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Aerotech HexGen HEX300-230HL, Hardware Manual

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Aerotech HexGen HEX300-230HL Hardware Manual Download Page 15

1.3.3. Homing

When the incremental encoder option (-E1) is ordered, the struts must each be homed in order for
the hexapod to be controlled. Knowledge of the initial condition is necessary for the inverse
kinematic calculations to be accurate. The home sequence involves moving each strut to its shortest
position and then returning to the center of travel. Be sure that there are no crash conditions before
homing. Refer to the HexGen

®

Programming Guide for more information about initializing a

hexapod.

If the absolute encoder option (-E2) has been ordered, there is no need to home the hexapod.

HEX300-230HL Hardware Manual

1.3.3. Homing

www.aerotech.com

15

Summary of Contents for HexGen HEX300-230HL

Page 1: ...Revision 2 00 HexGen HEX300 230HL Hexapod Six DOF Positioning System HARDWARE MANUAL ...

Page 2: ...d 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 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...

Page 3: ...pecifications and Installation 17 2 1 Unpacking and Handling the Hexapod 17 2 2 Dimensions 19 2 3 Securing the Hexapod to the Mounting Surface 20 2 4 Attaching the Payload to the HEX300 230HL 22 Chapter 3 Electrical Specifications and Installation 25 3 1 Motor and Feedback Connectors 26 3 2 Motor and Feedback Wiring 29 3 3 Motor and Feedback Specifications 31 3 4 Machine Direction 33 3 5 Feedback ...

Page 4: ...L Vertical Load Capabilities 22 Figure 2 5 HEX300 230HL Horizontal Load Capabilities 23 Figure 2 6 HEX300 230HL Inverted Load Capabilities 23 Figure 3 1 Motor and Feedback Wiring E1 Connector 29 Figure 3 2 Motor and Feedback Wiring E2 Connector 30 Figure 3 3 Machine Direction 33 Figure 3 4 Hall Phasing 34 Figure 3 5 Encoder Phasing Reference Diagram Standard 35 List of Figures HEX300 230HL Hardwar...

Page 5: ...Pinout 28 Table 3 4 Mating Connector Part Numbers 28 Table 3 5 Hall Effect Sensor Specifications 31 Table 3 6 Thermistor Specifications 31 Table 3 7 Encoder Specifications 31 Table 3 8 Limit Switch Specifications 31 Table 3 9 HEX300 230HL Motor Specifications 32 Table 3 10 HEX300 230HL Rotary Encoder Specifications 32 Table 3 11 HEX300 230HL Linear Encoder Specifications E2 Option 32 Table 4 1 Gre...

Page 6: ...This page intentionally left blank List of Tables HEX300 230HL Hardware Manual 6 www aerotech com ...

Page 7: ...ectancy of the product could be decreased Safety notes and symbols are placed throughout this manual to warn you of the potential risks at the moment of the safety note or if you fail to obey the safety note The voltage can cause shock burn or death You are at risk of physical injury You could damage the hexapod A surface can be hot enough to burn you Strong magnets and electromagnetic fields are ...

Page 8: ...e necessary precautions to supply safety and protection to the operator l It is the responsibilty of the system integrator or qualified installer to determine and meet all safety and compliance requirements when they integrate the HEX300 230HL into a completed system DANGER PINCH POINT Keep Hands Clear while the stage is in motion WARNING To prevent damage to the equipment and decrease the risk of...

Page 9: ...chinery 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 for example 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 o...

Page 10: ...This page intentionally left blank EU Declaration of Incorporation HEX300 230HL Hardware Manual 10 www aerotech com ...

Page 11: ...m The struts attach only to the joints of the base and platform The cables exit out of the back of the base These six cables connect the hexapod to the controller refer to the Section 3 2 Figure 1 1 HEX300 230HL Callouts Table 1 1 Model Options HexGen HEX300 230HL Hexapod 6 DOF Positioning System HEX300 230HL Six degree of freedom hexapod positioning system 300 mm diameter base 230 mm height at mi...

Page 12: ...stem in a low vibration environment Excessive floor or acoustical vibration can affect system performance Contact Aerotech for information regarding your specific application Protection Rating Not suited for dusty or wet environments IP30 equivalent ingress protection rating Use Indoor use only 1 1 1 Accuracy and Temperature Effects Aerotech products are designed for and built in a 20 C environmen...

Page 13: ...y pk pk 0 35 μm 0 35 μm 0 15 μm 1 μrad 0 1 arc sec Maximum Speed 4 50 mm s 50 mm s 25 mm s 15 s 15 s 30 s Load Capacity All Positions 5 Vertical 45 kg Push 40 kg Pull Horizontal 21 kg Holding Capacity De Energized 6 14 kg Stage Mass 12 kg Material Anodized Aluminum Platform and Base 1 Travels are mutually exclusive Consult the HexGen Hexapod Sizer on the Aerotech website for detailed workspace siz...

