Aerotech AMG-GR Series User manual

Revision 2.00
AMG-GR Series Gear-Driven Gimbals
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 © 2015-2022, Aerotech, Inc., All rights reserved.

Table of Contents
AMG-GR Series Gear-Driven Gimbals 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 17
1.1. Environmental Specifications 19
1.2. Accuracy and Temperature Effects 19
1.3. Basic Specifications 20
1.4. Vacuum Operation 21
1.5. Export Restrictions 22
Chapter 2: Installation 23
2.1. Dimensions 24
2.2. Securing the Base to the Mounting Surface 27
2.3. Attaching the Payload to the Stage 29
Chapter 3: Electrical Installation 31
3.1. Motor and Feedback Connectors 32
3.2. Motor and Feedback Wiring 37
3.3. Motor and Feedback Specifications 39
3.4. Limits, Marker, and Machine Direction 44
3.5. Motor and Feedback Phasing 45
Chapter 4: Maintenance 47
4.1. Service and Inspection Schedule 47
4.2. Cleaning and Lubrication 48
4.3. Troubleshooting 50
Appendix A: Warranty and Field Service 51
Appendix B: Revision History 53
Index 55
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List of Figures
Figure 1-1: Shipping Brackets 14
Figure 1-2: Lifting Features 15
Figure 2-1: AMG150GR Dimensions 24
Figure 2-2: AMG200GR Dimensions 25
Figure 2-3: AMG300GR Dimensions 26
Figure 2-4: View of AMG-GR Showing Mounting Holes 28
Figure 3-1: Motor and Feedback Wiring (BM/BMS Motors) 37
Figure 3-2: Motor and Feedback Wiring (SM Motors) 38
Figure 3-3: Machine Direction 44
Figure 3-4: Hall Phasing Diagram 45
Figure 3-5: Encoder Phasing Reference Diagram (Standard/Square Wave) 46
Figure 3-6: Encoder Phasing Reference Diagram (Analog/Sine Wave) 46
Figure 4-1: Lubrication Ports 49
Figure 4-2: View of the Current Draw of a Typical AMG-GR Stage Before and After Lubrication 49
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List of Tables
Table 1-1: Model Numbers and Ordering Options 17
Table 1-2: Environmental Specifications 19
Table 1-3: AMGSeries Specifications 20
Table 2-1: Stage Mounting Surface Flatness Requirement 27
Table 2-2: Stage to Mounting Surface Hardware 27
Table 3-1: Motor Connector Pinout 33
Table 3-2: Mating Connector Part Numbers for the Motor Connector 33
Table 3-3: BM/BMS Feedback Connector Pinout 34
Table 3-4: Mating Connector Part Numbers for the BM/BMS Feedback Connector 34
Table 3-5: Stepper Feedback Connector Pinout 35
Table 3-6: Mating Connector Part Numbers for the Stepper Feedback Connector 35
Table 3-7: 9-Pin Limit Connector (-TR90,-TR315, or -TR180 Options) 36
Table 3-8: Mating Connector Part Numbers for the Limit Connector 36
Table 3-9: 15-Pin Direct Encoder Connector (-E1, -E2, or -E3 Encoder Option) 36
Table 3-10: Mating Connector Part Numbers for the Direct Encoder Connector 36
Table 3-11: Hall-Effect Sensor Specifications 39
Table 3-12: Thermistor Specifications 39
Table 3-13: Encoder Specifications 39
Table 3-14: Limit Switch Specifications 39
Table 3-15: Brake Specifications 40
Table 3-16: Maximum Motor Bus Voltage 40
Table 3-17: Resolution Information 40
Table 3-18: Brushless Rotary Motor Specifications 41
Table 3-19: Brushless, Slotless Rotary Motor Specifications 42
Table 3-20: Stepper Motor Specifications 43
Table 4-1: Troubleshooting 50
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EU Declaration of Incorporation
Manufacturer Aerotech, Inc.
101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
herewith declares that the product:
AMG-GR gimbal
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 / Simon Smith, European 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 12/20/2022
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UKCADeclaration of Incorporation
Manufacturer Aerotech, Inc.
101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
herewith declares that the product:
AMG-GR gimbal
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 manufacturer's supplied installation instructions.
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.
EN ISO 12100:2010
Safety of machinery - Basic concepts, general principles for design
Authorized
Representative / Simon Smith, European 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 12/20/2022
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Safety Procedures and Warnings
IMPORTANT: This manual tells you how to carefully and correctly use and operate the
gimbal.
lRead all parts of this manual before you install or operate the gimbal 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 AMG-GR 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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Motor-Related Warnings
Aerotech motors are capable of producing high forces and velocities. Obey all warnings and all
applicable codes and standards when you use or operate a stage or system that incorporates
Aerotech motors.
