Aerotech VascuLathe ASR Series User manual

VascuLathe®-ASR Series
Stage User’s Manual
P/N: EDS115 (Revision 1.05.00)
Dedicated to the Science of Motion
Aerotech, Inc.
101 Zeta Drive,
Pittsburgh, PA, 15238
Phone: [phone]
Fax: [phone]
www.aerotech.com

Product Registration Register online at: http://www.-
aerotech.com/prodreg.cfm
Technical Support United States Headquarters:
Phone: [phone]
Fax: [phone]
Email: [e-mail]
United Kingdom:
Phone: [phone]
Fax: [phone]
Email: [e-mail]
Germany:
Phone: [phone]
Fax: [phone]
Email: [e-mail]
Japan:
Phone: [phone] (Sales)
Phone: [phone] (Service)
Fax: [phone]
Email: [e-mail]
China:
Phone: [phone]
Email: [e-mail]
Revision History Revision 1.05.00 February 21, 2011
Revision 1.04.00 August 27, 2009
Revision 1.03.00 December 2, 2008
Revision 1.02.00 October 14, 2008
Revision 1.01.00 August 28, 2008
Revision 1.00.00 October 19, 2006
Product names mentioned herein are used for identification purposes only and may be trademarks of
their respective companies.
© Aerotech, Inc. 2011

VascuLathe®-ASR Hardware Manual Table of Contents
Table of Contents
Chapter 1: Overview 1
1.1. Standard Features 3
1.1.1. Linear Axis 3
1.1.2. Rotary Axis 4
1.2. Optional Features 5
1.2.1. CMS (Cable Management System) Options 5
1.2.2. Wet Cut 5
1.2.3. Tooling Options 5
1.2.4. Gripper Jaws 5
1.2.5. Pneumatics 6
1.2.6. Electronics / Controller 6
1.3. Model Numbers 7
1.4. Dimensions 8
1.5. Safety Procedures and Warnings 9
1.6. EC Declaration of Incorporation 11
Chapter 2: Installation 13
2.1. Unpacking and Handling the Stage 13
2.2. Preparing the Mounting Surface 14
2.3. Securing the Stage to the Mounting Surface 15
2.4. Attaching the Payload to the Stage 16
2.5. Changing ASR Workholding Devices 17
2.5.1. Collet Installation and Removal Procedure 17
2.6. (-AG) Alignment / Gripper Operation 20
2.7. (-G) Gripper Operation 22
2.8. Electrical Installation 23
2.9. Air Requirements 23
2.10. Wet Cut Fluid Requirements 23
Chapter 3: Operating Specifications 25
3.1. Environmental Specifications 25
3.2. Basic Specifications 26
3.3. Load Capability 29
Chapter 4: Maintenance 31
4.1. Service and Inspection Schedule 31
4.2. Lubrication and Cleaning 32
4.2.1. Collet & Collet Chuck Lubrication and Cleaning 33
4.3. Seal Replacement 34
4.3.1. Piston Seal Change Procedure 34
4.3.2. Ringseal O-Ring Replacement 34
4.3.3. Wet Cut Rotary Union Seal Replacement 36
4.4. Wet Cut Rotary Union Removal 40
4.5. Linear Lubrication and Cleaning Process 42
4.6. Linear Spar Cover Removal 43
Appendix A: Warranty and Field Service 49
Appendix B: Technical Changes 51
Index 53
Reader's Comments 57
www.aerotech.com iii

