Aerotech ANT130R Sieries User manual

Revision: 1.05.00
ANT130R Hardware Manual

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Email: [e-mail]
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
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Copyright © 2010-2017, Aerotech, Inc., All rights reserved.

ANT130R Hardware Manual Table of Contents
Table of Contents
ANT130R 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 10
1.2. Accuracy and Temperature Effects 10
1.3. Basic Specifications 11
Chapter 2: Mechanical Specifications and Installation 13
2.1. Unpacking and Handling the Stage 13
2.2. Dimensions 14
2.3. Securing the Stage to the Mounting Surface 16
2.4. Attaching the Payload to the Stage 17
Chapter 3: Electrical Specifications and Installation 19
3.1. Motor and Feedback Connectors 20
3.2. Motor and Feedback Wiring 22
3.3. Motor and Feedback Specifications 23
3.4. Limits, Marker, and Machine Direction 25
3.5. Motor and Feedback Phasing 26
Chapter 4: Maintenance 29
4.1. Service and Inspection Schedule 29
4.2. Cleaning and Lubrication 30
4.3. Troubleshooting 31
Appendix A: Warranty and Field Service 33
Appendix B: Revision History 35
Index 37
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Table of Contents ANT130R Hardware Manual
List of Figures
Figure 2-1: ANT130R Dimensions 14
Figure 2-2: ANT130R Mounting Plate (-MP) Dimensions 15
Figure 2-3: Mounting Hole Pattern 16
Figure 2-4: Load Orientations 18
Figure 2-5: Cantilevered Load Capabilities 18
Figure 3-1: Motor and Feedback Wiring 22
Figure 3-2: Machine Direction 25
Figure 3-3: Hall Phasing 26
Figure 3-4: Analog Encoder Phasing Reference Diagram 27
Figure 3-5: Encoder Phasing Reference Diagram (Standard) 27
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ANT130R Hardware Manual Table of Contents
List of Tables
Table 1-1: ANT130R Model Numbering System 9
Table 1-2: Environmental Specifications 10
Table 1-3: ANT130R Series Specifications (-020, -180, and -360) 11
Table 2-1: Stage to Mounting Surface Hardware 16
Table 3-1: Motor and Feedback Pinouts 21
Table 3-2: Feedback Specifications 23
Table 3-3: Motor Specifications 24
Table 3-4: Encoder Specifications 24
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Table of Contents ANT130R Hardware Manual
Safety Procedures and Warnings
Read this manual in its entirety before installing, operating, or servicing this product. If you do not understand
the information contained herein, contact an Aerotech representative before proceeding. Strictly adhere to
the statements given in this section and other handling, use, and operational information given throughout
the manual to avoid injury to you and damage to the equipment.
The following statements apply wherever the Warning or Danger symbol appears within this manual. Failure
to observe these precautions could result in serious injury to those individuals performing the procedures
and/or damage to the equipment.
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 ANT130R 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 ANT130R stage must be mounted securely. Improper mounting can result in injury and
damage to the equipment.
5. Use care when moving the ANT130R stage. Lifting or transporting the ANT130R stage
improperly can result in injury or damage to the ANT130R.
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.
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ANT130R Hardware Manual Table of Contents
EU Declaration of Incorporation
Manufacturer: Aerotech, Inc.
101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
herewith declares that the product:
ANT130R 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, i.e., 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):
2011/65/EU RoHS2 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
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Table of Contents ANT130R Hardware Manual
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ANT130R Hardware Manual Overview
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: ANT130R Model Numbering System
ANT Series Linear Motor Stage
Travel (Required)
-360 Continuous travel
-020 Limited travel ±10 degrees
-180 Limited travel ±90 degrees
Mounting Plate (Optional)
-MP Breadboard mounting plate
Performance Grade (Required)
-PL1 Base performance
-PL2 High-accuracy performance, PLUS
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Overview ANT130R Hardware Manual
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 1-2: 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. Excessive floor or acoustical vibration
can affect system performance. Contact Aerotech for information regarding your
specific application.
Protection
Rating
The ANT130R stages are not suited for dusty or wet environments. This equates to an
ingress protection rating of IP00.
Use Indoor use only
1.2. Accuracy and Temperature Effects
Aerotech products are designed for and built in a 20°C (68°F) environment. Extreme temperature changes
could cause a decrease in performance or permanent damage to the ANT130R. At a minimum, the
environmental temperature must be controlled to within 0.25ºC per 24 hours to ensure the ANT130R
specifications are repeatable over an extended period of time. The severity of temperature effects on all
specifications depends on many different environmental conditions, including how the ANT130R is
mounted. Contact the factory for more details.
