AGR Series Stage User's Manual: P/N: EDS139 (Revision 1.01.00)

AGR Series Stage
Users Manual
P/N: EDS139 (Revision 1.01.00)
Dedicated to the Science of Motion
Aerotech, Inc.
101 Zeta Drive,
Pittsburgh, PA, 15238
Phone: 412-963-7470
Fax: 412-963-7459
www.aerotech.com
Product Registration Register online at: http://www.-
aerotech.com/prodreg.cfm
Technical Support United States Headquarters:
Phone: (412) 967-6440
Fax: (412) 967-6870
Email: service@aerotech.com
United Kingdom:
Phone: +44 118 940 9400
Fax: +44 118 940 9401
Email: service@aerotech.co.uk
Germany:
Phone: +49 911 967 9370
Fax: +49 911 967 93720
Email: service@aerotechgmbh.de
Japan:
Phone: +81(0)47-489-1741 (Sales)
Phone: +81(0)47-489-1742 (Service)
Fax: +81(0)47-489-1743
Email: service@aerotechkk.com.jp
China:
Phone: +852-3793-3488
Email: saleschina@aerotech.com
Revision History Revision 1.01.00 February 2, 2011
Revision 1.01.00 April 2, 2009
Product names mentioned herein are used for identification purposes only and may be trademarks of
their respective companies.
Aerotech, Inc. 2011
AGRSeries Stage User's Manual Table of Contents
Table of Contents
Table of Contents iii
List of Figures v
List of Tables vii
Chapter 1: Overview 1
1.1. Standard Features 2
1.2. Optional Features 4
1.2.1. Limited Travel Option 4
1.2.2. Motor Options 4
1.2.2.1. Motor Orientation and Location 5
1.2.3. Brake Option 6
1.2.4. Encoder Option 6
1.2.5. Seal Option 7
1.2.6. Accessories 7
1.3. Model Numbers 8
1.4. Safety Procedures and Warnings 10
1.5. EC Declaration of Incorporation 12
Chapter 2: Installation 13
2.1. Unpacking and Handling the Stage 13
2.2. Preparing the Mounting Surface 14
2.3. Securing the Stage to the Mounting Surface 15
2.4. Motor Installation 16
2.5. Attaching the Payload to the Stage 17
2.6. Electrical Installation 17
Chapter 3: Operating Specifications 19
3.1. Environmental Specifications 19
3.2. Basic Specifications 20
3.3. Torque Capability 24
3.4. Standard Motor Wiring 26
3.4.1. Motor Wiring for the AGR-200 28
3.5. Limit Switch Wiring 30
3.5.1. Limit Switch Operation 30
Chapter 4: Maintenance 33
4.1. Service and Inspection Schedule 33
4.2. Cleaning and Lubrication 34
4.2.1. Recommended Cleaning Solvents 34
4.2.2. Lubrication Procedure 35
Appendix A: Warranty and Field Service 37
Appendix B: Technical Changes 39
Index 41
Reader's Comments 43
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Table of Contents AGRSeries Stage User's Manual
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AGRSeries Stage User's Manual List Of Figures
List of Figures
Figure 1-1: Standard AGR Rotary Stages 1
Figure 1-2: AGR Rotary Stage Showing Standard Features 2
Figure 1-3: AGR Rotary Stage Without Motor Option 4
Figure 1-4: AGR Rotary Stage Motor Orientations 5
Figure 1-5: AGR Rotary Stage Motor Locations 5
Figure 1-6: AGR Rotary Stage Brake Option 6
Figure 1-7: AGR Rotary Stage Encoder Option 6
Figure 1-8: AGR Rotary Stage Seal Option 7
Figure 1-9: AGR Rotary Stage Accessories 7
Figure 2-1: Results of Flat Versus Non-Flat Mounting 14
Figure 2-2: View of an AGR Stage Showing Mounting Holes 15
Figure 2-3: View of an AGR Stage Showing Side Mounting Holes 15
Figure 2-4: View of an AGR Stage Showing Coupling Access Holes 16
Figure 3-1: Torque vs Speed for AGR-50 and AGR-75 Rotary Stages 24
Figure 3-2: Toque vs Speed for AGR-100 through AGR-200 Rotary Stages 25
Figure 3-3: Motor Power Connector 26
Figure 3-4: Motor Feedback Connector 27
Figure 3-5: Encoder and Brake Wiring for the AGR-200 Stage 28
Figure 3-6: Motor Wiring Connector for the AGR-200 Stage 29
Figure 3-7: Limit Switch Wiring 30
Figure 3-8: Limit Switch Connector 30
Figure 4-1: View of an AGR Stage Showing Lubrication Access Holes 35
Figure 4-2: View of the Current Draw of a Typical AGR Stage Before and After Lubrication 35
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List of Figures AGRSeries Stage User's Manual
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AGRSeries Stage User's Manual List of Tables
List of Tables
Table 1-1: Model Numbering System 8
Table 3-1: Environmental Specifications 19
Table 3-2: AGR Series Specifications 20
Table 3-3: AGR Motor Specifications (-BMS and -BMOptions) 22
Table 3-4: AGR Stepper Motor Specifications (-SMOption) 23
Table 3-5: High Power D-Style Motor Connector Pin Assignment 26
Table 3-6: High Power D-Style Mating Connector 26
Table 3-7: Motor Feedback Connector Pin Assignment (D-Style Connector) 27
Table 3-8: Motor Feedback Connector Mating Connector 27
Table 3-9: Feedback Connector Pin Assignment (MS3101A-20-29P) 28
Table 3-10: Motor Power Connector Pin Assignment (MS3101A-10P) 29
Table 3-11: Motor Wiring Pinout Descriptions 29
Table 3-12: Limit Switch Connector Pin Assignment 30
Table 3-13: Limit Switch Connector Mating Connector 31
Table B-1: Current Changes (1.01.00) 39
Table B-2: Archived Changes 40
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List of Tables AGRSeries Stage User's Manual
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AGRSeries Stage User's Manual Overview
Chapter 1: Overview
The AGR series of wormgear driven rotary stages are available in both continuous and limited travel ver-
sions. There are five members of the product family whose apertures range from50 mmto 200 mmin dia-
meter.