Table of Contents VascuLathe®-ASR Hardware Manual
iv www.aerotech.com

VascuLathe®-ASR Hardware Manual List Of Figures
List of Figures
Figure 1-1: VascuLathe®-ASR Series Positioning Stage 1
Figure 1-2: VascuLathe®-ASR Rotary Stage with ER Collet 4
Figure 1-3: VascuLathe®-ASR Dimensions 8
Figure 2-1: VascuLathe®-ASR Stage Showing Mounting Holes (Top View) 15
Figure 2-2: Installation of Collet Nut 18
Figure 2-3: Installation Procedure for Collet/Collet Nut 19
Figure 2-4: Alignment Gripper Detail 20
Figure 2-5: Gripper Detail 22
Figure 3-1: VascuLathe®-ASR Wet Cut Rotary Union Location 29
Figure 4-1: Ringseal Removal and Replacement 34
Figure 4-2: Typical Ringseal 35
Figure 4-3: Cross-Section View of Ringseal Showing O-Ring 35
Figure 4-4: Cross-Section View of Wet Cut Rotary Union Assembly 36
Figure 4-5: Carriage Cover Removal 37
Figure 4-6: Seal Assembly Removal 37
Figure 4-7: Seal Installation 38
Figure 4-8: Seal Retainer Assembly 38
Figure 4-9: Wet Cut Rotary Union Shaft Inspection 39
Figure 4-10: Wet Cut Rotary Union 40
Figure 4-11: Wet Cut Rotary Union Installation 41
Figure 4-12: Linear Bearing Grease Nipple 42
Figure 4-13: Removing the Inside Spar Cover 43
Figure 4-14: Removing the Outer Spar Cover 44
Figure 4-15: Removing the Carriage Side Cover 45
Figure 4-16: Removing M4 MHCS Screws 46
Figure 4-17: Releasing Tension on the Belt 47
Figure 4-18: VascuLathe®-ASR with Belts Folded Back 47
www.aerotech.com v

List of Figures VascuLathe®-ASR Hardware Manual
vi www.aerotech.com

VascuLathe®-ASR Hardware Manual List of Tables
List of Tables
Table 1-1: Model Numbering System 7
Table 3-1: Environmental Specifications 25
Table 3-2: VascuLathe®-ASR Series Specifications 26
Table 3-3: VascuLathe®-ASR Rotary Motor Specifications 27
Table 3-4: VascuLathe®-ASR Linear Motor Specifications 28
Table B-1: Current Changes (1.05.00) 51
Table B-2: Archived Changes 52
www.aerotech.com vii

List of Tables VascuLathe®-ASR Hardware Manual
viii www.aerotech.com

VascuLathe®-ASR Hardware Manual Overview
Chapter 1: Overview
VascuLathe®-ASR represents a revolutionary approach to satisfying the demanding requirements of tubular
manufacturing applications. This fully integrated motion system couples automated material handling with
high performance direct drive linear and rotary motion.
The VascuLathe®-ASR has been designed with a collet chuck that supports ER16 collets (manufactured to
DIN6499 specs) to allow for a wide range of materials and applications. This product is intended for light
industrial manufacturing or laboratory use.
This manual describes Aerotech’s VascuLathe®-ASR series dual axis positioning stage. Figure 1-1 shows a
typical VascuLathe®-ASR stage.
This chapter introduces standard and optional features of the VascuLathe®-ASR, explains the model num-
bering system, and gives general safety precautions.
Figure 1-1: VascuLathe®-ASR Series Positioning Stage
www.aerotech.com Chapter 1 1

Overview VascuLathe®-ASR Hardware Manual
N O T E : Aerotech continually improves its product offerings, and listed options may be superseded at any
time. Refer to the most recent edition of the Aerotech Motion Control Product Guide for the most current
product information at www.aerotech.com.
N O T E : This manual should be read in its entirety before operating the VascuLathe®-ASR system.
Failure to follow the maintenance procedures outlined in Section 4.3.3. will result in voiding of
warranty.
To minimize the possibility of electrical shock and bodily injury, confirm that all electrical
power is disconnected prior to making any electrical connections.
2 Chapter 1 www.aerotech.com

VascuLathe®-ASR Hardware Manual Overview
1.1. Standard Features
1.1.1. Linear Axis
The linear axis features proprietary linear drive technology, which coupled with an extremely rigid mechanical
design, allows for unparalleled high-bandwidth positioning performance.
All VascuLathe®-ASR stages include a fully-sealed design. Metal waycovers are designed to protect the inter-
nal components (linear bearings and encoder, for example) from damage by preventing dust or debris from
entering the stage. The external stage surfaces have a black hardcoat finish to withstand rugged envi-
ronments.
To aid in stage setup and mounting, the stage base plate mounting holes are accessible without removing
any components.
A pair of sealed linear bearings are common to all VascuLathe®series stages. The bearings are mounted
between the stage spars and rotary carriage to provide smooth motion and excellent stiffness characteristics.
Other features include optical limit switches mounted at each end of travel. These switches are configured as
normally-closed. If the stage is driven beyond these electrical limits, a mechanical hard stop is in place
slightly past each limit switch.
The VascuLathe®-ASR is offered with a non contacting linear encoder with an achievable resolution of .001
µm, and accuracies of ±1.0 µm.
Travels available are 200 mm to 300 mm.
www.aerotech.com Chapter 1 3