Page 14: ...in the same direction as the translational axes and positive rotation is clockwise when looking in the direction of the axis The A axis rotates about the X axis B rotates about the Y axis and C rotates about Z The control software enables the user to customize the coordinate system with certain restrictions Please refer to the HexGen Programming guide for details regarding coordinate system manipu...

Page 15: ... to be accurate The home sequence involves moving each strut to its shortest position and then returning to the center of travel Be sure that there are no crash conditions before homing Refer to the HexGen Programming Guide for more information about initializing a hexapod If the absolute encoder option E2 has been ordered there is no need to home the hexapod HEX300 230HL Hardware Manual 1 3 3 Hom...

Page 16: ...This page intentionally left blank 1 3 3 Homing HEX300 230HL Hardware Manual 16 www aerotech com ...

Page 17: ... Be careful if or when you touch the struts and joints Do not apply force or torque dir ectly to these components l Do NOT use the struts or joints as lift points l Lift only by the lifting handle platform or base NEVER lift by the struts or joints l Make sure that all moving parts are secure before you move the HEX300 230HL Unsecured moving parts may shift and cause bodily injury Carefully remove...

Page 18: ...ion and potential damage that could occur during shipment You must remove the brackets before the HEX300 230HL can be operated Retain the brackets and hardware for future use Figure 2 1 Lifting and Shipping Brackets 2 1 Unpacking and Handling the Hexapod HEX300 230HL Hardware Manual 18 www aerotech com ...

Page 19: ...2 2 Dimensions Figure 2 2 HEX300 230HL Dimensions HEX300 230HL Hardware Manual 2 2 Dimensions www aerotech com 19 ...

Page 20: ...h 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 WARNING The HEX300 230HL is precision machined and verified for flatness at the factory l Do not machine the HEX300 230HL housing If you must machine a surface to achieve a required flatness machine the mounting s...

Page 21: ...lues 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 M6 or 1 4 20 SHCS 3 places 7 N m Figure 2 3 Mounting Hole Locations HEX300 230HL Hardware Manual 2 3 Securing the Hexapod to the Mounting Surface www aerotech com 21 ...

Page 22: ...in 10 µm over the contact area Loads should be mounted close to the center of the hexapod if possible to reduce offset loading The maximum load is based on the distance from the payload s center of mass to the center of the platform s mounting surface External forces to the payload or hexapod platform should be considered when determining the maximum payload Add process forces to the mass of the p...

Page 23: ...Figure 2 5 HEX300 230HL Horizontal Load Capabilities Figure 2 6 HEX300 230HL Inverted Load Capabilities HEX300 230HL Hardware Manual 2 4 Attaching the Payload to the HEX300 230HL www aerotech com 23 ...

Page 24: ...This page intentionally left blank 2 4 Attaching the Payload to the HEX300 230HL HEX300 230HL Hardware Manual 24 www aerotech com ...

Page 25: ...l Only trained operators should operate this equipment l Use this product only in environments and operating conditions that are approved in this manual Electrical installation requirements will vary depending on product options Installation instructions in this section are for HEX300 230HL stages equipped with standard Aerotech motors intended for use with an Aerotech motion control system Contac...

Page 26: ...and compliance requirements when they integrate the HEX300 230HL into a completed system IMPORTANT The protective ground connection must be properly installed to minimize the possibility of electric shock l Make sure that all components are grounded correctly and that they obey the local electrical safety requirements l The protective ground connection of the HEX300 230HL provides motor frame grou...

Page 27: ...d 11 Motor Phase A 12 Motor Phase B 13 Motor Phase C 14 COS Encoder Cosine 15 SIN Encoder Sine 16 MRK Encoder Marker 17 5V Power Supply Input 18 Reserved 19 CW LMT The limit signal that shows the maximum permitted machine travel in positive or clockwise encoder counts 20 Over Temperature Thermistor Sensor 21 Hall Effect Sensor Phase B 22 Frame Ground 23 Motor Phase A 24 Motor Phase B 25 Motor Phas...

Page 28: ...ack 12 Hall Effect Sensor Phase A 13 Hall Effect Sensor Phase B 14 COS Encoder Cosine 15 SIN Encoder Sine 16 CLK Absolute Encoder Clock 17 5V Power Supply Input 18 Stage ID 19 DATA Absolute Encoder Data 20 Reserved 21 Reserved 22 Hall Effect sensor phase A 23 Hall Effect sensor phase B 24 Frame Ground 25 Motor Phase C Table 3 4 Mating Connector Part Numbers Mating Connector Aerotech P N Third Part...

