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AGR Hardware Manual

Mechanical Specifications and Installation

Figure 2-16:

View of an AGR Stage Showing Mounting Holes

www.aerotech.com

Chapter 2

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Summary of Contents for AGR Series

Page 1: ...Revision 1 06 00 AGR Hardware Manual...

Page 2: ...ech com Phone 1 412 967 6440 Fax 1 412 967 6870 101 Zeta Drive Pittsburgh PA 15238 2811 www aerotech com United Kingdom China Email Support aerotech com Phone 44 0 1256 855055 Fax 44 0 1256 855649 Ema...

Page 3: ...9 2 2 Dimensions 20 2 3 Securing the Stage to the Mounting Surface 30 2 4 Attaching the Payload to the Stage 32 Chapter 3 Electrical Specifications and Installation 37 3 1 Motor and Feedback Connector...

Page 4: ...Figure 2 13 AGR200 Dimensions 28 Figure 2 14 AGR200 Mounting Plate Accessories 29 Figure 2 15 AGR200 Tabletop Accessories 29 Figure 2 16 View of an AGR Stage Showing Mounting Holes 31 Figure 2 17 AGR...

Page 5: ...e 25 Pin D Style Feedback Connector 41 Table 3 8 Brushless Motor Feedback Connector Pinout AGR200 42 Table 3 9 Stepper Motor Feedback Connector Pinout 43 Table 3 10 Mating Connector Part Numbers for t...

Page 6: ...Table of Contents AGR Hardware Manual 6 www aerotech com This page intentionally left blank...

Page 7: ...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...

Page 8: ...Electrical Safety AGR Hardware Manual 8 www aerotech com This page intentionally left blank...

Page 9: ...res 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...

Page 10: ...Declaration of Conformity AGR Hardware Manual 10 www aerotech com This page intentionally left blank...

Page 11: ...BMS280 brushless motor and 1000 line 1 Vp p sine wave encoder AGR200 M4 BMS35 brushless motor and 1000 line 1 Vp p sine wave encoder with brake AGR50 AGR75 BMS60 brushless motor and 1000 line 1 Vp p...

Page 12: ...2 of overtravel between the nominal travel and the electrical limit on each side Ex TR270 contains 135 of nominal travel with 137 of travel between the electrical limits Limits Required with Limited T...

Page 13: ...GR Hardware Manual Overview Figure 1 1 AGR Rotary Stage Showing Standard Features Figure 1 2 AGR Rotary Stage Motor Location Figure 1 3 AGR Rotary Stage Motor Orientation www aerotech com Chapter 1 13...

Page 14: ...Overview AGR Hardware Manual Figure 1 4 Encoder Option Figure 1 5 Seal Option Figure 1 6 Stage Accessories Figure 1 7 No Motor Option 14 Chapter 1 www aerotech com...

Page 15: ...kaging 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 appli...

Page 16: ...67 1 85 1 Maximum Speed 3 with Brushless Servomotor BM and BMS models 180 s with Stepper Motor 60 s 60 s 40 s Maximum Acceleration 4 720 s2 Aperture 50 mm 75 mm 100 mm Load Capacity Axial 40 kg 100 k...

Page 17: ...s 120 s with Stepper Motor 40 s Maximum Acceleration 4 720 s2 480 s2 Aperture 150 mm 200 mm Load Capacity Axial 300 kg 425 kg Radial 125 kg 200 kg Moment See Moment Load Capacity Section 2 4 Maximum T...

Page 18: ...ecome temporarily trapped during pump down l Extensive cleaning prior to assembly in a clean environment and packaging in a special polyethylene bag l Use of components able to withstand elevated temp...

Page 19: ...s single handed N OTE If any damage has occurred during shipping report it immediately Carefully remove the AGR from its protective shipping container Gently set the AGR on a smooth flat and clean sur...

Page 20: ...Mechanical Specifications and Installation AGR Hardware Manual 2 2 Dimensions Figure 2 1 AGR50 Dimensions 20 Chapter 2 www aerotech com...

Page 21: ...AGR Hardware Manual Mechanical Specifications and Installation Figure 2 2 AGR50 MP1 Mounting Plate Accessories Figure 2 3 AGR50 Tabletop Accessories www aerotech com Chapter 2 21...

Page 22: ...Mechanical Specifications and Installation AGR Hardware Manual Figure 2 4 AGR75 Dimensions 22 Chapter 2 www aerotech com...

Page 23: ...AGR Hardware Manual Mechanical Specifications and Installation Figure 2 5 AGR75 MP1 Mounting Plate Accessories Figure 2 6 AGR75 Tabletop Accessories www aerotech com Chapter 2 23...

Page 24: ...Mechanical Specifications and Installation AGR Hardware Manual Figure 2 7 AGR100 Dimensions 24 Chapter 2 www aerotech com...