Overview VascuLathe®-ASR Hardware Manual
1.1.2. Rotary Axis
All VascuLathe®-ASR stages come standard with a direct drive brushless motor with a non-contacting inte-
gral rotary union. These features combine to create a low friction, low maintenance rotary stage capable of
high accelerations and low positioning error. With a non-contact rotary union, there are no seals to replace or
lubricate, allowing for a lifetime of maintenance free performance. The brushless, slotless motor design
allows for extremely high torque coupled with smooth motion. There are no brushes to wear, no belts to ten-
sion, and no gears to wear resulting in a completely maintenance-free motor.
The VascuLathe®-ASR is available with an ER16 style collet chuck. The maximum tube diameter supported
by the ER16 collet chuck is 5.8 mm when configured for wet cut and 10 mm for dry cut. The collet is retained
with a threaded collet nut enabling quick changeover. It is configured in a “fail-safe” normally-closed mode
where full clamping force is applied when no air pressure is present.
N O T E : Aerotech recommends using electro-polished collets manufactured to DIN6499 specs.
Figure 1-2: VascuLathe®-ASR Rotary Stage with ER Collet
4 Chapter 1 www.aerotech.com

VascuLathe®-ASR Hardware Manual Overview
1.2. Optional Features
1.2.1. CMS (Cable Management System) Options
The VascuLathe®-ASR can be ordered so that an optional cover is included to enclose the moving CMS com-
ponents from the system operator.
N O T E : The cover is a stationary guard designed to isolate the operator from moving components in the
CMS and is not intended to prevent contaminants from entering.
1.2.2. Wet Cut
The VascuLathe®-ASR rotary has an optional wet cut rotary union configuration that can be used for fluid
delivery (@ 100 psi max pressure) in wet laser cutting applications. A 3/8 NPT tapped hole is supplied on the
rear of the rotary to allow for connections of different length pressure vessels depending on the tube length
being cut. See Section 3.3. , Section 4.3.3. , and Section 4.4. for details regarding use and maintenance of
the wet cut rotary union.
N O T E : If wet cutting, the purchase of a ringseal will also be required based on the tube diameter used in
the cutting application. Consult Aerotech for more information.
1.2.3. Tooling Options
VascuLathe®-ASR can be equipped with two types of tube advance systems that give the customer a more
advanced, highly integrated tubular manufacturing system.
l-AG: This option equips the system with a parallel gripper for automated tube advancement along with a
Y/Z adjustment stage. The adjustment stage has a travel range of ±0.75 mm to aid in the alignment of
material support bushings (see Section 2.6. ).
l-G: This option equips the system with a parallel gripper for automated tube advancement and material
handling (see Section 2.7. ).
1.2.4. Gripper Jaws
This option is selected when a tooling option is ordered and is sized based on application requirements. Refer
to Table 1-1 for a full breakdown of jaw options.
www.aerotech.com Chapter 1 5

Overview VascuLathe®-ASR Hardware Manual
1.2.5. Pneumatics
This option is offered in three configurations and is supplied with every VascuLathe®-ASR system. Two con-
figurations (-PNG and -PN) include the required filters, driers, solenoids, relays, fittings, valves, and hose
required to connect the VascuLathe®. The third configuration (-FD) includes only the filter and dryer
assembly to condition the incoming air.
l-PNG: This option will supply the pneumatics to control the air supply to both the collet and the optional
gripper.
l-PN: This option is ordered when the pneumatics to control the air supply are required for the collet only.
l-FD: This option is ordered when the customer will implement their own pneumatics controls. The
filter/dryer assembly is supplied to guarantee the conditioning of incoming air.
Refer to the documentation package shipped with your system for proper interconnection of the pneumatics.
1.2.6. Electronics / Controller
The VascuLathe®-ASR stage is part of a complete Aerotech motion control system, which is adjusted at the
factory for optimum performance. Setup involves connecting a stage to the appropriate drives with the
cables provided. Refer to your electrical documentation package for further information.
6 Chapter 1 www.aerotech.com

