Aerotech AGR50 User manual

Revision 2.00
AGR Gear-Driven Rotary Stage
HARDWAREMANUAL

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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 © 2009-2023, Aerotech, Inc., All rights reserved.

Table of Contents
AGR Gear-Driven Rotary Stage 1
Table of Contents 3
List of Figures 4
List of Tables 5
EU Declaration of Incorporation 6
UKCADeclaration of Incorporation 7
Safety Procedures and Warnings 8
Installation and Operation 9
Electrical Warnings 10
Motor-Related Warnings 11
Pinch Points 12
Handling and Storage 13
Chapter 1: Overview 15
1.1. Environmental Specifications 19
1.2. Accuracy and Temperature Effects 19
1.3. Basic Specifications 20
1.4. Vacuum Operation 22
Chapter 2: Installation 23
2.1. Dimensions 23
2.2. Securing the Stage to the Mounting Surface 33
2.3. Attaching the Payload or Fixturing to the Stage 35
Chapter 3: Electrical Installation 39
3.1. Motor and Feedback Connectors 40
3.2. Motor and Feedback Wiring 45
3.3. Motor and Feedback Specifications 48
3.4. Limits, Marker, and Machine Direction 55
3.5. Motor and Feedback Phasing 57
Chapter 4: Maintenance 59
4.1. Service and Inspection Schedule 59
4.2. Cleaning and Lubrication 60
4.3. Motor Mounting 62
4.4. Troubleshooting 65
Appendix A: Warranty and Field Service 67
Appendix B: Revision History 69
Index 71
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List of Figures
Figure 1-1: Standard Features 17
Figure 1-2: Motor Location Options 17
Figure 1-3: Motor Orientation Options 17
Figure 1-4: Encoder Option 18
Figure 1-5: Seal Option 18
Figure 1-6: Stage Accessories 18
Figure 1-7: No Motor Option 18
Figure 2-1: AGR50 Dimensions 23
Figure 2-2: AGR50 Accessories Dimensions 24
Figure 2-3: AGR75 Dimensions 25
Figure 2-4: AGR75 Accessories Dimensions 26
Figure 2-5: AGR100 Dimensions 27
Figure 2-6: AGR100 Accessories Dimensions 28
Figure 2-7: AGR150 Dimensions 29
Figure 2-8: AGR150 Accessories Dimensions 30
Figure 2-9: AGR200 Dimensions 31
Figure 2-10: AGR200 Accessories Dimensions 32
Figure 2-11: Stage Mounting Holes 34
Figure 2-12: AGR50 Cantilevered Load Capabilities 36
Figure 2-13: AGR75 Cantilevered Load Capabilities 36
Figure 2-14: AGR100 Cantilevered Load Capabilities 37
Figure 2-15: AGR150 Cantilevered Load Capabilities 37
Figure 2-16: AGR200 Cantilevered Load Capabilities 38
Figure 3-1: Brushless Motor and Feedback Wiring (AGR50, AGR75, AGR100, AGR150) 45
Figure 3-2: Brushless Motor and Feedback Wiring (AGR200) 46
Figure 3-3: Stepper Motor and Feedback Wiring 47
Figure 3-4: Machine Direction 55
Figure 3-5: Limit Flag Locations 56
Figure 3-6: Hall Phasing Diagram 57
Figure 3-7: Encoder Phasing Reference Diagram (Standard/Square Wave) 58
Figure 3-8: Encoder Phasing Reference Diagram (Analog/Sine Wave) 58
Figure 4-1: View of the Current Draw Before and After Lubrication (Typical) 61
Figure 4-2: Motor Mounting Overview 62
Figure 4-3: Attach the Coupling Adapter to the Motor Shaft 63
Figure 4-4: Attach the Motor the Stage 63
Figure 4-5: Tighten the Shaft Coupling to the Drive Screw 64
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List of Tables
Table 1-1: Model Numbers and Ordering Options 15
Table 1-2: Environmental Specifications 19
Table 1-3: AGR Series Specifications (AGR50, AGR75, AGR100) 20
Table 1-4: AGR Series Specifications (AGR150 and AGR200) 21
Table 2-1: Stage Mounting Surface Flatness Requirement 33
Table 2-2: Stage to Mounting Surface Hardware 33
Table 2-3: Mounting Interface Flatness Requirement 35
Table 3-1: Brushless Motor Connector Pinout (AGR50, AGR75, AGR100, AGR150) 40
Table 3-2: Mating Connector Part Numbers for D-Style Motor Connectors 40
Table 3-3: Brushless Motor Connector Pinout (AGR200) 41
Table 3-4: Mating Connector Part Numbers for MS-Style Motor Connectors 41
Table 3-5: Stepper Motor Connector Pinout 41
Table 3-6: Mating Connector Part Numbers for D-Style Motor Connectors 41
Table 3-7: Feedback Connector Pinout (AGR50, AGR75, AGR100, AGR150) 42
Table 3-8: Mating Connector Part Numbers for D-Style Feedback Connectors 42
Table 3-9: Feedback Connector Pinout (AGR200) 43
Table 3-10: Mating Connector Part Numbers for MS-Style Feedback Connectors 43
Table 3-11: Stepper Motor Feedback Connector Pinout 44
Table 3-12: Mating Connector Part Numbers for D-Style Feedback Connectors 44
Table 3-13: Hall-Effect Sensor Specifications 48
Table 3-14: Thermistor Specifications 48
Table 3-15: Limit Switch Specifications 48
Table 3-16: Brake Specifications 48
Table 3-17: Encoder Specifications 49
Table 3-18: Encoder Resolution 49
Table 3-19: BMS35 and BMS60 Motor Specifications 50
Table 3-20: BMS280 Motor Specifications 51
Table 3-21: BM24 and BM75 Motor Specifications 52
Table 3-22: BM250 Motor Specifications 53
Table 3-23: SM35 Stepper Motor Specifications 54
Table 3-24: SM60 Stepper Motor Specifications 54
Table 3-25: SM280 Stepper Motor Specifications 54
Table 4-1: Hardware Requirements 62
Table 4-2: Troubleshooting 65
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EU Declaration of Incorporation
Manufacturer Aerotech, Inc.
101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
herewith declares that the product:
AGR 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 following directive(s):
EU 2015/863 Directive, Restricted Substances (RoHS 3)
Authorized
Representative: / Norbert Ludwig
Managing Director
Aerotech GmbH
Gustav-Weißkopf-Str.18
90768 Fürth
Germany
