 Vpp, sine wave output
-E2 Incremental encoder, Digital, RS422 line-driver, x5 interpolation
-E3 Incremental encoder, Digital, RS422 line-driver, x10 interpolation
-E4 Incremental encoder, Digital, RS422 line-driver, x25 interpolation
-E5 Incremental encoder, Digital, RS422 line-driver, x50 interpolation
NOTE: Digital output encoder signals are synthesized with a 16 MHz clock. Ensure that the encoder sample rate on the controller is
at least 16 MHz or higher (slower clock rates are available on request).
Rear Seal (Optional)
-SL Rear seal
Wrench (Optional)
-WR
Wrench for changing the collet
Aerotech P/N:MCA01857 [Qty-1]
Aerotech P/N:MCA02007 [Qty-1]
Metrology (Required)
-PL1 Uncalibrated with performance plots
-PL2 Calibrated (HALAR) with performance plots
Accessories (To be Ordered as a Separate Line Item)
-Collet-ER40-CLTxx ER40 DIN6499AA Electropolished Collet, 15.5 mm to 25 mm part holding sizes
available
-CGF Collet and gripper filtration kit
NOTE: ER40 collet sizes below 15.5 mm diameter are not supported. Use ACS150LP if these sizes are required.
Figure 1-1: ACS LPRotary Stage with Callouts
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ACS LP Hardware Manual Chapter 1: 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 1-4: 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 ACS LP stages are not suited for dusty or wet environments. This equates to an
ingress protection rating of IP40.
Use Indoor use only
1.1. Environmental Specifications ACS LP Hardware Manual
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1.2. 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 1-5: ACSLP Series Specifications
Model ACS100LP ACS150LP ACS200LP
Total Travel ±360° Continuous
Collet(1)(5) ER8 ER25 ER40
Aperture 5 mm 16 mm 25 mm
Max Speed(2) 1500 rpm 600 rpm 600 rpm
Accuracy(6) Uncalibrated 388 μrad (80 arc sec)
Calibrated 29.1 μrad (6 arc sec) 48.5 μrad (10 arc
sec)
48.5 μrad (10 arc
sec)
Repeatability(6) 14.6 μrad (3 arc sec) 19.4 μrad (4 arc sec) 19.4 μrad (4 arc sec)
Max Load(3)
ER8 1.5 kg (Axial); 0.5 kg (Radial); 0.75 N·m (Moment)
ER25 10 kg (Axial); 5 kg (Radial); 6 N·m (Moment)
ER40 15 kg (Axial); 10 kg (Radial); 12 N·m (Moment)
Pin/Collet Runout(4) <25 µm
Tilt Error Motion 48.5 μrad (10 arc sec) 97 μrad (20 arc sec) 97 μrad (20 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. ACS LP collet chuck accepts Rego-Fix ER collets manufactured to DIN6499 specifications only..
2. Maximum speed based on stage capability. Maximum application velocity may be limited by system data rate and system
resolution..
3. Maximum loads are mutually exclusive. Loading limits are due to the collet chuck mechanism. Contact Aerotech directly if part load
requirement exceeds specifications..
4. Measured TIR of precision gage pin chucked with an ultra precision ER collet (DIN6499) 6 mm away from collet face with no
load..
5. Collet chuck mechanism is normally-closed. Collet mechanism requires air to open collet chuck. Air supply must be dry (0ºF dew-
point) oil-less air OR 99.99% pure Nitrogen. Air or nitrogen must be filtered to 1 micron particle size or better. .
6. 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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ACS LP Hardware Manual 1.2. Basic Specifications

1.3. Air Requirements
The air pressure supplied to the collet holder or gripper is important in ensuring that the material or tool is
released properly, or for the optional gripper, that the material is held securely.
lIf compressed air is used, it must be filtered to 1 micron, dry to 0º F dew point, and oil free.
lIf nitrogen is used, it must be 99.99% pure and filtered to 1 microns.
The chuck becomes fully open at approximately 4-7 bar (60-100 psig) depending on the collet size. Higher
pressures will not cause damage to the rotary union, but high flow rates will result. Because of the
noncontact rotary union design on collet-equipped stages, a small amount of leakage will occur.
Approximate leakage rates of between 10 Lpm (0.5 CFM) and 40 Lpm (1.4 CFM), depending on pressure,
will be observed when the collet is open.
1.3. Air Requirements ACS LP Hardware Manual
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Chapter 2: Mechanical Specifications and Installation
W A R N I N G : ACS LP 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 ACS LP. Unsecured moving
parts may shift and cause bodily injury.
lImproper handling could adversely affect the performance of the ACS LP. Use care when
moving the ACS LP.
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 ACS LP stagefrom its protective shipping container. Gently set the ACS LP stage on a
smooth, flat, and clean surface.
Before operating the ACS LP stage, 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-free air to
remove any dust or debris that has collected during shipping.
Each ACS LP 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 ACS LP 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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ACS LP Hardware Manual Chapter 2: 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 2-1: ACS100LP Dimensions
2.2. Dimensions ACS LP Hardware Manual
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Figure 2-2: ACS150LP Dimensions
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ACS LP Hardware Manual 2.2. Dimensions

Figure 2-3: ACS200LP Dimensions
2.2. Dimensions ACS LP Hardware Manual
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2.3. Securing the Stage to the Mounting Surface
W A R N I N G : Make sure that all moving parts are secure before moving the ACS LP.
Unsecured moving parts may shift and cause bodily injury.
W A R N I N G : The ACS LP 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 to achieve the maximum performance from
the ACS LP stage. When it is mounted to a non-flat surface, the stage can be distorted while 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 5 µm over the entire stage
footprint.
N O T E : The stage base is precision machined and verified for flatness prior to stage assembly at the
factory. If machining is required to achieve the desired flatness, it should be performed on the mounting
surface 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.
ACS LP 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
ACS100LP Standard 6 mm [1/4"] SHCS 7 N·m
Side M5 x 0.8 THDx 6.4 [0.25] DP 4 N·m
ACS150LP, ACS200LP Standard 6 mm [1/4”] SHCS 7 N·m
Side M5 x 0.8 THDx 7.6 [0.30] DP 4 N·m
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ACS LP Hardware Manual 2.3. Securing the Stage to the Mounting Surface

Figure 2-4: ACS LP Stage Mounting Holes
Figure 2-5: Typical ACS150LP Stage Showing Side Mounting Holes
2.3. Securing the Stage to the Mounting Surface ACS LP Hardware Manual
20 www.aerotech.com