The accuracy specification of ANT130R series stages is measured 25 mm above the table with the stage in
an unloaded condition. The stage is assumed to be fully supported by a mounting surface meeting or
exceeding the specification in Section 2.3.
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ANT130R Hardware Manual Overview
1.3. 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.
Resolution is dependent on encoder resolution and controller interpolation.
Table 1-3: ANT130R Series Specifications (-020, -180, and -360)
-020 -180 -360
Rotation Angle 20° 180° ±360° Continuous
Accuracy(1) Base 10 arc sec 10 arc sec 10 arc sec
PLUS 3 arc sec 3 arc sec 3 arc sec
Resolution (Minimum
Incremental Motion) 0.01 arc sec 0.01 arc sec 0.01 arc sec
Bidirectional Repeatability(1) 1.5 arc sec 1.5 arc sec 1.5 arc sec
Unidirectional Repeatability 0.5 arc sec 0.5 arc sec 0.5 arc sec
Tilt Error Motion Synch Not applicable Not applicable 10 arc sec
Asynch Not applicable Not applicable 3 arc sec
Axial Error Motion
(1)
Synch Not applicable Not applicable 2 μm
Asynch Not applicable Not applicable 0.5 μm
Radial Error
Motion(1)
Synch Not applicable Not applicable 3 μm
Asynch Not applicable Not applicable 1 μm
Maximum Speed 20 rpm 20 rpm 200 rpm
Maximum Acceleration 400 rad/s2400 rad/s2400 rad/s2
In-Position Stability(2) 0.005 arc sec 0.005 arc sec 0.005 arc sec
Aperture 11 mm 11 mm 11 mm
Maximum Torque (Continuous) 0.2 N·m 0.2 N·m 0.2 N·m
Load Capacity(3)
Axial 3.0 kg (6.6 lb) 3.0 kg (6.6 lb) 3.0 kg (6.6 lb)
Radial 2.0 kg (4.4 lb) 2.0 kg (4.4 lb) 2.0 kg (4.4 lb)
Moment 3 N·m 3 N·m 3 N·m
Rotor Inertia (Unloaded) 0.001 kg·m20.001 kg·m20.0016 kg·m2
Stage Mass 1.5 kg (3.3 lb) 1.5 kg (3.3 lb) 1.7 kg (3.74 lb)
Material Aluminum Body/Black Hardcoat Finish
Mean Time Between Failure 30,000 Hours
1. Certified with each stage.
2. In-Position Jitter listing is 3 sigma value.
3. Axis orientation for on-axis loading is listed (refer to Section 2.4. for offset loading behavior).
• Specifications are for single-axis systems measured 25 mm above the tabletop; performance of multi-axis system is payload and
workpoint dependent. Consult the Aerotech factory for multi-axis or non-standard applications.
• All error motion specifications are measured at 60 rpm.
• For high speed operation, customer payload must be balanced to G1.0 per ISO 1940.
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Overview ANT130R Hardware Manual
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ANT130R Hardware Manual Mechanical Specifications and Installation
Chapter 2: Mechanical Specifications and Installation
W A R N I N G : ANT130R 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 ANT130R. Unsecured
moving parts may shift and cause bodily injury.
lImproper handling could adversely affect the performance of the ANT130R. Use care
when moving the ANT130R.
N O T E : If any damage has occurred during shipping, report it immediately.
Carefully remove the ANT130Rfrom its protective shipping container. Gently set the ANT130R on a
smooth, flat, and clean surface.
Before operating the ANT130R, 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-less air to
remove any dust or debris that has collected during shipping.
Each ANT130R 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.
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Mechanical Specifications and Installation ANT130R Hardware Manual
2.2. Dimensions
Figure 2-1: ANT130R Dimensions
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ANT130R Hardware Manual Mechanical Specifications and Installation
Figure 2-2: ANT130R Mounting Plate (-MP) Dimensions
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Mechanical Specifications and Installation ANT130R Hardware Manual
2.3. Securing the Stage to the Mounting Surface
W A R N I N G : The ANT130R 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 in order to achieve the maximum
performance from the ANT130R stage. When it is mounted to a non-flat surface, the stage can be distorted
as 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 1 µm per 50 mm.
