Aerotech AMG LP Series User manual

Revision: 1.04.00
AMG-LP Hardware Manual

Global Technical Support
Go to www.aerotech.com/global-technical-support for information and support about your Aerotech products. The website
provides downloadable resources (such as up-to-date software, product manuals, and Help files), training schedules, and
PC-to-PC remote technical support. You can also complete Product Return (RMA) forms and get information about repairs
and spare or replacement parts. For immediate help, contact a service office or your sales representative. Have your
customer order number available before you call or include it in your email.
United States (World Headquarters)
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 © 2006-2017, Aerotech, Inc., All rights reserved.

AMG-LP Hardware Manual Table of Contents
Table of Contents
AMG-LP 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
1.4. Vacuum Operation 12
1.5. Export Restrictions 12
Chapter 2: Mechanical Specifications and Installation 13
2.1. Unpacking and Handling the Stage 13
2.2. Dimensions 15
2.3. Securing the Stage to the Mounting Surface 18
2.4. Attaching the Payload to the Stage 19
Chapter 3: Electrical Specifications and Installation 21
3.1. Motor and Feedback Connectors 22
3.2. Motor and Feedback Wiring 25
3.3. Motor and Feedback Specifications 26
3.4. Limits, Marker, and Machine Direction 30
3.5. Motor and Feedback Phasing 31
Chapter 4: Maintenance 33
4.1. Service and Inspection Schedule 33
4.2. Cleaning and Lubrication 33
4.3. Troubleshooting 34
Appendix A: Warranty and Field Service 35
Appendix B: Revision History 37
Index 39
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Table of Contents AMG-LP Hardware Manual
List of Figures
Figure 2-1: Shipping Brackets 14
Figure 2-2: AMG100LP Dimensions 15
Figure 2-3: AMG150LP Dimensions 16
Figure 2-4: AMG200LP Dimensions 17
Figure 2-5: View of an AMG-LP Stage Showing Mounting Holes 18
Figure 3-1: Motor and Feedback Wiring 25
Figure 3-2: Machine Direction 30
Figure 3-3: Hall Phasing 31
Figure 3-4: Analog Encoder Phasing Reference Diagram 32
Figure 3-5: Encoder Phasing Reference Diagram (Standard) 32
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AMG-LP Hardware Manual Table of Contents
List of Tables
Table 1-1: Model Options 9
Table 1-2: Environmental Specifications 10
Table 1-3: AMG-LP Series Specifications 11
Table 2-1: Stage to Mounting Surface Hardware 18
Table 3-1: 4-Pin Motor ConnectorPin Assignments [AZ and EL] 23
Table 3-2: 4-Pin Motor ConnectorMating Connector 23
Table 3-3: 25-Pin Feedback Connector Pin Assignments [AZ and EL] 24
Table 3-4: Feedback ConnectorMating Connector 24
Table 3-5: Feedback Specifications 26
Table 3-6: AMG-LP Series Azimuth Resolution Information 26
Table 3-7: AMG-LP Series Elevation Resolution Information 26
Table 3-8: S-130-39 Rotary Motor Specifications 27
Table 3-9: S-180-44 Rotary Motor Specifications 28
Table 3-10: S-76-35 Rotary Motor Specifications 29
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Table of Contents AMG-LP 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 AMG-LP 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 AMG-LP stage must be mounted securely. Improper mounting can result in injury and
damage to the equipment.
5. Use care when moving the AMG-LP stage. Lifting or transporting the AMG-LP stage
improperly can result in injury or damage to the AMG-LP.
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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AMG-LP 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:
AMG-LP Gimbal
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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AMG-LP 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 Options
AMG-LP Low Profile Direct-Drive Gimbals
AMG100LP Low profile direct-drive gimbal
AMG150LP Low profile direct-drive gimbal
AMG200LP Low profile direct-drive gimbal
Feedback (Required)
-E1 Incremental encoder, 1 Vpp
-E2 Incremental encoder, TTL, x5 interpolation
-E3 Incremental encoder, TTL, x10 interpolation
-E4 Incremental encoder, TTL, x25 interpolation
-E5 Incremental encoder, TTL, x50 interpolation
Metrology (Required)
-PL1 Metrology, uncalibrated with performance plots
-PL2 Metrology, calibrated (HALAR) with performance plots
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Overview AMG-LP 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: 0° to 50° C (32° to 122° 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 spe-
cific application.
Protection
Rating
The AMG-LP gimbals have limited protection against airborne particles but not water.
This equates to an ingress protection rating of IP40.
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 AMG-LP. At a minimum, the
environmental temperature must be controlled to within 0.25ºC per 24 hours to ensure the AMG-LP
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 AMG-LP is mounted.
Contact the factory for more details.
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AMG-LP Hardware Manual Overview
1.3. Basic Specifications
Basic AMG-LP series positioning stage specifications are shown in Table 1-3.
Table 1-3: AMG-LP Series Specifications
Basic Model AMG100LP AMG150LP AMG200LP
Travel 360° continuous, Azimuth (AZ) / Elevation (EL)
Maximum Bus Voltage 340 VDC 340 VDC 340 VDC
Maximum Torque
(continuous)
Azimuth 2.36 N·m 2.36 N·m 5.99 N·m
Elevation 0.48 N·m 0.48 N·m 2.36 N·m
Clear Aperture Diameter 95 mm 144.3 mm 193.8 mm
Accuracy(1) ±24 to ±192 μrad(1) (±5 to ±40 arc sec)
Repeatability(2) Azimuth 19.4 μrad (4 arc sec) 19.4 μrad (4 arc sec) 19.4 μrad (4 arc sec)
Elevation 14.5 μrad (3 arc sec) 14.5 μrad (3 arc sec) 19.4 μrad (4 arc sec)
Maximum Rotary Speed(3) 100 rpm 100 rpm 100 rpm
Maximum Load Capability 6.8 kg 6.8 kg 16 kg
Axis Wobble 97 μrad 97 μrad 97 μrad
Orthogonality 72 μrad 72 μrad 72 μrad
