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3.5. Motor and Feedback Phasing

Motor phase voltage is measured relative to the virtual wye common point.

Figure 3-6:

Hall Phasing Diagram

APR100DR

Hardware Manual

38

www.aerotech.com

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Summary of Contents for APR100DR Series

Page 1: ...Revision 2 00 APR100DR High Precision Mechanical Bearing Rotary Stage HARDWARE MANUAL...

Page 2: ...spare or replacement parts To get help immediately contact a service office or your sales representative Include your customer order number in your email or have it available before you call This man...

Page 3: ...Installation 19 2 1 Dimensions 19 2 2 Securing the Stage to the Mounting Surface 20 2 3 Attaching the Payload or Fixturing to the Stage 22 Chapter 3 Electrical Installation 25 3 1 Motor and Feedback...

Page 4: ...3 4 APR100DR Motor and Feedback Wiring E5 E6 33 Figure 3 5 Machine Direction 37 Figure 3 6 Hall Phasing Diagram 38 Figure 3 7 Encoder Phasing Reference Diagram Standard Square Wave 39 Figure 3 8 Enco...

Page 5: ...Connector Part Numbers for the Feedback Connector 28 Table 3 5 Feedback Connector Pinout E4 option 29 Table 3 6 Mating Connector Part Numbers for the Feedback Connector 29 Table 3 7 Secondary Feedbac...

Page 6: ...pment 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...

Page 7: ...Basic concepts general principles for design EN 60204 1 2010 Safety of Machinery Electrical equipment of machines Part 1 General requirements and furthermore declares that it is not allowed to put th...

Page 8: ...by the manufacturer l The protection provided by the equipment could be impaired l The life expectancy of the product could be decreased Safety notes and symbols are placed throughout this manual to w...

Page 9: ...nd maintenance must be done by approved personnel l Use this product only in environments and operating conditions that are approved in this manual l Never install or operate equipment that appears to...

Page 10: ...d l Do not connect or disconnect stage motor interconnections while connected to a live electrical power source l Before you set up or do maintenance disconnect electrical power l It is the responsibi...

Page 11: ...motor frame temperature could exceed 70 C in some applications l Do not touch the stage motor frame while it is in operation l Wait until the stage motor has cooled before you touch it DANGER Risk of...

Page 12: ...chanical Hazard l System travel can cause crush shear or pinch injuries l Only trained operators should operate this equipment l Do not put yourself in the travel path of machinery l Restrict access t...

Page 13: ...hardware and software updates Locate this label and record the information for later reference Unpacking and Handling It is the responsibility of the customer to safely and carefully lift and move the...

Page 14: ...maintenance or system hardware and software updates Locate this label and record the information for later reference Shipping Brackets If the APR100DR has shipped as part of a system shipping bracket...

Page 15: ...0 30 degrees TR200 100 degrees TR080 40 degrees TR240 120 degrees TR100 50 degrees TR270 135 degrees TR120 60 degrees NOTE TRxxx options have an extra 1 5 degrees between the nominal travel and the el...

Page 16: ...t Aerotech if your specific application involves use above 2 000 m or below sea level Vibration Use the system in a low vibration environment Floor or acoustical vibration can affect system performanc...

Page 17: ...2 1 50 m Maximum Speed 3 M1 1500 rpm M2 1750 rpm Aperture 15 mm Maximum Torque Continuous 0 48 N m 1 6 N m Load Capacity Axial 30 kg Radial 25 kg Rotor Inertia Unloaded 0 0006 kg m2 0 0009 kg m2 Stag...

Page 18: ...ge in a clean environment and use powder free polyethylene gloves to prevent any contaminants from adhering to the surface of the stage 3 During installation use cleaned vented stainless steel fastene...

Page 19: ...ance with the 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 Dimensions Figure 2 1 A...

Page 20: ...ith 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 IMPORTANT The stage is precision machined and ver...

Page 21: ...Figure 2 2 APR100DR Stage Mounting Holes Hardware Manual APR100DR www aerotech com 21...

Page 22: ...agement IMPORTANT If your APR100DR was purchased with Aerotech controls it could have been tuned with a representative payload based on the information provided at the time of order If you start the A...

Page 23: ...Figure 2 3 Cantilevered Load Capabilities Hardware Manual APR100DR www aerotech com 23...

Page 24: ...This page intentionally left blank APR100DR Hardware Manual 24 www aerotech com...

Page 25: ...they integrate the APR100DR into a completed system Failure to do so could expose the operator to electrical or mechanical hazards Electrical installation requirements will depend on the ordered prod...

Page 26: ...otection only Additional grounding and safety precautions are required for applications requiring access to the stage while it is energized The System Integrator or qualified installer is responsible...

Page 27: ...2 Reserved 3 Reserved 4 Reserved 5 Reserved A4 Frame Ground motor protective ground Table 3 2 Mating Connector Part Numbers for the Motor Connector Mating Connector Aerotech P N Third Party P N Backsh...

Page 28: ...ne clockwise direction with the Limited Travel option 13 Brake with BK option 14 COS Encoder Cosine 15 COS Encoder Cosine 16 Encoder 5V Supply Input 17 SIN Encoder Sine 18 SIN Encoder Sine 19 Reserved...