This chapter introduces standard and optional features of the AGR stages and gives general safety pre-
cautions. Figure 1-1 shows typical AGR positioning stages.
Figure 1-1: Standard AGR Rotary Stages
NOTE: Aerotech continually improves its product offerings, and listed options may be superseded at any
time. Refer to the most recent edition of the Aerotech Motion Control Product Guide for the most current
product information at www.aerotech.com.
www.aerotech.com Chapter 1 1
Overview AGRSeries Stage User's Manual
1.1. Standard Features
All AGR rotary stages are designed around exceptionally large apertures while maintaining a small footprint.
The height of the stage is governed by the NEMA frame size of the mounted motor, minimizing the overall
height of the product. Each AGR rotary stage is designed to be mounted in two orientations: tabletop up and
tabletop to the side. These two mounting surfaces as well as the standard AGR rotary stage features are
shown in Figure 1-2.
The AGR series of rotary stages come standard with a one of Aerotechs high performance brushless servo
motors mounted with motor cabling oriented as shown in Figure 1-2. Coupling access is provided allowing for
easy maintenance.
Figure 1-2: AGR Rotary Stage Showing Standard Features
2 Chapter 1 www.aerotech.com
A precision ground wormshaft with matching gear makes up the drive mechanismin all AGR rotary stages.
The wormis preloaded in such a way as to minimize wear characteristics, greatly improving stage life while
maintaining stage performance even over a large temperature range. The precision ground wormdrive mech-
anismalso creates outstanding angular positioning and velocity control. This is especially useful in scanning
applications where torque ripple cannot be tolerated. Other added benefits of the wormdrive are high levels of
torque output and natural braking ability.
The drive mechanismis lubricated with a high pressure grease instead of the messy oil lube used tra-
ditionally. Designed around this grease, the AGR series of rotary stages does not require oil seals, elim-
inating the high levels of friction generated torque. This increases available torque for the application and
reduces the required motor size. Lubrication is easily maintained on the fly with an access port on the side of
the rotary table. See Chapter 4: Maintenance for maintenance schedules and procedures.
In addition, the rotary stage table top is supported by a pair of precision-ground angular contact bearings
which are preloaded to ensure superior stiffness, load carrying capacity and minimal tilt errors. Stages in the
AGR product family can handle loads ranging from200 to 1300 lbs of axial load. The combination of the inno-
vative wormpreloading and angular contact bearing set provide superior stage accuracy and repeatability.
Other standard design features include the optical home limit switch through a 9 pin connector. The home
limit switch wiring passes through the top cover plate on the motor side and into the connector where it is then
attached to the motor wiring. Refer to Section 3.5.1. for a description of home limit switch operation and wir-
ing. The electrical wiring fromthe motor and encoder to the connectorized ports on the motor case is con-
tained within the rear motor housing and has been completed at the factory. The motor cables and limit cable
convey motor power, encoder feedback, and home limit switch signals to an appropriate hardware device
(e.g. axis controller or amplifier). Refer to Section 3.4. for standard motor wiring and connector pin outputs.
Standard AGR stage performance is assured with the motor mounted encoder providing resolutions from2.1
arc-sec/count to 3.2 arc-sec/count.
1.2. Optional Features
1.2.1. Limited Travel Option
AGR rotary stages are available in limited travel models. The travel range of these models is between 5
and 340. With the innovative design, limit travels can be customized to any amount within this range to
meet the needs of individual applications. Likewise, centers of travel with respect to the payload mounting
pattern can be arbitrarily set within the range of stage travel.
The limit output can be selected to be either normally open or normally closed.
Limit wiring can be provided with either a 9-pin D connector or flying leads.
1.2.2. Motor Options
Several motor offerings for the AGR series of rotary stages are available: Brushless/Slotless, Brushless,
and Stepper. The AGR series is also available without an attached motor. The required motor frame size per
product model is shown in Table 3-2.
Figure 1-3: AGR Rotary Stage Without Motor Option
1.2.2.1. Motor Orientation and Location
In an effort to provide the maximumflexibility to integrate the stage into higher level systems, the motor may
be mounted to the rotary stage in multiple orientations and locations.
The motors may be mounted such that the motor cabling may exit the stage forward, backward, above, or
below the rotary stage. The standard product is shipped with the cabling facing forward (see Figure 1-4).
Figure 1-4: AGR Rotary Stage Motor Orientations
In addition, the AGR series are designed such the motor can be mounted on either side of the drive mech-
anism, as shown in Figure 1-5.
Figure 1-5: AGR Rotary Stage Motor Locations
1.2.3. Brake Option
AGR rotary stages are available with brakes integrated into the motor. Note that in two models (AGR-100
and AGR-150), the brake housing extends 2 mmbelow the stage mounting surface. Care must be taken to
provide clearance when mounting the stage in applications requiring this brake.
Figure 1-6: AGR Rotary Stage Brake Option
1.2.4. Encoder Option
The AGR series of rotary stages are available with direct encoders to increase stage performance (see Fig-
ure 1-7). With the direct encoder option AGR stage performance is assured with resolutions as low as 0.04
arc-sec/count to 0.014 arc-sec/count. The high-performance rotary encoder is directly coupled to the payload
mounting surface. This option is available in an amplified sine or with 50X TTL output. This option increases
the height of the standard model (see Table 3-2).
Figure 1-7: AGR Rotary Stage Encoder Option
1.2.5. Seal Option
Non-contact labyrinth seals are available in all sizes of the AGR series, as shown in Figure 1-8. This option
provides protection fromexternal contaminants while not adding any torque reducing friction. This option
increases the height of the product (see Table 3-2).