DANGER: Mechanical Hazard!
Personnel must be made aware of the mechanical hazards during set up or when you
do service to the stage.
lUnintentional manual movement into the stage "end-of-travel" stops, could damage
the stage or undo precision alignments.
lStage movement could create pinch points, entanglement hazards, or rotational
mechanical hazards.
DANGER: Hot Surface Hazard!
lThe stage/motor frame temperature could exceed 70°C in some applications.
lDo not touch the stage/motor frame while it is in operation.
lWait until the stage/motor has cooled before you touch it.
DANGER:Risk of Explosive Atmosphere!
lStandard Aerotech stage/motors are not rated for applications with explosive
atmospheres such as airborne dust or combustible vapors.
lDo not operate stage/motors outside of Aerotech environmental specifications.
DANGER: Magnetic Field Hazard!
Aerotech stage/motors contain magnets which can present a Magnetic Field Hazard.
lDo not disassemble a stage motor under any circumstances.
lStrong magnetic fields could interfere with external/internal medical devices.
lStrong magnetic fields could present mechanical hazards such as pinch points.
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Pinch Points
A pinch point is a mechanical hazard that can occur when there are exposed parts of the stage or
system that can move. For example, the travel of a stage tabletop could expose the user to a pinch
point between the tabletop and the stage housing. The images that follow will show you typical
external and internal pinch point locations.
DANGER: Mechanical Hazard!
lSystem travel can cause crush, shear, or pinch injuries.
lOnly trained operators should operate this equipment.
lDo not put yourself in the travel path of machinery.
lRestrict access to all motor and stage parts
owhen the system moves under power (during normal operation, for example).
owhen the system is moved manually (during the installation process or when you
do maintenance, for example).
lMotors are capable of very high speeds and acceleration rates.
Figure 1: Typical Pinch Point Locations
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Handling and Storage
IMPORTANT: It is the responsibility of the customer to safely and carefully lift and
move the gimbal.
lBe careful when you move or transport the gimbal.
lRetain the shipping materials for future use.
lTransport or store the gimbal in its protective packaging.
WARNING: Electrostatic Discharge (ESD) Sensitive Components!
Wear an ESDwrist strap when you handle, install, or do service to the system assembly.
You could damage the power supply or drives if you fail to observe the correct
ESDpractices.
Inspect the shipping container for any evidence of shipping damage. If any damage exists, notify the
shipping carrier immediately.
Remove the packing list from the shipping container. Make sure that all the items specified on the
packing list are contained within the package.
The documentation for the gimbal is on the included installation device. The documents include
manuals, interconnection drawings, and other documentation pertaining to the system. Save this
information for future reference.
Each stage has a label listing the system part number and serial number. These numbers contain
information necessary for maintenance or system hardware and software updates. Locate this label
and record the information for later reference.
Unpacking and Handling
It is the responsibility of the customer to safely and carefully lift and move the gimbal.
IMPORTANT: All electronic equipment and instrumentation is wrapped in antistatic
material and packaged with desiccant. Ensure that the antistatic material is not
damaged during unpacking.
DANGER:Lifting Hazard! Use care when you move the AMG-GR or you could
negatively affect the performance of it.
lUse the correct lifting techniques, mechanical assistance, or additional help to lift or
move this product.
lDo not use the cables or the connectors to lift or move this product.
lMake sure that all moving parts are secure before you move the gimbal. Unsecured
moving parts could shift and cause injury or damage to the equipment.
lIf the gimbal is heavy, a single person lift could cause injury. Use assistance when you
lift or move it.
oRefer to Section 2.1. Dimensions for dimensions
Carefully remove the stagefrom its protective shipping container.
lLift this product only by the base.
lFor multi-axis assemblies, always lift the system by the lower axis.
lUse a cart, dolly, or similar device to move the stage to a new location.
Gently set the stage on a smooth, flat, and clean surface. Use compressed nitrogen or clean, dry, oil-
free air to remove any dust or debris that has collected during shipping.
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Before you operate the stage, let it stabilize at room temperature for at least 12 hours. This will
ensure that all of the alignments, preloads, and tolerances are the same as they were when they
were tested at Aerotech.
Each stage has a label listing the system part number and serial number. These numbers contain
information necessary for maintenance or system hardware and software updates. Locate this label
and record the information for later reference.