N O T E : The ANT130R is precision machined and verified for flatness prior to product assembly at the
factory. If machining is required to achieve the desired flatness, it should be performed on the mounting
surface rather than the ANT130R. Shimming should be avoided if possible. If shimming is required, it
should be minimized to retain maximum rigidity of the system.
ANT130R series stages have a fixed mounting pattern (as shown in Figure 2-3).
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
M6 SHCS 4.6 N·m
Figure 2-3: Mounting Hole Pattern
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ANT130R Hardware Manual Mechanical Specifications and Installation
2.4. Attaching the Payload to the Stage
Inspect the mounting surface for dirt or unwanted residue and clean if necessary. Clean the mounting
surface with a lint free cloth and acetone or isopropyl alcohol and allow the cleaning solvent to completely
dry.
To prevent damage to the payload or stage, test the operation of the stage before the payload is attached.
Aerotech recommends that customers use a representative payload during start-up to prevent accidental
damage to the stage and the payload. Proceed with the electrical installation and test the motion control
system in accordance with the system documentation. Document all results for future reference. For
information on electrical installation refer to Chapter 3 and the documentation delivered with the stage.
N O T E : If your ANT130R was purchased with Aerotech controls, it might have been tuned with a
representative payload based on the information provided at the time of order. If the ANT130R is started
up without a payload, the servo gains provided by Aerotech with the shipment may not be appropriate and
servo instability can occur. Refer to the controller help file for tuning assistance.
The payload must be flat, rigid, and comparable to the stage in quality to maintain optimum performance.
N O T E : Use 3-point mounting, if possible, when attaching the payload to the stage.
N O T E : For valid system performance, the mounting interface should be flat within 1 µm per 50 mm.
W A R N I N G : Refer to the dimensions in Section 2.2. for maximum allowable thread
engagement. A screw extending through the stage table can affect travel and damage the
stage.
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Mechanical Specifications and Installation ANT130R Hardware Manual
Applied loads should be symmetrically distributed whenever possible (i.e., the payload should be centered
on the stage table and the entire stage should be centered on the support structure).
If cantilevered loads are applied, refer to Figure 2-4 to find the loading condition. Refer to Figure 2-5 to find
the maximum allowable load.
Figure 2-4: Load Orientations
Figure 2-5: Cantilevered Load Capabilities
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ANT130R Hardware Manual Electrical Specifications and Installation
Chapter 3: Electrical Specifications and Installation
W A R N I N G : Electrical installation must be performed by properly qualified personnel.
Aerotech motion control systems are adjusted at the factory for optimum performance. When the ANT130R
is part of a complete Aerotech motion control system, setup usually involves connecting the ANT130R to
the appropriate drive chassis with the cables provided. Labels on the system components usually indicate
the appropriate connections.
If system level integration was purchased, an electrical drawing showing system interconnects has been
supplied with the system (separate from this documentation).
The electrical wiring from the motor and encoder are integrated at the factory. Refer to the following sections
for standard motor wiring and connector pin assignments.
D A N G E R : Remove power before connecting or disconnecting electrical components or
cables. Failure to do so may cause electric shock.
W A R N I N G : Operator access to the base and tabletop must be restricted while connected to
a power source. Failure to do so may cause electric shock.
N O T E : Refer to the controller documentation to adjust servo gains for optimum velocity and position
stability.
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Electrical Specifications and Installation ANT130R Hardware Manual
3.1. Motor and Feedback Connectors
Stages equipped with standard motors and encoders come from the factory completely wired and
assembled.
N O T E : Refer to the other documentation accompanying your Aerotech equipment. Call your Aerotech
representative if there are any questions on system configuration.
The protective ground connection of the ANT130R provides motor frame ground protection only. Additional
grounding and safety safeguards are required for applications requiring access to the stage while it is
energized. The System Integrator or qualified installer is responsible for determining and meeting all safety
and compliance requirements necessary for the integration of this stage into the final application.
D A N G E R : Remove power before connecting or disconnecting electrical components or
cables. Failure to do so may cause electric shock.
W A R N I N G : The protective ground connection must be properly installed to minimize the
possibility of electric shock.
W A R N I N G : Operator access to the base and tabletop must be restricted while connected to
a power source. Failure to do so may cause electric shock.
C A U TI O N : The stage controller must provide over-current and over-speed protection.
Failure to do so may result in permanent damage to the motor and stage components.
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