Figure 1-8: AGR Rotary Stage Seal Option
1.2.6. Accessories
Two accessories are available for the AGR series of rotary stages: English/Metric table tops and a bread-
board adapter plate. An AGR-100 model with both accessories is shown in Figure 1-9. The table top provides
a convenient mounting pattern with both English and metric holes. The adapter plate allows the AGR series
to mount to English or metric breadboards. These accessories increase the height of the product (see Table
3-2).
Figure 1-9: AGR Rotary Stage Accessories
1.3. Model Numbers
Stage model number example: AGR-100-LI20-NO-BMS-BK-L-2-SL-AS-TT-AP
The table below lists the available options in the order they appear in the example above. Aerotech con-
tinually improves its product offerings, and listed options may be superseded at any time. Refer to the most
recent edition of the Aerotech Motion Control Product Guide for the most current product information at
www.aerotech.com.
Table 1-1: Model Numbering System
Aperture Size
-50 50 mm
-75 75 mm
-100 100 mm
-150 150 mm
-200 200 mm
Travel Options
-UNLIMITED Unlimited travel stage
-LIxx xx total travel. Range of xx: 5 to 340. Typically in 5 increments up to 50 and then 10 incre-
ments to 340. However, any value in the range is possible.
Limits Options
-NO Normally open switch
-NC Normally closed switch
-9DU 9-pin D-sub limit connector
-FLY Flying leads for limits
Motor and Brake Options
-NM No motor
-BMS Brushless slotless servomotor: AGR-100 and 150 with 2500 line feedback encoder (BMS60-
D25-E2500H); and AGR-200 with 2500 line feedback encoder (BMS280-MS-E2500H).
-BMS-BRK Motor mounted brake with brushless slotless servomotor: AGR-100 and 150 with 2500 line
feedback encoder (BMS60-D25-E2500H); and AGR-200 with 2500 line feedback encoder
(BMS280-MS-E2500H).
-BM Brushless servomotor: AGR-50 and -75 with 2000 line feedback encoder (BM22-D25-E2000H);
AGR-100 and 150 with 2500 line feedback encoder (BM75-D25-E2500H); and AGR-200 with
2500 line feedback encoder (BM250-MS-E2500H).
-BM-BRK Motor mounted brake with brushless servomotor: AGR-50 and -75 with 2000 line feedback
encoder (BM22-D25-E2000H); AGR-100 and 150 with 2500 line feedback encoder (BM75-
D25-E2500H); and AGR-200 with 2500 line feedback encoder (BM250-MS-E2500H).
-SM Stepping motor: AGR-100 and 150 with 38oz-in NEMA23 (50SM); and AGR-200 370oz-in
NEMA34 (310SMB3-HM).
Motor Location
blank Motor mounted to right side (standard)
-L Motor mounted to Left side (Optional)
Motor Orientation
-0 No motor
-2 Bottom cable exit
-3 Forward cable exit (Standard)
-4 Top cable exit
-5 Backward cable exit
Sealing Option
-NSL No seals supplied with product (Standard)
-SL Labyrinth seals supplied with product
Encoder Option
-AS Encoder Kit, Amplified sine output
-X50 Encoder Kit, TTL output with 50x multiplication.
Accessories
-TT Tabletop, Round universal english/metric
-AP Breadboard Adapter Plate, Rectangular universal english/metric.
Table 1-1: Model Numbering System (continued)
1.4. Safety Procedures and Warnings
The following statements apply throughout this manual. Failure to observe these precautions could result in
serious injury to those performing the procedures and damage to the equipment.
This manual and any additional instructions included with the stage should be retained for the lifetime of the
stage.
To minimize the possibility of electrical shock and bodily injury or death, disconnect all elec-
trical power prior to making any electrical connections.
To minimize the possibility of electrical shock and bodily injury or death when any electrical
circuit is in use, ensure that no person comes in contact with the circuitry when the stage is
connected to a power source.
To minimize the possibility of bodily injury or death, disconnect all electrical power prior to
making any mechanical adjustments.
Moving parts of the stage can cause crushing or shearing injuries. All personnel must
remain clear of any moving parts.
Improper use of the stage can cause damage, shock, injury, or death. Read and understand
this manual before operating the stage.
If the stage is used in a manner not specified by the manufacturer, the protection provided
by the stage can be impaired.
Stage cables can pose a tripping hazard. Securely mount and position all stage cables to
avoid potential hazards.
Do not expose the stage to environments or conditions outside the specified range of oper-
ating environments. Operation in conditions other than those specified can cause damage to
the equipment.
The stage must be mounted securely. Improper mounting can result in injury and damage to
the equipment.
Use care when moving the stage. Manually lifting or transporting stages can result in injury.
Only trained personnel should operate, inspect, and maintain the stage.
This stage is intended for light industrial manufacturing or laboratory use. Use of the stage
for unintended applications can result in injury and damage to the equipment.
Before using this stage, perform an operator risk assessment to determine the needed
safety requirements.
1.5. EC Declaration of Incorporation
Manufactorer: Aerotech, Inc.
101 Zeta Drive
Pittsburgh, PA 15238
USA
herewith declares that the product:
Aerotech, Inc. AGR Stage
is intended to be incorporated into machinery to constitute machinery covered by the Directive
2006/42/EC as amended;
does therefore not in every respect comply with the provisions of this directive;
and that the following harmonized European standards have been applied:
EN ISO12100-1,-2:2003+A1:2009
Safety of machinery - Basic concepts, general principles for design
ISO14121-1:2007
Safety of machinery - Risk assessment - Par 1: Principles
EN 60204-1:2005
Safety of machinery - Electrical equipment of machines - Part 1: General requirements
and further more declares 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 with the provisions of the Directive 2006/42/EC and
with national implementing legislation, i.e. as a whole, including the equipment
referred to in this Declaration.