Page 29: ...imited Travel option 13 Brake with BK option 14 Reserved 15 Reserved 16 Encoder 5V Supply Input 17 Reserved 18 Reserved 19 DATA Absolute Encoder Data 20 Common ground internally connected to PIN 21 21...

Page 30: ...r 5 SIN Encoder Sine 6 COS Encoder Cosine 7 5V Power Supply Input 8 Reserved 9 Reserved 10 Reserved 11 Reserved 12 MRK Encoder Marker 13 SIN Encoder Sine 14 COS Encoder Cosine 15 Reserved Table 3 8 Ma...

Page 31: ...3 2 Motor and Feedback Wiring Shielded cables are required for the motor and feedback connections Figure 3 2 APR100DR Motor and Feedback Wiring E1 E2 E3 Hardware Manual APR100DR www aerotech com 31...

Page 32: ...Figure 3 3 APR100DR Motor and Feedback Wiring E4 APR100DR Hardware Manual 32 www aerotech com...

Page 33: ...Figure 3 4 APR100DR Motor and Feedback Wiring E5 E6 Hardware Manual APR100DR www aerotech com 33...

Page 34: ...typical Differential Output Signals E1 Sinusoidal Type Incremental Encoder Analog SIN SIN COS COS 1V pk pk Digital RS422 MRK MRK signals Differential Output Signals E2 E3 E5 E6 Digital Output Incremen...

Page 35: ...n limit l High impedance Logic 1 when in limit l Requires external pull up to 5 V 10 k recommended Note If the APR100DR is driven beyond the electrical limit it will encounter a mechanical stop Impact...

Page 36: ...stance C W 1 83 0 93 Number of Poles 14 14 1 Performance is dependent upon heat sink configuration system cooling conditions and ambient temperature 2 Values shown 75 C rise above a 25 C ambient tempe...

Page 37: ...s and is dictated by the stage wiring refer to Section 3 2 Programming direction of a stage is set by the controller that is used to move the stage Programming direction is typically selectable in the...

Page 38: ...3 5 Motor and Feedback Phasing Motor phase voltage is measured relative to the virtual wye common point Figure 3 6 Hall Phasing Diagram APR100DR Hardware Manual 38 www aerotech com...

Page 39: ...Figure 3 7 Encoder Phasing Reference Diagram Standard Square Wave Figure 3 8 Encoder Phasing Reference Diagram Analog Sine Wave Hardware Manual APR100DR www aerotech com 39...

Page 40: ...This page intentionally left blank APR100DR Hardware Manual 40 www aerotech com...

Page 41: ...need for a longer or shorter inspection interval will depend on the application and conditions such as the duty cycle speed and environment Monthly inspections should include but not be limited to l V...

Page 42: ...ents of the APR100DR series stage 1 Use a clean dry soft lint free cloth 2 Before you use a cleaning solvent on any part of the stage blow away small particles and dust with clean dry compressed air 3...

Page 43: ...cal limits Refer to Figure 4 1 1 Disconnect all electrical power from stage 2 Carefully remove the Bottom Cover from the stage It is secured with three QTY 3 M2 Flat Head Screws WARNING Mechanical Haz...

Page 44: ...Figure 4 1 APR100DR Limit Flag Adjustment APR100DR Hardware Manual 44 www aerotech com...

Page 45: ...between the optical limits and the hard stops Allow for enough over travel between the electrical limit and the hard stop for the stage to completely decelerate and stop before it hits the hard stop...

Page 46: ...3 Remove the M3 pull out pin and M3 socket head cap screw from each hard stop Figure 4 3 Figure 4 3 Assembly Showing Hard Stops APR100DR Hardware Manual 46 www aerotech com...

Page 47: ...e the radial runout of the inside diameter of the tabletop l If the radial runout is 5 microns or less you do not need to adjust the tabletop l If the runout is greater than 5 microns proceed to Step...

Page 48: ...tion for polarity and compatibility requirements Example voltage requirements l Controller trap or fault refer to the Controller documentation Stage moves uncontrollably l Encoder sine and cosine sign...

Page 49: ...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 request available on our...

Page 50: ...eriods then special rates apply If during the on site repair it is determined the problem is not warranty related then the terms and conditions stated in the following On Site Non Warranty Repair sect...

Page 51: ...Appendix B Revision History Revision General Information 2 00 New manual Hardware Manual APR100DR www aerotech com 51...

Page 52: ...This page intentionally left blank APR100DR Hardware Manual 52 www aerotech com...

Page 53: ...grease 18 H Hall Effect Sensors Specifications 34 Handling 13 Humidity 16 I Inspection Schedule 41 isopropyl alcohol 42 L label 13 14 Limit Switch Specifications 35 lubricant vacuum 18 M Motor Related...

Page 54: ...e distortion 20 stabilizing 14 Storage 13 Symptom 48 T Table of Contents 3 Temperature Effects 16 Thermistor Specifications 34 Troubleshooting 48 V vacuum guidelines 18 vacuum lubricant Braycote 602EF...

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