Bayside R100D User manual

Direct Drive
Rotary Table
Product Manual
Product Manual

Direct Drive Rotary Table
Product Manual
Rev: 3.1/ 1001
P/N: 12197009
Please check www.baysidemotion.com for latest revisions.

I. Introduction 1
II. Packaging 1
Uncrating
III. Mechanical Specifications 2
IV. Electrical Specifications 3
General
Motor
Rotary Encoder
V. Wiring 6
Appendix
Power Digital Drive drawing - B 10963053 Rev 1 9
Sensor Digital Drive drawing - B 10963050 Rev 1 10
Product Manual
Direct Drive Rotary Table
Table Of Contents
27 Seaview Boulevard * Port Washington, NY 11050 * 516-484-5353 * Fax: [phone]
baysidemotion.com

Direct Drive Rotary Table 1
Introduction / Packaging
I. Introduction
Thank you for your purchase of the R Series of direct drive rotary tables. The R Series rotary stages
designed to meet the most demanding of automation applications. This manual provides installation and
maintenance information for the:
R100D Rotary Stages
R150D Rotary Stages
R200D Rotary Stages
R300D Rotary Stages
If there are any questions regarding the set up of your product, please feel free to contact Bayside Motion
Group, Technical Services at [phone] for additional support
II. Packaging
The stage is packaged in a wooden crate/carton with high density foam padding to avoid any damage
during transportation. The assembly is wrapped in plastic to maintain cleanliness and should be handled
with appropriate care.
Uncrating
All appropriate stage documentation (including this manual) will be found on top of the stage. The stage
can be easily lifted out of the crate/box and placed on a secure surface.

Direct Drive Rotary Table 2
Mechanical Specifications
Dimensions
MODEL NO. A B C D E F G H J K L M N P
(mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) Tap (mm) (mm) (mm) (mm) (mm)
R100D 100 100 75 130 50 5 85 20 M5 60 5.5 9.5 25 5
R150D 150 150
7 8 180 75 7 125 20 M6 95 6.5 11.2 25 5
R200D 200 200 100 230 100 10
160 30 M8 125 8.5 14.0 25 5
Performance Specifications
MODEL AXIAL PERPENDICULAR CONT PEAK MAX RADIAL AXIAL WOBBLE STAGE
NO CAPACITY CAPACITY OUTPUT OUTPUT OUTPUT RUNOUT RUNOUT AT AXIS INERTIA WEIGHT
AT RADIUS TORQUE TORQUE SPEED AT H AT K OF ROTATION
(kgf) (Nm) (Nm) (RPM)
(microns) (microns) (arcsec) (gmcm sec.sq.) (kg)
R100D 75 20kgf @ 50mm 0.65 1.96 700 20 18 60 14.2 2.2
R150D 150 75 kgf @ 75mm 4.00 12.00 500 26 23 45 86.4 5.8
R200D 250 150 kgf @ 100mm 7.00 21.00 300 36 30 30 338.0 10.5
III. Mechanical Specifications

Direct Drive Rotary Table 3
Electrical Specifications
IV. Electrical Specifications
General
The direct drive rotary tables consist of a brushless DC motor, high resolution encoder and load
mounting plate assembled on a single shaft and supported by a single set of precision bearings. By
eliminating any gearing between the motor and load plate, an extremely stiff assembly is created, with no
mechanical backlash or hysteresis, resulting in a high servo performance and wide bandwidth capable
unit.
In addition to the encoder, the table contains the circuitry and indicator to display actual position in one
degree increments and three switch programmable limit points.
Also, speed is monitored and an over-speed output signal is provided. This is factory set at 200 RPM.
The motor can be driven by any three phase brushless DC servo amplifier capable of supplying the
voltage and current shown on the outline drawing.
All I/O signals are available in a single D type connector (see below).
For easy installation, motor power and encoder, hall, limit cables can be purchased from Bayside Motion
Group. To order cables, please contact Bayside Sales Department at 516-484-5353
R=ROTARY
SERIES DRIVE
D=Direct Drive
MODEL
100
150
200
300
Order
Numbering
Example: 150RD
Length Power Cable Sensor Cable
Digital Drive Digital Drive
3 meter* B 10963053 Rev 1 B 1096305 Rev 1
* See cable drawings in back of manual for color codes
Cables

Direct Drive Rotary Table 4
Electrical Specifications
Motor Specifications
MODEL VOLTAGE TORQUE RATED LOGIC
NO. CONSTANT CONSTANT RESISTANCE INDUCTANCE VOLTAGE I
CONT I PEAK VOLTAGE
KeKtRL
(V/KRPM) (Nm/A) OHMS@ 25°C mH V Amps Amps V/A
R100D
75 0.72 59.9 12 300 0.9 2.72 5 V @ 600 ma
R150D 210 2 11.4 15.5 300 2.0 6.0 5 V @ 600 ma
R200D 210 2 3.72 4.0 300 3.5 10.5 5 V @ 600 ma
R300D TBD TBD TBD TBD TBD TBD TBD TBD