Authorized Representative: Manfred Besold
Address: AEROTECH GmbH
Sd-West-Park 90
D-90449 Nrnberg
Name:
Alex Weibel /
Position: Engineer Verifying Compliance
Location: Pittsburgh, PA
Date: February 2, 2011
AGRSeries Stage User's Manual Installation
Chapter 2: Installation
This chapter describes the installation procedure for the AGR stage, including handling the stage properly,
preparing the mounting surface to accept the stage, securing the stage to the mounting surface, attaching the
payload, and making the electrical connections.
Installation must follow the instructions in this chapter. Failure to follow these instructions
could result in injury and damage to the equipment.
2.1. Unpacking and Handling the Stage
Carefully remove the stage fromthe protective shipping crate. It is important to clean the stage by blowing it
off with pressurized nitrogen or clean, oil-less air.
Each stage has a label listing the systempart number and serial number. These numbers contain information
necessary for maintaining or updating systemhardware and software. Locate this label and record the infor-
mation for later reference. If any damage has occurred during shipping, report it immediately.
Improper stage handling could adversely affect the stages performance. Use care when
moving the stage. Manually lifting or transporting stages can result in injury.
Lift the stage only by the base.
Installation AGRSeries Stage User's Manual
2.2. Preparing the Mounting Surface
The mounting surface should be flat and have adequate stiffness in order to achieve the maximumper-
formance fromthe AGR stage. When a stage is mounted to a non-flat surface, the stage can be distorted as
the mounting screws are tightened. This distortion will decrease the overall accuracy of the stage.
To maintain accuracy, the mounting surface should be flat within 10 m over the entire
stage footprint.
Adjustments to the mounting surface must be done before the stage is secured. The effects of flatness on
mounting are illustrated in Figure 2-1.
Figure 2-1: Results of Flat Versus Non-Flat Mounting
NOTE: The stage base is precision machined and verified for flatness prior to stage assembly at the fac-
tory. If machining is required to achieve the desired flatness, it should be performed on the mounting sur-
face rather than the stage base. Shimming should be avoided if possible. If shimming is required, it should
be minimized to improve the rigidity of the system.
2.3. Securing the Stage to the Mounting Surface
AGR series stages have a fixed mounting pattern available to secure the stage to a mounting surface. Figure
2-2 shows the main mounting holes in the base of the stage. These counter-bored holes are designed for
5mmsocket head cap screws for the AGR-75 and smaller models, 6 mmsocket head cap screws for the
AGR-150 and smaller models, and 8 mmsocket head cap screws for the AGR-200.
The stage must be mounted securely. Improper mounting can result in injury and damage to
the equipment.
Figure 2-2: View of an AGR Stage Showing Mounting Holes
AGR series stages also have a fixed mounting pattern on the side of the stage available to secure the stage
in an alternative orientation. The size of the side mounting holes are M5 for the AGR-50 and 75; M6 for the
AGR-100 and 150; and M8 for the AGR-200.
Figure 2-3: View of an AGR Stage Showing Side Mounting Holes
2.4. Motor Installation
The basic model of the AGR series of rotary stages are factory shipped with the appropriate sized motor.
When the no motor option has been selected or for motor service, access to the motor coupling is provided
by removing two set screws on the side of the stage. Figure 2-4 shows the locations of these coupling
access holes.
Figure 2-4: View of an AGR Stage Showing Coupling Access Holes
2.5. Attaching the Payload to the Stage
To prevent damage to payloads, test the operation of the stage before the payload is attached to the stage
table. Proceed with the electrical installation and test the motion control systemin accordance with the sys-
temdocumentation. Document all results for future reference. For information on electrical connections, refer
to Section 2.6.
2.6. Electrical Installation
Aerotech motion control systems are adjusted at the factory for optimumperformance. When the AGR series
stage is part of a complete Aerotech motion control system, setup involves connecting a stage and motor
combination to the appropriate drive chassis with the cables provided. Connect the provided cables to the
motor and feedback connectors on the stage. Labels on the drivey indicate the appropriate connections.
Refer to your drive manuals and documentation for additional installation and operation information. In some
cases, if the systemis uniquely configured, a drawing showing systeminterconnects is supplied.
Motor and encoder wiring and pin outs are given in Section 3.4.
Never connect or disconnect any electrical component or connecting cable while power is
applied, or serious damage may result.
The protective ground for the motor option is located on pin A4 (pin D on the AGR-200) of the
motor power connector. If you are using cables other than those provided by Aerotech to
connect the motor to the drive, you must connect pin A4 (pin D on the AGR-200) to a ground
connection.
NOTE: Refer to controller documentation regarding adjusting servo gains for optimumvelocity and posi-
tion stability.
AGRSeries Stage User's Manual Operating Specifications
Chapter 3: Operating Specifications
The surrounding environment and operating conditions can affect the performance and service life of the
stage. This chapter provides information on ideal environmental and operating conditions. Included are basic
product specifications and general information on limit switches and motor wiring. Also included are instruc-
tions for estimating load and torque required to turn the ballscrew given various loadings.
3.1. Environmental Specifications
The environmental specifications for the AGR are listed in the following table.
Table 3-1: Environmental Specifications
Ambient
Temperature
Operating: 10 to 35 C (50 to 95 F)
The optimal operating temperature is 20 C 2 C (68 F 4 F). If at any time the operating tem-
perature deviates from 20 C degradation in performance could occur. Contact Aerotech for
information regarding your specific application and environment.
Storage: 0 to 40 C (32 to 104 F) in original shipping packaging
Humidity Operating: 40 percent to 60 percent RH
The optimal operating humidity is 50 percent RH.
Storage: 30 percent to 60 percent RH, non-condensing in original packaging
Altitude Operating: 0 to 2,000 m (0 to 6,562 ft) above sea level
Contact Aerotech if your specific application involves use above 2,000 m or below sea level.
