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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