Aerotech ASRT Series User manual

Revision: 1.01.00
ASRT Hardware Manual

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customer order number available before you call or include it in your email.
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Phone: [phone]
Fax: [phone]
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
may be trademarks of their respective companies.
Copyright © 2010-2017, Aerotech, Inc., All rights reserved.

ASRT Hardware Manual Table of Contents
Table of Contents
ASRT 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 20
2.4. Attaching the Payload to the Stage 23
2.5. Horizontal Axis of Rotation Mounting 25
2.6. Air Purge Fitting 26
Chapter 3: Electrical Installation 27
3.1. Motor and Feedback Connectors 28
3.1.1. Ground Attachments 31
3.2. Motor and Feedback Wiring 32
3.3. Motor and Feedback Specifications 34
3.4. Limits, Marker, and Machine Direction 38
3.5. Motor and Feedback Phasing 39
Chapter 4: Maintenance 41
4.1. Service and Inspection Schedule 41
4.1.1. Ground Brushes 42
4.1.2. Drainage Plumbing 43
4.1.3. Desiccant Cartridge 44
4.2. Cleaning and Lubrication 45
4.3. Troubleshooting 46
Appendix A: Warranty and Field Service 47
Appendix B: Revision History 49
Index 51
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Table of Contents ASRT Hardware Manual
List of Figures
Figure 1-1: ASRT Series Torque Capacity 12
Figure 1-2: ASRT Series Current Capacity 12
Figure 2-1: ASRT185 Dimensions 14
Figure 2-2: ASRT185 Dimensions (Horizontal Mounting with Shroud) 15
Figure 2-3: ASRT245 Dimensions 16
Figure 2-4: ASRT245 Dimensions (Horizontal Mounting with Shroud) 17
Figure 2-5: ASRT300 Dimensions 18
Figure 2-6: ASRT300 Dimensions (Horizontal Mounting with Shroud) 19
Figure 2-7: Vertical Axis of Rotation Mounting Counter-bored Holes 21
Figure 2-8: Vertical Axis of Rotation Flange Mounting Through Holes 22
Figure 2-9: Horizontal Axis of Rotation Side Mounting Tapped Holes 22
Figure 2-10: ASRT185 Load Curves 23
Figure 2-11: ASRT245 Load Curves 24
Figure 2-12: ASRT300 Load Curves 24
Figure 2-13: External Cover Removal 25
Figure 2-14: Drainage Plug Location 25
Figure 2-15: Air Purge Fitting Accessory 26
Figure 3-1: Electrical Connectors and Grounds 27
Figure 3-2: Housing Ground Lug Location 31
Figure 3-3: Tabletop Ground Lug Location 31
Figure 3-4: Motor and Feedback Wiring (Encoder Option -E1 or -E3) 32
Figure 3-5: Motor and Feedback Wiring (Encoder Option -E2) 33
Figure 3-6: Machine Direction 38
Figure 3-7: Hall Phasing 39
Figure 3-8: Analog Encoder Phasing Reference Diagram 40
Figure 3-9: Encoder Phasing Reference Diagram (Standard) 40
Figure 4-1: Rear Cover and Brushes Location 42
Figure 4-2: Rear Shaft Cover and Brushes Location 42
Figure 4-3: Drainage Plug Locations 43
Figure 4-4: Desiccant Cartridge Option (ASRTshown with Vertical Axis of Rotation) 44
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ASRT Hardware Manual Table of Contents
List of Tables
Table 1-1: Model Numbers and Ordering Options 9
Table 1-2: Environmental Specifications 10
Table 1-3: ASRT Series Specifications 11
Table 2-1: Stage to Mounting Surface Hardware 21
Table 3-1: Motor Wiring Connector 28
Table 3-2: Feedback Connector (-E1 or -E3Encoder Option) 29
Table 3-3: Feedback Connector (-E2 Encoder Option) 30
Table 3-4: Feedback Specifications 34
Table 3-5: S-130-39-A Motor Specifications (for ASRT185DR) 35
Table 3-6: S-180-44-B Motor Specifications (for ASRT245DR) 36
Table 3-7: S-240-43-A Motor Specifications (for ASRT300DR) 37
Table 3-8: Encoder Specifications 37
Table 4-1: Desiccant Replacement 44
Table 4-2: Troubleshooting 46
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Table of Contents ASRT 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 ASRT 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 ASRT stage must be mounted securely. Improper mounting can result in injury and
damage to the equipment.