Vibration Use the system in a low vibration environment. Excessive floor or acoustical vibration can affect
stage and system performance. Contact Aerotech for information regarding your specific appli-
cation.
Dust Expo-
sure
The AGR stages are not suited for dusty or wet environments. This equates to an ingress pro-
tection rating of IP00.
Use Indoor use only
Do not expose the stage to environments or conditions outside the specified range of oper-
ating environments. Operation in conditions other than those specified can cause damage to
the equipment.
Operating Specifications AGRSeries Stage User's Manual
3.2. Basic Specifications
Basic AGR series positioning stage specifications are shown in Table 3-2. Motor specifications are given in
Table 3-3 and Table 3-4.
Table 3-2: AGR Series Specifications
Basic Model AGR-50 AGR-75 AGR-100
Total Travel 360 Continuous, Limited up to 340
Aperture Diameter 50 mm 75 mm 100 mm
Length 121 mm 146 mm 172 mm
Width 130 mm 155 mm 191 mm
Height Basic Model 50 mm 50 mm 65 mm
W/ Encoder Option 66 mm 66 mm 81 mm
W/ Seal Option 56 mm 56 mm 71 mm
W/ Tabletop 62 mm 62 mm 80 mm
W/ Adapter Plate 60 mm 60 mm 75 mm
Frame Size NEMA17 NEMA17 NEMA23
Aerotech Standard Motor BM22 BM22 BMS60
Mechanical Drive System Worm Gear Drive
Gear Ratio 51:1 67:1 85:2
Continuous Cur-
rent
Apk 4.9 A 4.9 A 2.3 A
Arms 3.5 A 3.5 A 1.6 A
Maximum Torque, Stall 15.2 N-m 20 N-m 27.7 N-m
Continuous Torque, Stall 3 N-m 4 N-m 6.9 N-m
Accuracy Basic Model 60 arc-sec
W/ Encoder
Option
(1)
10 arc-sec
Unidirectional
Repeatability
Basic Model 10 arc-sec
W/ Encoder Option 5 arc-sec
Bidirectional
Repeatability
Maximum Rotary Speed
(2)
30 rpm
Resolution Basic Model 3.2 arc-sec 2.4 arc-sec 3.0 arc-sec
W/ Encoder
Option
(3)
.041 20.5 arc-sec .036 18 arc-sec .027 13.5 arc-sec
Maximum Axial Load Capability 90 Kg 170 Kg 270 Kg
Maximum Moment Load Capability 80 Nm 200 Nm 410 Nm
Axis Wobble 10 arc-sec
Standard Finish Black Anodize with Hard-Coated Table Top
Weight 1.8 Kg 2.2 Kg 5.1 Kg
Weight with Encoder Option 2.4 Kg 3.2 Kg 6.2 Kg
Inertia
(4)
0.00052 kgm
2
0.0013 kgm
2
0.0035 kgm
2
(1) 25 arc-sec calibrated (HALAR); 100 arc-sec uncalibrated.
(2) Maximumspeed based on stage capability; maximumapplication velocity may be limited by systemdata rate, resolution and bus
voltage.
(3) Range is consistent with 500x to 1x multiplication
(4) Unloaded inertia.
Basic Model AGR-150 AGR-200
Total Travel 360 Continuous, Limited up to 340
Aperture Diameter 150 mm 200 mm
Length 222 mm 305 mm
Width 241 mm 340 mm
Height Basic Model 65 mm 90 mm
W/ Encoder Option 81 mm 109 mm
W/ Seal Option 73 mm 98 mm
W/ Tabletop 80 mm 110 mm
W/ Adapter Plate 75 mm 105 mm
Frame Size NEMA23 NEMA34
Aerotech Standard Motor BMS60 BMS280
Mechanical Drive System Worm Gear Drive
Gear Ratio 117:2 63:1
Continuous Current Apk 2.3 A 3.8 A
Arms 1.6 A 2.7 A
Maximum Torque, Stall 38.1 N-m 184.9 N-m
Continuous Torque, Stall 9.5 N-m 46.2 N-m
Accuracy Basic Model 60 arc-sec
W/ Encoder Option
(1)
10 arc-sec
Unidirectional Repeat-
ability
Bidirectional Repeat-
ability
Maximum Rotary Speed
(2)
30 rpm
Resolution Basic Model 2.2 arc-sec 2.1 arc-sec
W/ Encoder Option
(3)
.021 10.5 arc-sec .014 7 arc-sec
Maximum Axial Load Capability 350 Kg 570 Kg
Maximum Moment Load Capability 720 Nm 1750 Nm
Axis Wobble 10 arc-sec
Standard Finish Black Anodize with Hard-Coated Table Top
Weight 6.6 Kg 21.4 Kg
Weight with Encoder Option 8.1 Kg 24.3 Kg
Inertia
(4)
0.011 kgm
2
0.076 kgm
2
(1) 25 arc-sec calibrated (HALAR); 100 arc-sec uncalibrated.
(2) Maximumspeed based on stage capability; maximumapplication velocity may be limited by systemdata rate, resolution and bus
voltage.
(3) Range is consistent with 500x to 1x multiplication
(4) Unloaded inertia.
