Aerotech HexGen HEX150-140HL User manual

Revision 2.00
HexGen®HEX150-140HL Miniature Hexapod
Six-DOF Positioning System
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 © 2020-2021, Aerotech, Inc., All rights reserved.

Table of Contents
HexGen® HEX150-140HL Miniature Hexapod Six-DOF Positioning System 1
Table of Contents 3
List of Figures 4
List of Tables 5
Safety Procedures and Warnings 7
EU Declaration of Incorporation 9
Chapter 1: Overview 11
1.1. Environmental Specifications 12
1.1.1. Accuracy and Temperature Effects 12
1.2. Basic Specifications 13
1.3. Understanding Basic HEX150-140HL Operation 14
1.3.1. Hexapod Axes 14
1.3.2. Strut Limits and Hexapod Range 14
1.3.3. Homing 15
Chapter 2: Mechanical Specifications and Installation 17
2.1. Unpacking and Handling the Hexapod 17
2.2. Dimensions 18
2.3. Securing the Hexapod to the Mounting Surface 19
2.4. Attaching the Payload to the HEX150-140HL 21
Chapter 3: Electrical Specifications and Installation 23
3.1. Motor and Feedback Connectors 24
3.2. Motor and Feedback Wiring 26
3.3. Motor and Feedback Specifications 27
3.4. Machine Direction 29
3.5. Feedback Phasing 30
Chapter 4: Maintenance 31
4.1. Service and Inspection Schedule 31
4.2. Cleaning and Lubrication 31
4.3. Troubleshooting 32
Appendix A: Warranty and Field Service 33
Appendix B: Revision History 35
Index 37
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List of Figures
Figure 1-1: HEX150-140HL Callouts 11
Figure 1-2: Axis Orientation 14
Figure 2-1: HEX150-140HL Dimensions 18
Figure 2-2: Mounting Hole Locations 20
Figure 2-3: HEX150-140HL Vertical Load Capabilities 21
Figure 2-4: HEX150-140HL Horizontal Load Capabilities 22
Figure 3-1: Motor and Feedback Wiring 26
Figure 3-2: Machine Direction 29
Figure 3-3: Encoder Phasing Reference Diagram (Standard) 30
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List of Tables
Table 1-1: Model Options 11
Table 1-2: Environmental Specifications 12
Table 1-3: HEX150-140HL Series Specifications 13
Table 2-1: Stage to Mounting Surface Hardware 20
Table 3-1: Motor and Feedback Connector Pinout 25
Table 3-2: Mating Connector Part Numbers 25
Table 3-3: Encoder Specifications 27
Table 3-4: Limit Switch Specifications 27
Table 3-5: HEX150-140HL Motor Specifications 28
Table 3-6: HEX150-140HL Rotary Encoder Specifications 28
Table 4-1: Grease Specifications 31
Table 4-2: Troubleshooting 32
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Safety Procedures and Warnings
IMPORTANT: This manual tells you how to carefully and correctly use and operate the
HEX150-140HL.
lRead all parts of this manual before you install or operate the hexapod 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.
The voltage can cause shock, burn, or death.
You are at risk of physical injury.
You could damage the hexapod.
A surface can be hot enough to burn you.
Strong magnets and electromagnetic fields are present.
While the stage is in motion, you are in danger of receiving pinch, shear, or crush
injuries.
You could receive an injury if you do not lift the product safely.
You could damage the product if you do not lift and move the product safely.
Unsecured cables could cause you to:
ltrip and fall
ldrag the product off of its mounting location
ldamage the cable connections.
A blue circle symbol is an action or tip that you should obey. Some examples
include:
lGeneral tip
lRead the manual/section
lWear protective safety equipment (eye protection, ear protection, gloves)
lIf applicable, do not lift unassisted
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DANGER: To decrease the risk of electrical shock, injury, death, and damage to the
equipment, obey the precautions that follow.
lElectrical installation must be done by qualified personnel.
lBefore you do maintenance to the equipment, disconnect the electrical power.
lBefore you connect wires to this product, disconnect the electrical power.
lDo not connect or disconnect electrical components, wires, and cables while this
product is connected to a power source.
lRestrict access to the hexapod when it is connected to a power source.
lMake sure that all components are grounded correctly and that they obey the local
electrical safety requirements.
lSupply each operator with the necessary protection from live electrical circuits.
lInstall the necessary precautions to supply safety and protection to the operator.
lIt is the responsibilty of the system integrator or qualified installer to determine and
meet all safety and compliance requirements when they integrate the HEX150-140HL
into a completed system.
DANGER:PINCHPOINT! Keep Hands Clear while the stage is in motion.
WARNING: To prevent damage to the equipment and decrease the risk of electrical
shock and injury, obey the precautions that follow.
lOnly trained operators should operate this equipment.
lUse this product only in environments and operating conditions that are approved in
this manual.
lMake sure that the product is securely mounted before you operate it.
lAll service and maintenance must be done by approved personnel.
WARNING: Securely mount and position all system cables.
IMPORTANT: Carefully lift, move, and transport this product.
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EU Declaration of Incorporation
Manufacturer: Aerotech, Inc.
101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
herewith declares that the product:
HEX150-140HL
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):
2011/65/EU RoHS 2 Directive
EU 2015/863 Amendment RoHS 3 Directive
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 12/21/2021
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