Shipping Brackets
Shipping brackets (typically red, anodized aluminum) might have been installed to secure the system
prior to shipment. The shipping brackets, if installed, will need to be removed prior to machine start
up.
Figure 1-1: Shipping Brackets
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Figure 1-2: Lifting Features
Storage
Store the gimbal in the original shipping container. If the original packaging included ESDprotective
packaging, make sure to store the gimbal in it. The storage location must be dry, free of dust, free of
vibrations, and flat.
Refer to Section 1.1. Environmental Specifications
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Chapter 1: Overview
Table 1-1: Model Numbers and Ordering Options
AMG-GR Gear-Driven Gimbal
AMG100GR 100 mm diameter clear aperture
AMG150GR 150 mm diameter clear aperture
AMG200GR 200 mm diameter clear aperture
AMG300GR 300 mm diameter clear aperture
Cell (Required)
-CL0 No cell
-CL1 Front surface reflecting cell
-CL2 Centered cell
Direct Rotary Feedback (Optional)
-E1 Incremental encoders,1 Vpp, one per axis
-E2 Incremental encoders, digital TTL output, x5 multiplication, one per axis
-E3 Incremental encoders, digital TTL output, x50 multiplication, one per axis
Azimuth [AZ] Travel (Required)
-TR180 Limited travel, ±90 degrees
-TRCNT Continuous travel
Azimuth Motor (Required)
-M0 No motor
-M1 AMG100GR / 150GR BMS35 brushless servomotor with 2000-line TTL encoder
AMG200GR / 300GR BMS60 brushless servomotor with 2500-line TTL encoder
-M2
AMG100GR / 150GR BMS35 brushless servomotor with 2000-line TTL encoder and
brake
AMG200GR / 300GR BMS60 brushless servomotor with 2500-line TTL encoder and
brake
-M3 AMG100GR / 150GR BMS35 brushless servomotor with 2000-line TTL encoder
AMG200GR / 300GR BMS60 brushless servomotor with 1000-line 1 Vpp encoder
-M4
AMG100GR / 150GR BMS35 brushless servomotor with 2000-line TTL encoder and
brake
AMG200GR / 300GR BMS60 brushless servomotor with 1000-line 1 Vpp encoder and
brake
-M5 AMG100GR / 150GR BM22 brushless servomotor with 2000-line TTL encoder
AMG200GR / 300GR BM75 brushless servomotor with 2500-line TTL encoder
-M6 AMG100GR / 150GR BM22 brushless servomotor with 2000-line TTL encoder and brake
AMG200GR / 300GR BM75 brushless servomotor with 2500-line TTL encoder and brake
-M7 AMG100GR / 150GR SM35 stepper motor
AMG200GR / 300GR BM75 brushless servomotor with 1000-line 1 Vpp encoder
-M8 AMG200GR / 300GR BM75 brushless servomotor with 1000-line 1 Vpp encoder and
brake
-M9 AMG200GR / 300GR SM60 Stepper Motor
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Elevation [EL] Travel (Required)
-TR090 Limited travel, ± 45 degrees
-TR315 Limited travel, ± 157.5 degrees
-TRCNT Continuous travel
Elevation Motor (Required)
-M0 No motor
-M1
AMG100GR / 150GR /
200GR BMS35 brushless servomotor with 2000-line TTL encoder
AMG300GR BMS60 brushless servomotor with 2500-line TTL encoder
-M2
AMG100GR / 150G /
200GR
BMS35 brushless servomotor with 2000-line TTL encoder and
brake
AMG300GR BMS60 brushless servomotor with 2500-line TTL encoder and
brake
-M3
AMG100GR / 150GR /
200GR BMS35 brushless servomotor with 2000-line TTL encoder
AMG300GR BMS60 brushless servomotor with 1000-line 1 Vpp encoder
-M4
AMG100GR / 150GR /
200GR
BMS35 brushless servomotor with 2000-line TTL encoder and
brake
AMG300GR BMS60 brushless servomotor with 1000-line 1 Vpp encoder and
brake
-M5
AMG100GR / 150GR /
200GR BM22 brushless servomotor with 2000-line TTL encoder
AMG300GR BM75 brushless servomotor with 2500-line TTL encoder
-M6
AMG100GR / 150GR /
200GR BM22 brushless servomotor with 2000-line TTL encoder and brake
AMG300GR BM75 brushless servomotor with 2500-line TTL encoder and brake
-M7
AMG100GR / 150GR /
200GR SM35 stepper motor
AMG300GR BM75 brushless servomotor with 1000-line 1 Vpp encoder
-M8 AMG300GR BM75 brushless servomotor with 1000-line 1 Vpp encoder and
brake
-M9 AMG300GR SM60 stepper motor
Mounting Plate (Optional)
-MP Optical table mounting plate
Note: -MP option required when continuous azimuth travel option is selected.