5. Use care when moving the ASRT stage. Lifting or transporting the ASRT stage improperly
can result in injury or damage to the ASRT.
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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ASRT 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:
ASRT 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 ASRT Hardware Manual
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ASRT 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: Model Numbers and Ordering Options
ASRTMechanical-Bearing Direct-Drive Sealed Rotary Stage
ASRT185DR 185 mm wide frame
ASRT245DR 245 mm wide frame
ASRT300DR 300 mm wide frame
Aperture (Optional)
-A Clear aperture through stage; 30 mm (ASRT185DR); 80 mm (ASRT245DR); 130
mm (ASRT300DR)
Feedback (Required)
-E1 Incremental optical encoder, 1 Vpp
-E2 Absolute optical encoder
-E3 Incremental magnetic encoder, 1 Vpp
Note: -E3 feedback option not available with ASRT300DR
Exterior Paint Color (Required)
-PNT1 Desert tan
-PNT2 Black
-PNT3 White
Mounting Orientation (Required)
-MT1 Vertical axis of rotation
-MT2 Horizontal axis of rotation
Air Purge (Optional)
-PR Air purge
Desiccant Cartridge (Optional)
-DSC Desiccant cartridge
Flange Mounting (Optional)
-F Flange mounting kit
Note: Flange mounting kit available only with -MT1 mounting orientation
Cover (Optional)
-CV Cover shroud kit
Note: Cover shroud kit only available with -MT2 mounting orientation
Metrology (Required)
-PL1 Metrology, uncalibrated with performance plots
-PL2 Metrology, calibrated (HALAR) with performance plots
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Overview ASRT 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:
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.
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 spe-
cific application.
Protection
Rating
IP66:No ingress of dust. Water projected in powerful jets shall not enter the enclosure
in harmful quantities
Use Indoor use only
1.2. Accuracy and Temperature Effects
Extreme temperature changes could cause a decrease in performance or permanent damage to the stage.
Aerotech stages are designed for and built in a 20°C (68°F) environment. Any deviation from standard
operating temperature will affect stage accuracy. The severity of temperature effects on all stage
specifications depends on many different environmental conditions, including how the stage is mounted.
Contact the factory for more details.
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ASRT 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.
Table 1-3: ASRT Series Specifications
Basic Model ASRT185DR ASRT245DR ASRT300DR
Travel 360° Continuous
Accuracy (1)
Optical
Encoder
(-E1, -E2)
Standard 194 µrad
(40 arc sec)
145 µrad
(30 arc sec)
97 µrad
(20 arc sec)
Calibrated 10 µrad
(2 arc sec)
10 µrad
(2 arc sec)
10 µrad
(2 arc sec)
Optical
Encoder
(-E3)
Standard 243 µrad
(50 arc sec)
218 µrad
(45 arc sec) N/A
Calibrated 97 µrad
(20 arc sec)
97 µrad
(20 arc sec) N/A
Resolution
(Minimum
Incremental
Motion)
Optical Encoder (-E1) 0.5 µrad
(0.1 arc sec)
0.4 µrad
(0.08 arc sec)
0.3 µrad
(0.06 arc sec)
Optical Encoder (-E2) 0.8 µrad
(0.16 arc sec)
0.8 µrad
(0.16 arc sec)
0.8 µrad
(0.16 arc sec)
Magnetic Encoder (-E3) 12.1 µrad
(4 arc sec)
11.2 µrad
(3 arc sec) N/A
Bidirectional Repeatability (1) 7.3 µrad
(1.5 arc sec)
7.3 µrad
(1.5 arc sec)
7.3 µrad
(1.5 arc sec)
Total Tilt Error Motion (1) 24 µrad
(5 arc sec)
24 µrad
(5 arc sec)
24 µrad
(5 arc sec)