Table 3-2: AGR Series Specifications (continued)
Table 3-3: AGR Motor Specifications (-BMS and -BM Options)
Model BMS60-A BMS280-A BM22 BM75 BM250
Performance Specifications
(1,5)
Stall Torque, Continuous
(2)
N-m 0.33 1.6 0.16 0.55 2.0
oz-in 46.2 227 22.5 78.3 285
Peak Torque
(3)
N-m 1.31 6.4 0.5 1.4 5.0
oz-in 184.9 908 68 196 712
Rated Speed rpm 4,000 3,000 3,000 4,000 4,000
Rated Power Output, Con-
tinuous
watts 112.0 381.0 50 207 671
Electrical Specifications
(5)
BEMF Constant (line to
line, max)
Volts pk /
krpm
19.0 57.0 3.9 9.0 28.0
Continuous Current, Stall
(2)
Amp pk 2.3 3.8 4.9 10.0 10.5
Amp rms 1.6 2.7 3.5 7.1 7.4
Peak Current, Stall
(3)
Amp pk 9.2 15.2 14.7 25.0 26.3
Amp rms 6.5 10.7 10.4 17.7 18.6
Torque Constant
(4,8)
N-m / Amp
pk
0.14 0.42 0.03 0.06 0.19
oz-in /
Amp pk
20.1 59.7 4.5 7.8 27.1
N-m / Amp
rms
0.20 0.60 0.05 0.08 0.27
oz-in /
Amp rms
28.4 84.5 6.4 11.1 38.4
Motor Constant
(2,4)
N-m / W 0.050 0.179 0.038 0.052 0.171
oz-in / W 7.02 25.34 5.37 7.33 24.24
Resistance, 25 C (line to
line)
ohms 8.4 5.7 0.7 1.0 1.1
Inductance (line to line) mH 1.30 1.10 0.73 0.80 1.30
Maximum Bus Voltage VDC 340 340 80 340 340
Thermal Resistance C / W 1.73 0.93 6.26 1.14 0.94
Number of Poles P 8 14 8 8 8
(1) Performance is dependent upon heat sink configuration, systemcooling conditions, and ambient temperature
(2) Values shown @130 Crise above a 25 Cambient temperature, with motor mounted to a 250 mmx 250 mmx 6 mmaluminum
heat sink
(3) Peak torque assumes correct rms current, consult Aerotech
(4) Torque Constant and Motor Constant specified at stall
(5) All performance and electrical specifications +/- 10%
(6) Maximumwinding temperature is 155 C
(7) Ambient operating temperature range: 0 C- 25 C, consult Aerotech for performance in elevated ambient temperatures
(8) De-rate continuous torque and continuous current by 10%when using an encoder
(9) All Aerotech amplifiers are rated Apk; use torque constant in N-m/ Apk when sizing
Table 3-4: AGR Stepper Motor Specifications (-SM Option)
Model 50SM 310SM
NEMAMotor Frame Size 23 34
Stall Torque N-m (oz-in) 0.3 (38) 2.6 (370)
Rated Phase Current Amps 1 6
Recommended Driver Bus Voltage Volts 40 80
Rotor Inertia
kg-m
2
(oz-in-s
2
)
12 x 10
-6
(1.66 x 10
-3
)
187 x 10
-6
(27 x 10
-3
)
Full Step Angle Degrees 1.8
Accuracy Degrees 0.054 (Non-Cumulative)
Maximum Radial Load N (lb) 67 (15) 156 (35)
Maximum Thrust Load N (lb) 111 (25) 267 (60)
Weight kg (lb) 0.6 (1.4) 3.5 (7.8)
3.3. Torque Capability
The wormdrive mechanismof the AGR series of rotary stages provides a mechanical advantage that ampli-
fies the input torque of the attached motor. The resultant output torque measured at the table top can be sub-
stantial. The torque versus speed charts shown in Figure 3-1 and Figure 3-2 are for each AGR size with the
standard brushless motor. Bus voltage is assumed to be 320V. Note that the available torque increases with
stage angular velocity. This is a function of the higher levels of friction in the wormdrive mechanismat slow
speeds. In some instances, the torque falls off at higher speeds because of the motor.
Figure 3-1: Torque vs Speed for AGR-50 and AGR-75 Rotary Stages
Figure 3-2: Toque vs Speed for AGR-100 through AGR-200 Rotary Stages
3.4. Standard Motor Wiring
Stages fitted with standard motors and encoders come fromthe factory completely wired and assembled.
For reference, connector pin assignments and general wiring information are given in the following figures
and are defined in Table 3-5 and Table 3-7.
NOTE: Refer to the other documentation accompanying your Aerotech equipment. Call your Aerotech rep-
resentative if there are any questions on systemconfiguration.
NOTE: If you are using your own cables to connect the stage, ensure that motor and ground wires can
handle current higher than the continuous current or rated phase current listed in Table 3-3 and Table 3-4
respectively. The voltage rating of the wire insulation must be greater than the bus voltage listed in Table 3-
3 and Table 3-4.
Figure 3-3: Motor Power Connector
Table 3-5: High Power D-Style Motor Connector Pin Assignment
Pin # Pin Output Description
A1 MTR A Motor Phase A
A2 MTR B Motor Phase B
A3 MTR C Motor Phase C
1 MTR SHLD Shield for motor wiring connector
2 Reserved Reserved
3 Reserved Reserved
4 Reserved Reserved
5 Reserved Reserved
A4 FRM GND Ground to stage base
Table 3-6: High Power D-Style Mating Connector
Aerotech P/N 3rd Party P/N
Backshell ECK656 Amphenol #17-1726-2
Sockets ECK659 ITT Cannon #DM53744-6
Connector ECK657 ITT Cannon #DBMM9W4S
Figure 3-4: Motor Feedback Connector
Table 3-7: Motor Feedback Connector Pin Assignment (D-Style Connector)
1 SIGSHLD Shield for feedback connector
2 TH+ Positive lead for motor thermistor (to motion controller)
3 ENC +5V +5 V supply input for optical encoders. Typical requirement is 250 mA.
5 HALL B Hall Effect B. Brushless motor commutation track output. TTL line driven signal with rotary
motor.
6 MKR-N Marker N. Incremental encoder output; either the complement of Marker with a line
driven, TTL type encoder or 2.5 V DC bias level with amplified sine wave type encoder.
7 MKR Marker. Incremental encoder output pulse given once per revolution. Typically used for
home reference cycle.
