Aerotech APR200DR Series Hardware Manual Download Page 47

Page: 47 / 54

4.4. Troubleshooting

Table 4-1:

Troubleshooting

Symptom

Possible Cause and Solution

Stage will not move

Shipping restraints still installed. Remove the red anodized shipping

brackets.

Brake not released (if equipped with brake; refer to stage documentation).

In Limit condition. Check limits (refer to

Chapter 3: Electrical Installation

)

and refer to the Controller documentation for polarity and compatibility
requirements (Example: voltage requirements).

Controller trap or fault (refer to the Controller documentation).

Stage moves
uncontrollably

Encoder (sine and cosine) signal connections (refer to

Chapter 3: Electrical

Installation

and Controller documentation).

Motor Connections (refer to

Chapter 3: Electrical Installation

and the

Controller documentation).

Stage oscillates or
squeals

Gains misadjusted (refer to the Controller documentation).

Encoder signals (refer to the Controller documentation).

Hardware Manual

APR200DR

www.aerotech.com

Summary of Contents for APR200DR Series

Page 1: ...Revision 2 00 APR200DR 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: ...d Feedback Wiring E4 32 Figure 3 4 APR200DR 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...

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 APR200DR has shipped as part of a system shipping bracket...

Page 15: ...egrees TR040 20 degrees TR180 90 degrees TR060 30 degrees TR200 100 degrees TR080 40 degrees TR240 120 degrees TR100 50 degrees TR270 135 degrees NOTE TRxxx options have an extra 1 5 degrees between t...

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: ...5 mm Maximum Torque Continuous 11 12 N m 15 93 N m Load Capacity Axial 205 kg Radial 100 kg Rotor Inertia Unloaded 0 026 kg m2 0 032 kg m2 Stage Mass 4 17 8 kg 22 kg Material Aluminum Hardcoat Anodize...

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 APR200DR Stage Mounting Holes Hardware Manual APR200DR www aerotech com 21...

Page 22: ...agement IMPORTANT If your APR200DR 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 APR200DR www aerotech com 23...

Page 24: ...This page intentionally left blank APR200DR Hardware Manual 24 www aerotech com...

Page 25: ...they integrate the APR200DR 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: ...1 Reserved 12 Reserved 13 Reserved 14 COS Encoder Cosine 15 COS Encoder Cosine 16 Reserved 17 SIN Encoder Sine 18 SIN Encoder Sine 19 Reserved 20 Common ground internally connected to PIN 21 21 Common...

Page 31: ...3 2 Motor and Feedback Wiring Shielded cables are required for the motor and feedback connections Figure 3 2 APR200DR Motor and Feedback Wiring E1 E2 E3 Hardware Manual APR200DR www aerotech com 31...

Page 32: ...Figure 3 3 APR200DR Motor and Feedback Wiring E4 APR200DR Hardware Manual 32 www aerotech com...

Page 33: ...Figure 3 4 APR200DR Motor and Feedback Wiring E5 E6 Hardware Manual APR200DR www aerotech com 33...

Page 34: ...50 mA 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 In...

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 APR200DR is driven beyond the electrical limit it will encounter a mechanical stop Impact...

Page 36: ...340 Thermal Resistance C W 0 67 0 57 Number of Poles 18 18 1 Performance is dependent upon heat sink configuration system cooling conditions and ambient temperature 2 Values shown 75 C rise above a 25...

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 APR200DR 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 APR200DR www aerotech com 39...

Page 40: ...This page intentionally left blank APR200DR 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 APR200DR 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: ...crews to remove bottom cover from stage 3 Note the orientation of the Alignment Slot in the Limit Flag with respect to the shaft Temporarily mark the shaft with tape or marker to indicate the location...

Page 44: ...Figure 4 1 APR200DR Limit Flag Adjustment APR200DR Hardware Manual 44 www aerotech com...

Page 45: ...e tabletop graduated scale assembly with QTY 8 M6 socket head cap screws Remember the orientation of the assembly so that you can put it back on in the same position 3 Flip the tabletop assembly upsid...

Page 46: ...Figure 4 2 Tabletop Screw Locations Figure 4 3 Upside Down Assembly Showing Hard Stops APR200DR Hardware Manual 46 www aerotech com...

Page 47: ...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 48: ...This page intentionally left blank APR200DR Hardware Manual 48 www aerotech com...

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: ...on 2 00 l Product update l Updated safety information l Updated EU Declaration of Incorporation l Added UKCA Declaration of Incorporation 1 02 00 Product update 1 01 00 Full review revision 1 00 00 Ne...

Page 52: ...This page intentionally left blank APR200DR Hardware Manual 52 www aerotech com...

Page 53: ...rease 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 47 T Table of Contents 3 Temperature Effects 16 Thermistor Specifications 34 Troubleshooting 47 V vacuum guidelines 18 vacuum lubricant Braycote 602EF...

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