Page 25: ...AGR Hardware Manual Mechanical Specifications and Installation Figure 2 8 AGR100 MP1 Mounting Plate Accessories Figure 2 9 AGR100 Tabletop Accessories www aerotech com Chapter 2 25...

Page 26: ...Mechanical Specifications and Installation AGR Hardware Manual Figure 2 10 AGR150 Dimensions 26 Chapter 2 www aerotech com...

Page 27: ...AGR Hardware Manual Mechanical Specifications and Installation Figure 2 11 AGR150 Mounting Plate Accessories Figure 2 12 AGR150 Tabletop Accessories www aerotech com Chapter 2 27...

Page 28: ...Mechanical Specifications and Installation AGR Hardware Manual Figure 2 13 AGR200 Dimensions 28 Chapter 2 www aerotech com...

Page 29: ...AGR Hardware Manual Mechanical Specifications and Installation Figure 2 14 AGR200 Mounting Plate Accessories Figure 2 15 AGR200 Tabletop Accessories www aerotech com Chapter 2 29...

Page 30: ...entire stage footprint N OTE The AGR 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 perf...

Page 31: ...AGR Hardware Manual Mechanical Specifications and Installation Figure 2 16 View of an AGR Stage Showing Mounting Holes www aerotech com Chapter 2 31...

Page 32: ...ed with the stage N OTE If your AGR 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 AGR is sta...

Page 33: ...re Manual Mechanical Specifications and Installation Figure 2 17 AGR50 Axial and Radial Cantilevered Load Capability Figure 2 18 AGR75 Axial and Radial Cantilevered Load Capability www aerotech com Ch...

Page 34: ...Specifications and Installation AGR Hardware Manual Figure 2 19 AGR100 Axial and Radial Cantilevered Load Capability Figure 2 20 AGR150 Axial and Radial Cantilevered Load Capability 34 Chapter 2 www a...

Page 35: ...AGR Hardware Manual Mechanical Specifications and Installation Figure 2 21 AGR200 Axial and Radial Cantilevered Load Capability www aerotech com Chapter 2 35...

Page 36: ...Mechanical Specifications and Installation AGR Hardware Manual 36 Chapter 2 www aerotech com This page intentionally left blank...

Page 37: ...oder are integrated at the factory Refer to the sections that follow for standard motor wiring and connector pinouts W A R N I N G Applications requiring access to the stage while it is energized will...

Page 38: ...s responsible for determining and meeting all safety and compliance requirements necessary for the integration of this stage into the final application D A N G E R Remove power before connecting or di...

Page 39: ...or protective ground Table 3 2 Mating Connector Part Numbers for the D Style Motor Connector Mating Connector Aerotech P N Third Party P N Backshell ECK00656 Amphenol 17E 1726 2 Sockets QTY 4 ECK00659...

Page 40: ...tor Phase B A3 Motor Phase A Return A4 Motor Phase B Return 1 Brake 2 Brake 3 Reserved 4 Frame 5 Frame Table 3 5 Mating Connector Part Numbers for the D Style Motor Connector Mating Connector Aerotech...

Page 41: ...Reserved 10 Hall Effect sensor phase A 11 Hall Effect sensor phase C 12 Reserved 13 Brake 2 14 Cosine 15 Cosine N 16 Reserved 17 Sine 18 Sine N 19 Reserved 20 Common ground 21 Common ground 22 Reserv...

Page 42: ...R20 29P A Cosine B Cosine N C Sine D Sine N E Marker F Marker N G Common ground H 5 V power supply J Reserved K Hall Effect sensor phase A L Over Temperature Thermistor sensor 1 M Hall Effect sensor p...

Page 43: ...rved 10 Reserved 11 Reserved 12 Reserved 13 Reserved 14 Cosine 15 Cosine N 16 5 V power supply 17 Sine 18 Sine N 19 Reserved 20 Common ground 21 Common ground 22 Reserved 23 Reserved 24 Reserved 25 Re...

Page 44: ...ctor Mating Connector Aerotech P N 3rd Party P N Backshell ECK01021 Amphenol 17E 1724 2 Connector ECK00340 FCI DE09S064TLF Table 3 13 15 Pin Direct Encoder Connector Pinout E1 E2 or E3 Option Pin Desc...

Page 45: ...ontroller manufacturers have their own designations for motor phases A B C and Hall signals A B C refer to Section 3 5 for motor phasing Shielded cables are required for the motor and feedback connect...

Page 46: ...Electrical Specifications and Installation AGR Hardware Manual Figure 3 2 Brushless Motor and Feedback Wiring AGR200 46 Chapter 3 www aerotech com...

Page 47: ...AGR Hardware Manual Electrical Specifications and Installation Figure 3 3 Stepper Motor and Feedback Wiring www aerotech com Chapter 3 47...