Maximum Speed (2) 200 rpm 150 rpm 100 rpm
Maximum Acceleration (2) 930 rad/s2635 rad/s2425 rad/s2
Aperture 30 mm 80 mm 130 mm
Maximum Torque (Continuous) 2.85 N·m 5.99 N·m 10.73 N·m
Load Capacity Axial 30 kg 105 kg 130 kg
Radial 25 kg 90 kg 110 kg
Inertia (Unloaded) No Aperture 0.009 kg·m20.034 kg·m20.091 kg·m2
Aperture 0.011 kg·m20.036 kg·m20.100 kg·m2
Stage Mass No Aperture 9.5 kg 17 kg 22.5 kg
Aperture 12.0 kg 20.5 kg 27.0 kg
Material Polymer-Painted Aluminum / Aluminum Hardcoat
Mean Time Between Failure (MTBF) (3,4) 10,000 Hours
1. Certified with each stage.
2. Application dependent. Requires the selection of an appropriate amplifier with sufficient voltage and current.
3. Application dependent. Dry environments between 0° and 70°C up to 10,000 hours.
4. Long-term exposure to temperature cycles and wet environments will require periodic maintenance.
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Overview ASRT Hardware Manual
Figure 1-1: ASRT Series Torque Capacity
Figure 1-2: ASRT Series Current Capacity
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ASRT Hardware Manual Assembly and Installation
Chapter 2: Mechanical Specifications and Installation
W A R N I N G : ASRT 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
D A N G E R / H E A V Y : Do not attempt to manually lift a stage that is too heavy (in excess of
18 kg). Refer to Section 1.3. for stage mass specifications.
lDo not attempt to manually lift heavy loads single handed.
lLift only from the base.
lDo not use any of the cables as lifting points.
lDo not use the tabletop as a lifting point.
lUse a fork lift or cart to transport 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 ASRT. Unsecured moving
parts may shift and cause bodily injury.
lImproper handling could adversely affect the performance of the ASRT. Use care when
moving the ASRT.
Carefully remove the ASRTfrom its protective shipping container. Gently set the ASRT on a smooth, flat,
and clean surface.
Before operating the ASRT, 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 ASRT 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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Assembly and Installation ASRT Hardware Manual
2.2. Dimensions
Figure 2-1: ASRT185 Dimensions
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ASRT Hardware Manual Assembly and Installation
Figure 2-2: ASRT185 Dimensions (Horizontal Mounting with Shroud)
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Assembly and Installation ASRT Hardware Manual
Figure 2-3: ASRT245 Dimensions
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ASRT Hardware Manual Assembly and Installation
Figure 2-4: ASRT245 Dimensions (Horizontal Mounting with Shroud)
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Assembly and Installation ASRT Hardware Manual
Figure 2-5: ASRT300 Dimensions
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ASRT Hardware Manual Assembly and Installation
Figure 2-6: ASRT300 Dimensions (Horizontal Mounting with Shroud)
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Assembly and Installation ASRT Hardware Manual
2.3. Securing the Stage to the Mounting Surface
W A R N I N G : The ASRT must be mounted securely. Improper mounting can result in injury
and damage to the equipment.
W A R N I N G : Make sure that all moving parts are secure before moving the ASRT.
Unsecured moving parts may shift and cause bodily injury.
W A R N I N G : Do not attempt to manually move the ASRT if it is connected to a power source.
D A N G E R : PINCHPOINT! Keep Hands Clear while the stage is in motion.
The mounting surface must be flat and have adequate stiffness in order to achieve the maximum
performance from the ASRT 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 ±13 µm.
N O T E : The stage base is precision machined and verified for flatness prior to stage assembly at the
factory. If machining is required to achieve the desired flatness, it should be performed on the mounting
surface rather than the stage base. Shimming should be avoided if possible. If shimming is required, it
should be minimized to improve the rigidity of the system.
ASRT series stages have a fixed mounting pattern (as shown in Figure 2-7).
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