Page 29: ...s l It is the responsibilty of the system integrator or qualified installer to determine and meet all safety and compliance requirements when they integrate the HEX300 230HL into a completed system l Restrict access to the hexapod when it is connected to a power source Shielded cables are required for the motor and feedback connections Figure 3 1 Motor and Feedback Wiring E1 Connector HEX300 230HL...

Page 30: ...Figure 3 2 Motor and Feedback Wiring E2 Connector 3 2 Motor and Feedback Wiring HEX300 230HL Hardware Manual 30 www aerotech com ...

Page 31: ...signals SIN SIN COS and COS E2 Line Driver Type Incremental Rotary Encoder into 120 Ω load differential signals SIN SIN COS and COS Serial Output Absolute Linear Encoder Biss C unidirectional Table 3 8 Limit Switch Specifications Specifications Supply Voltage 5 V 5 Supply Current 25 mA Output Type Open Collector Output Voltage 5 V Output Current 10 mA sinking Output Polarity Normally Closed NC l S...

Page 32: ...housed motor mounted to a 250 mm x 250 mm x 6 mm aluminum heat sink 3 Peak force assumes correct rms current consult Aerotech 4 Torque constant and motor constant specified at stall 5 All performance and electrical specifications 10 6 Specifications given are for the motor only When integrated into a housing with bearings additional losses should be considered 7 Maximum winding temperature is 100 ...

Page 33: ...ed by the hexapod wiring refer to Section 3 5 for Motor and Feedback phasing information Programming direction of a stage is set by the controller that is used to move the stage Programming direction is typically selectable in the controller while machine direction is hardwired in the hexapod Figure 3 3 Machine Direction HEX300 230HL Hardware Manual 3 4 Machine Direction www aerotech com 33 ...

Page 34: ...3 5 Feedback Phasing Motor phase voltage is measured relative to the virtual wye common point Figure 3 4 Hall Phasing 3 5 Feedback Phasing HEX300 230HL Hardware Manual 34 www aerotech com ...

Page 35: ...Figure 3 5 Encoder Phasing Reference Diagram Standard HEX300 230HL Hardware Manual 3 5 Feedback Phasing www aerotech com 35 ...

Page 36: ...This page intentionally left blank 3 5 Feedback Phasing HEX300 230HL Hardware Manual 36 www aerotech com ...

Page 37: ...d any components and cables as needed l Repair any damage before operating the HEX300 230HL 4 2 Cleaning and Lubrication WARNING Do not scratch any bearing surfaces when you clean or lubricate the hexapod Cleaning Before you use a cleaning solvent on any part of the HEX300 230HL blow away small particles and dust with nitrogen or less preferably clean dry compressed air Any external metal surface ...

Page 38: ...ontroller for faults Refer to the controller and software documentation Strut moves uncontrollably Encoder Signal Connection or the Motor Signal Connection Check to make sure that the cable connections are secure Refer to the Section 3 2 Motor and Feedback Wiring Axes are unstable or squeal Incorrect Gains Refer to controller documentation 4 3 Troubleshooting HEX300 230HL Hardware Manual 38 www ae...

Page 39: ...tion 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 website www aerotech com Products must be returned prepaid to an Aerotech service center no C O D or Collect Freight accepted The status of any product returned later than thirty 30 days after the issuance of a return a...

Page 40: ...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 section apply On site Non Warranty Repair If any Aerotech product cannot be made functional by telephone assistance or purchased replacement parts and cannot be returned to the Aerotech service center for repair then the fol...

Page 41: ...ppendix B Revision History Revision Description 2 00 General update 1 01 Updated dimension drawing Section 2 2 1 00 New manual HEX300 230HL Hardware Manual Appendix B Revision History www aerotech com 41 ...

Page 42: ...This page intentionally left blank Appendix B Revision History HEX300 230HL Hardware Manual 42 www aerotech com ...

Page 43: ... 31 Handling the Hexapod 17 Horizontal Load Capabilities 23 Humidity 12 I Incremental Encoder 31 Incremental Rotary Encoder 31 inspect 37 Inspection 37 Inverted Load Capabilities 23 isopropyl alcohol 37 L label 17 Limit Switch Specifications 31 load capacity 22 Lubrication 37 M Maintenance 37 Mounting Hole Locations 21 mounting surface cleaning 20 securing stage 20 P part number 17 Performance Spe...

Page 44: ...17 T Table of Contents 3 Temperature Effects 12 Thermistor Specifications 31 U Unpacking and Handling the Hexapod 17 Use 12 V Vertical Load Capabilities 22 Vibration 12 W Warranty and Field Service 39 Index HEX300 230HL Hardware Manual 44 www aerotech com ...

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