Page 48: ...ential signals SIN SIN COS COS are 5 V pk pk relative to ground Digital Output Incremental Encoder RS422 485 compatible Limit Switch Specifications Supply Voltage 5 V Supply Current 25 mA Output Type...

Page 49: ...GR150 SM 1 3 812 arc sec line 2 769 arc sec line BM BMS TTL 1 525 arc sec line 1 108 arc sec line BMS Amplified Sine 2 3 812 1 906 arc sec line 2 769 1 385 arc sec line Direct Rotary Encoder 23600 lin...

Page 50: ...C Line Line 5 80 8 40 Inductance Line Line mH 1 70 1 30 Maximum Bus Voltage VDC 340 340 Thermal Resistance C W 2 21 1 73 Number of Poles 8 8 1 Performance is dependent upon heat sink configuration sy...

Page 51: ...0 Maximum Bus Voltage VDC 340 Thermal Resistance C W 0 93 Number of Poles 14 1 Performance is dependent upon heat sink configuration system cooling conditions and ambient temperature 2 Values shown 75...

Page 52: ...Line Line 0 7 1 00 Inductance Line Line mH 0 73 1 42 Maximum Bus Voltage VDC 80 340 Thermal Resistance C W 4 56 1 41 Number of Poles 8 8 1 Performance is dependent upon heat sink configuration system...

Page 53: ...4 Maximum Bus Voltage VDC 340 Thermal Resistance C W 0 82 Number of Poles 8 1 Performance is dependent upon heat sink configuration system cooling conditions and ambient temperature 2 All performance...

Page 54: ...38 Rated Phase Current A 3 0 84 7 1 Recommended Driver Bus Voltage V 35 160 160 Rotor Inertia kg m2 oz in s2 1 02 x 10 5 0 0014 3 x 10 5 0 0042 2 7 x 10 4 0 038 Full Step Angle 1 8 1 8 1 8 Accuracy 0...

Page 55: ...tage Figure 3 4 shows the machine direction of AGR stages Figure 3 4 Machine Direction Limited travel stages TRxxx option have limit flags that can be adjusted to change the travel range of the stage...

Page 56: ...Electrical Specifications and Installation AGR Hardware Manual Figure 3 5 Limit Flag Locations 56 Chapter 3 www aerotech com...

Page 57: ...re Manual Electrical Specifications and Installation 3 5 Motor and Feedback Phasing Motor phase voltage is measured relative to the virtual wye common point Figure 3 6 Hall Phasing www aerotech com Ch...

Page 58: ...Electrical Specifications and Installation AGR Hardware Manual Figure 3 7 Analog Encoder Phasing Reference Diagram Figure 3 8 Encoder Phasing Reference Diagram Standard 58 Chapter 3 www aerotech com...

Page 59: ...monthly or every 75 000 revolutions which ever comes first For long term reliability we recommend that you return the stage to Aerotech after 300 000 rotation cycles for cleaning relubrication and ge...

Page 60: ...tenance lubrication AGR rotary stages are designed for easy maintenance of the worm drive system The drive mechanism can be lubricated while the stage is under power and integrated in upper level syst...

Page 61: ...ion Stage moves uncontrollably l Encoder sine and cosine signal connections refer to Chapter 3 and Controller documentation l Motor Connections refer to Chapter 3 and the Controller documentation Stag...

Page 62: ...Maintenance AGR Hardware Manual 62 Chapter 4 www aerotech com This page intentionally left blank...

Page 63: ...ch approval A Return Materials Authorization RMA number must accompany any returned product s The RMA number may be obtained by calling an Aerotech service center or by submitting the appropriate requ...

Page 64: ...oblem is not warranty related then the terms and conditions stated in the following On Site Non Warranty Repair section apply On site Non Warranty Repair If any Aerotech product cannot be made functio...

Page 65: ...late Accessories as Figure 2 2 l Added the drawing for AGR50 Tabletop Accessories as Figure 2 3 l Updated the drawing for AGR75 Dimensions which is Figure 2 4 l Added the drawing for AGR75 Mounting Pl...

Page 66: ...Revision History AGR Hardware Manual 66 Appendix B www aerotech com This page intentionally left blank...

Page 67: ...ing Plate Accessories 29 Tabletop Accessories 29 AGR50 BM22 Motor Specifications 52 BMS35 Motor Specifications 50 Dimensions 20 Mounting Plate Accessories 21 NEMA17 Stepper Motor Specifications 54 Tab...

Page 68: ...nical Specifications 16 17 mounting surface cleaning 30 securing stage 30 MS3101A18 10P 39 MS3102R20 29P 42 N NEMA17 Stepper Motor Specifications AGR50 75 54 P part number 19 Protection Rating 15 prot...

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