10 HALL A Hall Effect A. Brushless motor commutation track output. TTL line driven signal with rotary
motor.
11 HALL C Hall Effect C. Brushless motor commutation track output. TTL line driven signal with rotary
motor.
12 CW/+ LMT Clockwise end of travel limit (option)
14 COS Cosine. Incremental encoder output; either TTL line driven or amplified sine wave type
signal. COS leads SIN for CW motor rotation.
15 COS-N Incremental encoder output. Complement of cos.
16 LMT +5V +5 V supply for limit switch
17 SIN Sine. Incremental encoder output; either TTL line driven or amplified sine wave type sig-
nal. COS leads SIN for CW motor rotation.
18 SIN-N Incremental encoder output. Complement of sine.
20 LMT COM Common ground for limit switch
21 ENC COM + 5 V return for optical encoders (ground).
24 CW/-LMT Counterclockwise end of travel limit (option)
Table 3-8: Motor Feedback Connector Mating Connector
Backshell ECK656 Amphenol #17-1726-2
Connector ECK300 Cinch DB-255
3.4.1. Motor Wiring for the AGR-200
By default, the AGR-200 stage comes with an attached BMS280 motor with MS connectors. The AGR-200
is the only stage in the AGR series for which the BMS280 is available. For reference, connector pin outputs
and general wiring information for the BMS280 are given in the following figures. Pin outputs are defined in
Table 3-11.
Figure 3-5: Encoder and Brake Wiring for the AGR-200 Stage
Table 3-9: Feedback Connector Pin Assignment (MS3101A-20-29P)
Pin Function Pin Function
A Cosine L Thermistor
B Cosine-N M Hall Effect B
C Sine N Reserved
D Sine-N P Hall Effect C
E Marker R Reserved
F Marker-N S Brake + (optional)
G Encoder Common T Brake (optional)
H Encoder +5v
J Shield (no connection to frame)
K Hall Effect A
Figure 3-6: Motor Wiring Connector for the AGR-200 Stage
Table 3-10: Motor Power Connector Pin Assignment (MS3101A-10P)
Pin Function
A Motor Phase A
B Motor Phase B
C Motor Phase C
D Motor Phase Ground
Table 3-11: Motor Wiring Pinout Descriptions
Pin Output Description
Cosine Incremental encoder output; either TTL line driven or amplified sine wave type signal.
Cosine-N Incremental encoder output. Complement of cos.
Encoder
+5V
+5 V supply input for optical encoders. Typical requirement is 250 mA.
Encoder
Common
+5 V return for optical encoders (ground).
Hall Effect A Brushless motor commutation track output. TTL line driven signal with rotary motor.
Hall Effect B Brushless motor commutation track output. TTL line driven signal with rotary motor.
Hall Effect C Brushless motor commutation track output. TTL line driven signal with rotary motor.
Marker Incremental encoder output pulse given once per revolution. Typically used for home reference
cycle.
Marker-N Incremental encoder output; either the compliment of Marker with a line driven, TTL type
encoder or 2.5 V DC bias level with amplified sine wave type encoder.
Sine Incremental encoder output; either TTL line driven or amplified sign wave type signal.
Sine-N Incremental encoder output. Complement of sin.
Brake + Brake +24 VDC, 1 A max
Brake - Brake 24 VDC Common
Thermistor Motor over temperature Thermistor
3.5. Limit Switch Wiring
AGR series stages are provided with a optical limit switch. The limit switch signals when the stage has
reached its maximumuseable travel distance in all directions. The limit switch is mounted to a small circuit
board within the stage and reflective tape, used as a trigger, is adhered to the bottomof a limit disk.
3.5.1. Limit Switch Operation
The limit switch is mounted on a small printed circuit board. AGR Stages with the limit option include a limit
switch connector. Limit switches on AGR series stages can be configured as normally-open or as normally-
closed. Typically, the input to the controller is seen as a logic 0 (typical 0.4V at 12.8 mA) when no limit con-
dition is present. When the limit switch is activated, a 5V source through a pull-up resistor causes a logic 1
(typically 4.8-5V) to be seen by the controller input.
Figure 3-7: Limit Switch Wiring
Figure 3-8: Limit Switch Connector
Table 3-12: Limit Switch Connector Pin Assignment
1 LMT +5V +5 V supply for limit switch
2 LMT COM Common ground for limit switch
3 CW/+ LMT Clockwise end of travel limit (option)
4 Home
LMT
Home Reference Limit Output
5 CW/-LMT Counterclockwise end of travel limit (option)
6 SIGSHLD Shield for feedback connector
7-9 N.C. Reserved - No Connection
Table 3-13: Limit Switch Connector Mating Connector
Backshell ECK1027 Amphenol #DE24657
Connector ECK340 Cinch DE-95
AGRSeries Stage User's Manual Maintenance
Chapter 4: Maintenance
This chapter will cover information about intervals between lubrications, detail the lubrication and inspection
process, and cover which lubricants are recommended for use. The AGR series stages are designed to be
minimummaintenance positioning systems. Periodic lubrication and cleaning is recommended.
To minimize the possibility of bodily injury, confirmthat all electrical power is disconnected
prior to making any mechanical adjustments.
4.1. Service and Inspection Schedule
Lubricant inspection and replenishment in AGR series stages depends on conditions such as duty cycle,
speed, and the environment. An inspection interval of once per month is recommended until a trend develops
for the application. Longer or shorter intervals may be required to maintain the filmof lubricant on the worm
threads. In general, it is recommended that stages operating in a clean environment be lubricated monthly, or
every 100,000 revolutions, whichever comes first. For stages operating under conditions involving excessive
debris, lubrication every two weeks is recommended.
If the application process uses only a small portion of travel for most of the duty cycle, it is recommended that
the stage be periodically driven through full travel to redistribute the lubrication in the bearings and worm
drive. For high-speed applications (i.e., near maximumspeed at a duty cycle of 50%), frequent wormthread
maintenance with standard lubricants is required. The wormshaft end bearings and motor bearings should
not need to be relubricated under normal use.