Standard Finish Black Anodize with Hard-Coated Cell
Max Component Diameter 103 mm 154 mm 205 mm
Nominal Component Thickness 19 mm 30 mm 40.9 mm
Weight (Without Mirror) 9.5 kg 11 kg 21.5 kg
Inertia(4) Azimuth 0.038 kg•m20.071 kg•m20.24 kg•m2
Elevation 0.001 kg•m20.0038 kg•m20.012 kg•m2
Height to Mirror Centerline 181 mm 220 mm 254 mm
1. ±24 μrad calibrated; ±144 μrad uncalibrated.
2. Repeatability and accuracy are dependent on encoder resolution. To achieve the listed specifications, encoder resolution must be
arc sec or finer.
3. Maximum speed based on stage capability. Maximum application velocity may be limited by system data rate and system
resolution.
4. Unloaded inertia
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Overview AMG-LP Hardware Manual
1.4. Vacuum Operation
Contact the factory for information regarding operation in a vacuum environment.
Preparation and considerations for operation in a vacuum environment:
lLubrication with vacuum-compatible lubricants
lUse of materials, fasteners, and coatings with vacuum outgas performance compatible with the level of
vacuum specified
lFor high vacuum stages, elimination of situations that may allow gases to become temporarily trapped
during pump down
lExtensive cleaning prior to assembly in a clean environment and packaging in a special polyethylene
bag
lUse of components able to withstand elevated temperatures (non-operating) for bake-out performances
Reduced air pressure eliminates significant convective heat transfer. This, coupled with the viscous
vacuum-compatible lubricants, could result in excessive motor operating temperatures. Because of this,
consider all continuous torque ratings to be 40 to 60% lower than the value specified for operation in normal
atmospheric environment. Reduce motor usage accordingly.
1.5. Export Restrictions
The AMG150LP and AMG200LP are export controlled by United States Commerce Department export
regulations. If you are from a non-US country and wish to purchase these gimbals, contact Aerotech to
determine if an export license is required to purchase these products. People in countries embargoed by the
United States cannot purchase and import these products.
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AMG-LP Hardware Manual Mechanical Specifications and Installation
Chapter 2: Mechanical Specifications and Installation
W A R N I N G : AMG-LP 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 : Manually lifting and moving the stage requires a minimum of two
people on either side of the stage. Refer to Section 1.3. for stage mass specifications.
lDo not attempt to lift heavy loads single handed.
lFollow the lifting instructions and only manually lift from the specified surfaces (if lifting
hardware hasn't been supplied).
lDo not use any of the cables as lifting points.
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 AMG-LP. Unsecured moving
parts may shift and cause bodily injury.
lImproper handling could adversely affect the performance of the AMG-LP. Use care when
moving the AMG-LP.
lLift the stage by the yoke. When moving the stage, do not lift or support the stage by the
optics cell.
N O T E : If any damage has occurred during shipping, report it immediately.
Lifting Instructions
Carefully remove the AMG-LPfrom its protective shipping container. Gently set the AMG-LP on a smooth,
flat, and clean surface.
Before operating the AMG-LP, 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 AMG-LP 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.
Shipping Clamps
Before the stage can be operated, remove all of the red anodized shipping brackets (refer to Figure 2-1).
Save the shipping brackets to be used for long-term storage of the stage or return shipping for service.
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Mechanical Specifications and Installation AMG-LP Hardware Manual
Figure 2-1: Shipping Brackets
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AMG-LP Hardware Manual Mechanical Specifications and Installation
2.2. Dimensions
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.
Figure 2-2: AMG100LP Dimensions
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Mechanical Specifications and Installation AMG-LP Hardware Manual
Figure 2-3: AMG150LP Dimensions
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AMG-LP Hardware Manual Mechanical Specifications and Installation
Figure 2-4: AMG200LP Dimensions
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Mechanical Specifications and Installation AMG-LP Hardware Manual
2.3. Securing the Stage to the Mounting Surface
W A R N I N G : The AMG-LP 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 AMG-LP.
Unsecured moving parts may shift and cause bodily injury.
The mounting surface must be flat and have adequate stiffness in order to achieve the maximum
performance from the AMG-LP 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 AMG-LP 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 AMG-LP. Shimming should be avoided if possible. If shimming is required, it
should be minimized to retain maximum rigidity of the system.
AMG-LP series stages have a fixed mounting pattern (as shown in Figure 2-5).
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
6 mm [1/4”] SHCS 7 N·m
Figure 2-5: View of an AMG-LP Stage Showing Mounting Holes
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AMG-LP 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 AMG-LP 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 AMG-LP 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.
The standard AMG-LP series is capable off accommodating cells up to 200 mm in diameter. Custom
solutions can be designed for non-standard loads.
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Mechanical Specifications and Installation AMG-LP Hardware Manual
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