Aerotech APR150DR User manual

Revision 2.00
APR150DR High-Precision Mechanical
Bearing 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 © 2012-2023, Aerotech, Inc., All rights reserved.

Table of Contents
APR150DR High-Precision Mechanical Bearing 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 16
1.2. Accuracy and Temperature Effects 16
1.3. Basic Specifications 17
1.4. Vacuum Operation 18
Chapter 2: Installation 19
2.1. Dimensions 19
2.2. Securing the Stage to the Mounting Surface 20
2.3. Attaching the Payload or Fixturing to the Stage 22
Chapter 3: Electrical Installation 25
3.1. Motor and Feedback Connectors 26
3.2. Motor and Feedback Wiring 31
3.3. Motor and Feedback Specifications 34
3.4. Limits, Marker, and Machine Direction 37
3.5. Motor and Feedback Phasing 38
Chapter 4: Maintenance 41
4.1. Service and Inspection Schedule 41
4.2. Cleaning and Lubrication 42
4.3. Travel Adjustment 43
4.3.1. Optical Limit Adjustments 43
4.3.2. Mechanical Hard Stop Adjustments 45
4.4. Troubleshooting 47
Appendix A: Warranty and Field Service 49
Appendix B: Revision History 51
Index 53
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List of Figures
Figure 2-1: APR150DR Dimensions 19
Figure 2-2: APR150DR Stage Mounting Holes 21
Figure 2-3: Cantilevered Load Capabilities 23
Figure 3-1: Electrical Connections 26
Figure 3-2: APR150DRMotor and Feedback Wiring (-E1, -E2, -E3) 31
Figure 3-3: APR150DRMotor and Feedback Wiring (-E4) 32
Figure 3-4: APR150DRMotor and Feedback Wiring (-E5, -E6) 33
Figure 3-5: Machine Direction 37
Figure 3-6: Hall Phasing Diagram 38
Figure 3-7: Encoder Phasing Reference Diagram (Standard/Square Wave) 39
Figure 3-8: Encoder Phasing Reference Diagram (Analog/Sine Wave) 39
Figure 4-1: APR150DR Limit Flag Adjustment 44
Figure 4-2: Tabletop Screw Locations 46
Figure 4-3: Upside Down Assembly Showing Hard Stops 46
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List of Tables
Table 1-1: Model Numbers and Ordering Options 15
Table 1-2: Environmental Specifications 16
Table 1-3: APR150DR Series Specifications 17
Table 2-1: Stage Mounting Surface Flatness Requirement 20
Table 2-2: Stage to Mounting Surface Hardware 20
Table 2-3: Mounting Interface Flatness Requirement 22
Table 3-1: High Power D-Style Motor Connector Pinout 27
Table 3-2: Mating Connector Part Numbers for the Motor Connector 27
Table 3-3: Feedback Connector Pinout (-E1, -E2, -E3, -E5, -E6 options) 28
Table 3-4: Mating Connector Part Numbers for the Feedback Connector 28
Table 3-5: Feedback Connector Pinout (-E4 option) 29
Table 3-6: Mating Connector Part Numbers for the Feedback Connector 29
Table 3-7: Secondary Feedback Connector Pinout (-E5 and -E6 options) 30
Table 3-8: Mating Connector Part Numbers for the Feedback Connector 30
Table 3-9: Hall-Effect Sensor Specifications 34
Table 3-10: Thermistor Specifications 34
Table 3-11: Encoder Specifications 34
Table 3-12: Encoder Resolution 34
Table 3-13: Max Speed Per Encoder Bandwidth 34
Table 3-14: Limit Switch Specifications 35
Table 3-15: Brake Specifications 35
Table 3-16: APR150DR Motor Specification 36
Table 4-1: Troubleshooting 47
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EU Declaration of Incorporation
Manufacturer Aerotech, Inc.
101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
herewith declares that the product:
APR150DR 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 6/15/2023
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UKCADeclaration of Incorporation
Manufacturer Aerotech, Inc.
101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
herewith declares that the product:
APR150DR 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 6/15/2023
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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.
lMake sure that all pneumatic lines are securely connected.
lUse care when you move the APR150DR or you could negatively affect the per-
formance 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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