VascuLathe®-ASR Hardware Manual Overview
1.3. Model Numbers
The stage model number indicates the optional features on a particular stage. To determine the options on
your stage, refer to Table 1-1 for an explanation of the numbering system.
Example: VascuLathe-ASR-300S-NC-ER16-WCRU-AG-J0-10-PNG
Table 1-1: Model Numbering System
VascuLathe, Direct Drive Linear and Rotary Motion
-ASR Direct drive rotary stage with integral ER-style collet chuck
Linear Travel / Cable Management System (CMS) Style
-200S 200 mm linear travel, with standard cms configuration
-200C 200 mm linear travel, with covered cms configuration
-300S 300 mm linear travel, with standard cms configuration
-300C 300 mm linear travel, with covered cms configuration
Collet Type
-NC-ER16 Air-actuated ER16 collet chuck, normally closed
Supports tube diameters from 0 mm to 10 mm
Wet Cut
-WCRU Wet cut, maximum tube diameter 5.8 mm
Gripper
-AG Gripper with X/Y bushing alignment
-G Gripper Only
Gripper Jaws
-J0-10 Gripper jaws for tube diameters ranging from 0 mm –10 mm
Pneumatics
-PNG Pneumatics kit for ER collet and optional gripper
-PN Pneumatics kit for ER collet
-FD Pneumatics kit, filter/dryer assembly only
www.aerotech.com Chapter 1 7

Overview VascuLathe®-ASR Hardware Manual
1.4. Dimensions
The following figure illustrates the basic dimensions for the VascuLathe®-ASR. The latest version of this fig-
ure is available on Aerotech's website.
Figure 1-3: VascuLathe®-ASR Dimensions
8 Chapter 1 www.aerotech.com

VascuLathe®-ASR Hardware Manual Overview
1.5. Safety Procedures and Warnings
The following statements apply throughout this manual. Failure to observe these precautions could result in
serious injury to those performing the procedures and damage to the equipment.
This manual and any additional instructions included with the stage should be retained for the lifetime of the
stage.
To minimize the possibility of electrical shock and bodily injury or death, disconnect all elec-
trical power prior to making any electrical connections.
To minimize the possibility of electrical shock and bodily injury or death when any electrical
circuit is in use, ensure that no person comes in contact with the circuitry when the stage is
connected to a power source.
To minimize the possibility of bodily injury or death, disconnect all electrical power prior to
making any mechanical adjustments.
Moving parts of the stage can cause crushing or shearing injuries. All personnel must
remain clear of any moving parts.
Improper use of the stage can cause damage, shock, injury, or death. Read and understand
this manual before operating the stage.
If the stage is used in a manner not specified by the manufacturer, the protection provided
by the stage can be impaired.
Stage cables can pose a tripping hazard. Securely mount and position all stage cables to
avoid potential hazards.
www.aerotech.com Chapter 1 9

Overview VascuLathe®-ASR Hardware Manual
Do not expose the stage to environments or conditions outside the specified range of oper-
ating environments. Operation in conditions other than those specified can cause damage to
the equipment.
The stage must be mounted securely. Improper mounting can result in injury and damage to
the equipment.
Use care when moving the stage. Manually lifting or transporting stages can result in injury.
Only trained personnel should operate, inspect, and maintain the stage.
This stage is intended for light industrial manufacturing or laboratory use. Use of the stage
for unintended applications can result in injury and damage to the equipment.
Before using this stage, perform an operator risk assessment to determine the needed
safety requirements.
10 Chapter 1 www.aerotech.com

VascuLathe®-ASR Hardware Manual Overview
1.6. EC Declaration of Incorporation
Manufactorer: Aerotech, Inc.
101 Zeta Drive
Pittsburgh, PA 15238
USA
herewith declares that the product:
Aerotech, Inc. VascuLathe®-ASR Stage
is intended to be incorporated into machinery to constitute machinery covered by the Directive
2006/42/EC as amended;
does therefore not in every respect comply with the provisions of this directive;
and that the following harmonized European standards have been applied:
EN ISO 12100-1,-2:2003+A1:2009
Safety of machinery - Basic concepts, general principles for design
ISO 14121-1:2007
Safety of machinery - Risk assessment - Par 1: Principles
EN 60204-1:2005
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.
Authorized Representative: Manfred Besold
Address: AEROTECH GmbH
Süd-West-Park 90
D-90449 Nürnberg
Name:
Alex Weibel /
Position: Engineer Verifying Compliance
Location: Pittsburgh, PA
Date: February 21, 2011
www.aerotech.com Chapter 1 11
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

Overview VascuLathe®-ASR Hardware Manual
12 Chapter 1 www.aerotech.com