Engineer Verifying
Compliance / Alex Weibel
Aerotech, Inc.
101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
Date 7/21/2023
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UKCADeclaration of Incorporation
Manufacturer Aerotech, Inc.
101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
herewith declares that the product:
AGR stage
To which this declaration relates, meets the essential health and safety requirements and is in
conformity with the relevant UK Legislation listed below:
Supply of Machinery (Safety) Regulations 2008
Hazardous Substances in Electrical and Electronic Equipment Regulations
2012
Using the relevant section of the following UK Designated Standards and other normative
documents when installed in accordance with the installation instructions supplied by the
manufacturer.
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 furthermore declares that it is not allowed to put the product 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 Supply of Machinery (Safety) Regulations 2008 UK
Legislation and with national implementing legislation, for example, as a whole, including the
equipment referred to in this Declaration.
Authorized
Representative: / Simon Smith
Managing Director
Aerotech Ltd
The Old Brick Kiln, Ramsdell, Tadley
Hampshire RG26 5PR
UK
Engineer Verifying
Compliance / Alex Weibel
Aerotech, Inc.
101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
Date 7/21/2023
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Safety Procedures and Warnings
IMPORTANT: This manual tells you how to carefully and correctly use and operate the
stage.
lRead all parts of this manual before you install or operate the stage or before you do
maintenance to your system.
lTo prevent injury to you and damage to the equipment, obey the precautions in this
manual.
lAll specifications and illustrations are for reference only and were complete and
accurate as of the release of this manual. To find the newest information about this
product, refer to www.aerotech.com.
If you do not understand the information in this manual, contact Aerotech Global
Technical Support.
IMPORTANT: This product has been designed for light industrial manufacturing or
laboratory environments. If the product is used in a manner not specified by the
manufacturer:
lThe protection provided by the equipment could be impaired.
lThe life expectancy of the product could be decreased.
Safety notes and symbols are placed throughout this manual to warn you of the potential risks at the
moment of the safety note or if you fail to obey the safety note.
Shock/Electrocution Hazard Pinch, Shear, or Crush Hazard
General/Conditional Awareness Rotational Machinery Hazard
Hot Surface Hazard Pinch/Entanglement Hazard
Magnetic Field Hazard Trip Hazard
Heavy, Bulky Lifting Hazard Appropriate Equipment Required
Pressure/Explosive Atmosphere
Hazard Electrostatic Discharge Hazard
A blue circle symbol is an action or tip that you should obey. Some examples include:
General tip Read the manual/section
Wear personal protective equipment
(PPE): Safety Glasses If applicable, do not lift unassisted
Wear personal protective equipment
(PPE): Gloves
Wear personal protective equipment
(PPE): Hearing Protection
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Installation and Operation
To decrease the risk of damage to the equipment, you must obey the precautions that follow.
DANGER: General Hazard Warning!
This product can produce high forces and move at velocities that could cause injury.
The user is responsible for its safe operation. The following general equation is
provided to assist with risk assessments in regards to contact and pinch points:
WARNING: General Hazard Warning!
lOnly trained operators should operate this equipment.
lAll service and maintenance must be done by approved personnel.
lUse this product only in environments and operating conditions that are approved in
this manual.
lNever install or operate equipment that appears to be damaged.
lMake sure that the product is securely mounted before you operate it.
lUse care when you move the stage or you could negatively affect the performance of
it.
WARNING:Trip Hazard!
Route, house, and secure all cables, duct work, air, or water lines. Failure to do so could
introduce trip hazards around the system that could result in physical injury or could
damage the equipment.
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Electrical Warnings
To decrease the risk of electrical shock, injury, death, and damage to the equipment, obey the
precautions that follow.
DANGER: Electrical Shock Hazard!
lStage motor phase voltage levels could be hazardous live.
lPersonnel are protected from hazardous voltages unless electrical interconnections,
protective bonding (safety ground), or motor/stage enclosures are compromised.
lDo not connect or disconnect stage/motor interconnections while connected to a live
electrical power source.
lBefore you set up or do maintenance, disconnect electrical power.
lIt is the responsibility of the End User/System Integrator to make sure that stages are
properly connected and grounded per Engineering Standards and applicable safety
requirements.
lIt is the responsibility of the End User/System Integrator to configure the system
drive or controller within the Aerotech motor/stage electrical and mechanical
specifications.
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