Direct Drive Rotary Table 5
Electrical Specifications
Temperature
All motor speed/torque curves are based on 25 deg C ambient with a winding temperature of 155 deg C,
at stall. Ambient temperatures above 25 deg C will require derating. Consult Bayside Motion Group,
Technical Services at [phone], ext. 130 for application assistance.
Circumstantial Rotary Encoder
The high resolution encoder has a nominal number of counts per revolution and angular resolution is
determined per table shown below.
The number of counts per revolution can vary by a maximum of +/-280 counts (9.8 arc min.) but is
repeatable. The control of the system can be enhanced by using the actual line count shown on the
calibration supplied on the label of the product.
Although to a large extent a function of the closed loop performance of the total system, repeatability of
+/-3 counts (+/-6.3 arc sec nominal) is achievable.
Commutation
Three commutation signals, developed by hall sensors, are available for proper control of the motor by
your amplifier.
Electrical Characteristics of Hall Sensors
Supply Voltage 5Vdc + 10% (500ma)*
Output Format TTL (Internal pull-up resistors provided)
* an external power supply may be required. Most amplifiers only provide 260 ma of power.
Intermittent signals may occur.
Signal Timing
The following chart shows the timing of the commutation and encoder signals in relation to the motor
bemf. See section IV, Wiring, for signal pin designations.
Rotary Motor Signal Timing Rotary Encoder Timing
VU-V VV-W VW-U
BEMF
WAVEFORMS
ELECTRICAL
DEGREES
HALL SENSOR
WAVEFORMS
A
B
I
360+/- 5.5
180 +/- 30
90+/- 15
90+/- 30 ALL TIMING IN
ELECTRICAL DEGREES
SEN3
SEN2
SEN1
0 60 120 180 240 300 360
All timing is for CCW rotation as
viewed from the rotary table.
Standard Resolution:2000 PPR
CCW
* post quadrature and interpolation
MODEL NO. R100D R150D R200D R300D
Nominal Count * 472000 629200 943200 1257200
Nominal resolution (arc sec) 2.8 (2.7458) 2.1 (2.0598) 1.4 (1.3740) 1.0 (1.0309)
Repeatability arc sec + 8.4 + 6.3 + 4.2 + 3

Direct Drive Rotary Table 6
Wiring
V. Wiring Sensor Signal Connector
PIN ASSIGNMENTS
26-Pin “D” Sub-miniature high density
Pin Number Name Function
1 /ENCA Encoder Channel A
2 ENCA Encoder Channel A
3 /ENCB Encoder Channel B
4 ENCB Encoder Channel B
5 /INDEX Encoder Channel I
6 INDEX Encoder Channel I
7 +5v +5VDC Power Supply for Encoder (600mA)
8 GND Encoder Common
9 N/C Spare
10 /OVSP_ISO Isolated Over Speed Output, Active Low, OC*
11 /AO_ISO Isolated Position A Output, Active Low, OC*
12 /BO_ISO Isolated Position B Output, Active Low, OC*
13 /CO_ISO Isolated Position C Output, Active Low, OC*
14 GND_ISO Isolated Common*
15 TDI Programming Port**
16 TMS Programming Port**
17 TCK Programming Port**
18 TDO Programming Port**
19 SEN 1 Hall Sensor 1 (X)
20 SEN 2 Hall Sensor 2 (Y)
21 SEN 3 Hall Sensor 3 (Z)
22 +5 COMM +5VDC Power Supply for Hall Sensors
23 GND COMM Hall Sensor Common
24 T1 Thermistor
25 T2 Thermistor
26 SHIELD Shield
* Opto-isolated outputs; User to supply pull-up resistor.
** All programming ports are used for factory only, DO NOT connect to these pins!
Damage may occur and warranty will be voided

Direct Drive Rotary Table 7
Wiring
POWER CONNECTOR PIN ASSIGNMENTS
15-Pin "D" Sub-miniature
Pin Numbers Name Function
1, 2, 9, 10 PHASE U (X) Motor Power In
3, 4, 11, 12 PHASE V (Y) Motor Power In
5, 6, 13, 14 PHASE W (Z) Motor Power In
7, 8, 15 GND Chassis Ground
Note: Power for Phases are split over multiple pins.
LIMIT SWITCH POSITION SETTING
There are nine rotary switches used to set the three limit switch settings. Reading from left to right, the
first three are for limit A, the second three are for limit B and the last three are for limit C. In each group
of three, the first switch sets the 100s digit, the second sets the 10s digit and the third sets he 1s digit.
Each limit can be set from 000 to 359.
User may set any 3 switch comination to set the value (ie. 90o, etc) for the limit output to trip. Figure 2
shows the co-ordinate system for limit setup.
Figure 1
Figure 2

Direct Drive Rotary Table 8
Section Title
DISPLAY
The 4 digit display shows current position and status. The first three display position in one degree
increments. When the actual position is equal to the A/programmable setpoint, the fourth digit will
display "A". When the actual position is equal to the B setting, the fourth digit will display "b". When
the actual setting is equal to the C setting, the fourth digit will display "c".
The dot located at the right of the fourth digit indicates direction. For CW rotation the dot is off; for
CCW rotation it is on.
ERROR INDICATION
ILLEGAL SETTING FAULT:
All settings should be between 0 and 359. If any setting is larger than 360 degrees, all 4-digits will show
a blinking bar, and all output position signals will be inhibited.
OVER SPEED FAULT:
If the speed exceeds the maximum setting (see table), the over speed fault signal /OVSP_ISO will
be active, and all 4-digits will show two blinking bars, but all output position signals will remain
enabled.
INITIALIZING
All position signals are based on an index signal from the encoder. In order to initialize the position
circuitry, turn on the logic supply, either rotate the table by hand or command the motor to rotate at least
one revolution.
Model R100D R150D R200D R300D
Speed Limit 700 RPM 500 RPM 300 RPM 200 RPM