Metrology (Required)
-PL0 No metrology performance plots
-PL1 Metrology, uncalibrated with performance plots
-PL2 Metrology, calibrated (HALAR) with performance plots
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1.1. Environmental Specifications
WARNING:General Hazard Warning! Do not expose this product to environments or
conditions outside of the listed specifications. You could damage the equipment if you
exceed the environmental or operating specifications.
DANGER:Risk of Explosive Atmosphere!
lStandard Aerotech stage/motors are not rated for applications with explosive
atmospheres such as airborne dust or combustible vapors.
lDo not operate stage/motors outside of Aerotech environmental specifications.
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. Floor or acoustical vibration can
affect system performance. Contact Aerotech for information regarding your
specific application.
Protection
Rating
Limited protection against dust, but not water (IP40 equivalent ingress protection
rating).
Use Indoor use only
1.2. Accuracy and Temperature Effects
Aerotech products are designed for and built in a 20°C (68°F) environment. Temperature changes
could cause a decrease in performance or permanent damage to the gimbal. At a minimum, the
environmental temperature must be controlled to within 0.25ºC per 24 hours to ensure the gimbal
specifications are repeatable over an extended period of time. The severity of temperature effects
on all specifications depends on many different environmental conditions, which include how the
gimbal is mounted. Contact the factory for more details.
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1.3. Basic Specifications
Table 1-3: AMGSeries Specifications
Basic Model AMG100GR AMG150GR AMG200GR AMG300GR
Total Travel(1) Azimuth 180° continuous rotation
Elevation 90°, 315°, and continuous rotation
Clear Aperture Diameter 100 mm 150 mm 200 mm 300 mm
Accuracy
Uncalibrated AZ: 0.87 mrad (180 arc sec)
EL: 0.87 mrad (180 arc sec)
AZ: 0.58 mrad (120 arc sec)
EL: 0.58 mrad (120 arc sec)
Calibrated AZ: 0.29 mrad (60 arc sec)
EL: 0.29 mrad (60 arc sec)
AZ: 0.24 mrad (50 arc sec)
EL: 0.24 mrad (50 arc sec)
Uncalibrated
with Direct
Encoder
AZ: 97 µrad (20 arc sec)
EL: 97 µrad (20 arc sec)
Calibrated
with Direct
Encoder
AZ: 58 µrad (12 arc sec)
EL: 58 µrad (12 arc sec)
AZ: 49 µrad (10 arc sec)
EL: 49 µrad (10 arc sec)
Bidirectional
Repeatability(2)
Without Direct
Encoder
AZ: 0.22 mrad (45 arc sec)
EL: 0.22 mrad (45 arc sec)
With Direct
Encoder
AZ: 39 µrad (8 arc sec)
EL: 39 µrad (8 arc sec)
AZ: 29 µrad (6
arc sec)
EL: 39 µrad (8 arc
sec)
AZ: 29 µrad (6 arc
sec)
EL: 29 µrad (6 arc
sec)
Tilt Error Motion 49 µrad (10 arc sec)
Orthogonality 73 µrad (15 arc sec)
Gear Ratio Azimuth 51:1 51:1 85:1 117:1
Elevation 51:1 51:1 67:1 85:1
Maximum
Speed(3)
Servomotor 180°/s
Stepper Motor 60°/s 40°/s (Azimuth)
60°/s (Elevation) 40°/s
Azimuth Aperture (available
only with 180° azimuth travel
option)
50 mm 50 mm 100 mm 150 mm
Max. Load Capacity 12 kg 15 kg 25 kg 45 kg
Maximum Torque Load to
Azimuth/ Elevation Shaft for
Offset Loading
2.5 N·m 2.5 N·m 3.5 N·m 12 N·m
Mass (BMS
Servomotor)
Standard 9.7 kg 11.9 kg 18.7 kg 32.2 kg
Direct Encoder 11.1 kg 13.3 kg 20.8 kg 35.1 kg
Material Aluminum
(1) Custom travels available upon request.
(2) Certified with each stage. Specifications are per axis unless specified.
(3) Maximum speed is load dependent. Contact an Aerotech Application Engineer if imbalanced loads are present. Requires
the selection of an appropriate amplifier with sufficient voltage and current.
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