Maintenance AGRSeries Stage User's Manual
4.2. Cleaning and Lubrication
If a solvent is necessary for cleaning the stage, isopropyl alcohol should be used.
For the wormgear drive mechanism, Klubersynth BEM-44-461-US grease is recommended.
4.2.1. Recommended Cleaning Solvents
Before using a cleaning solvent on any part of the stage, it is recommended that compressed nitrogen or
clean, dry air be used to blow away small particles and dust. Any metal surface of the stage may be cleaned
with isopropyl alcohol on a lint-free cloth.
AGRSeries Stage User's Manual Maintenance
4.2.2. Lubrication Procedure
The AGR series of rotary stages is designed for easy maintenance of the wormdrive system. The drive mech-
anismmay be lubricated while the stage is under power and integrated in upper level systems providing
access to the lubrication port is maintained. Access to the lubrication port is provided by removing the port
cover screw shown in Figure 4-1. Prior to removing the screw, make sure the surrounding surface is clean
(Section 4.2.1. ).
Figure 4-1: View of an AGR Stage Showing Lubrication Access Holes
While the stage rotates (<5 rpm), slowly inject approximately 6 cc's of lubricant into the port. Wipe clean any
excess lubricant and reinstall the port cover screw.
Figure 4-2 shows the effect of the addition of lubricant to the current draw of a typical AGR stage. With the
added lubricant the resulting current pull is much smoother, leading to much better mechanical performance
and maximumlife of the product.
Figure 4-2: View of the Current Draw of a Typical AGR Stage Before and After Lubrication
Maintenance AGRSeries Stage User's Manual
AGRSeries Stage User's Manual Warranty and Field Service
Appendix A: Warranty and Field Service
Aerotech, Inc. warrants its products to be free fromdefects caused by faulty mate-
rials or poor workmanship for a minimumperiod of one year fromdate of shipment
fromAerotech. Aerotech's liability is limited to replacing, repairing or issuing credit,
at its option, for any products that are returned by the original purchaser during the
warranty period. Aerotech makes no warranty that its products are fit for the use or
purpose to which they may be put by the buyer, where or not such use or purpose
has been disclosed to Aerotech in specifications or drawings previously or sub-
sequently provided, or whether or not Aerotech's products are specifically
designed and/or manufactured for buyer's use or purpose. Aerotech's liability or
any claimfor loss or damage arising out of the sale, resale or use of any of its prod-
ucts shall in no event exceed the selling price of the unit.
Aerotech, Inc. warrants its laser products to the original purchaser for a minimum
period of one year fromdate of shipment. This warranty covers defects in work-
manship and material and is voided for all laser power supplies, plasma tubes and
laser systems subject to electrical or physical abuse, tampering (such as opening
the housing or removal of the serial tag) or improper operation as determined by
Aerotech. This warranty is also voided for failure to comply with Aerotech's return
procedures.
Laser Products
Claims for shipment damage (evident or concealed) must be filed with the carrier
by the buyer. Aerotech must be notified within (30) days of shipment of incorrect
materials. No product may be returned, whether in warranty or out of warranty, with-
out first obtaining approval fromAerotech. No credit will be given nor repairs made
for products returned without such approval. Any returned product(s) must be
accompanied by a return authorization number. The return authorization number
may be obtained by calling an Aerotech service center. 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 (30) days after the issuance of a
return authorization number will be subject to review.
Return Procedure
After Aerotech's examination, warranty or out-of-warranty status will be deter-
mined. If upon Aerotech's examination a warranted defect exists, then the prod-
uct(s) will be repaired at no charge and shipped, prepaid, back to the buyer. If the
buyer desires an airfreight return, the product(s) will be shipped collect. Warranty
repairs do not extend the original warranty period.
Returned Product War-
ranty Determination
After Aerotech's examination, the buyer shall be notified of the repair cost. At such
time, the buyer must issue a valid purchase order to cover the cost of the repair and
freight, or authorize the product(s) to be shipped back as is, at the buyer's
expense. Failure to obtain a purchase order number or approval within (30) days of
notification will result in the product(s) being returned as is, at the buyer's expense.
Repair work is warranted for (90) days fromdate of shipment. Replacement com-
ponents are warranted for one year fromdate of shipment.
Returned Product
Non-warranty Deter-
mination
At times, the buyer may desire to expedite a repair. Regardless of warranty or out-
of-warranty status, the buyer must issue a valid purchase order to cover the added
rush service cost. Rush service is subject to Aerotech's approval.
Rush Service
www.aerotech.com Appendix A 37
Warranty and Field Service AGRSeries Stage User's Manual
On-site Warranty
Repair
If an Aerotech product cannot be made functional by telephone assistance or by
sending and having the customer install replacement parts, and cannot be returned
to the Aerotech service center for repair, and if Aerotech determines the problem
could be warranty-related, then the following policy applies:
Aerotech will provide an on-site field service representative in a reasonable amount
of time, provided that the customer issues a valid purchase order to Aerotech cov-
ering all transportation and subsistence costs. For warranty field repairs, the cus-
tomer will not be charged for the cost of labor and material. If service is rendered at
times other than normal work periods, then special service rates apply.
If during the on-site repair it is determined the problemis 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 pur-
chased replacement parts, and cannot be returned to the Aerotech service center
for repair, then the following field service policy applies:
Aerotech will provide an on-site field service representative in a reasonable amount
of time, provided that the customer issues a valid purchase order to Aerotech cov-
ering all transportation and subsistence costs and the prevailing labor cost, includ-
ing travel time, necessary to complete the repair.
Company Address Aerotech, Inc.
101 Zeta Drive
Pittsburgh, PA
15238-2897
Phone: (412) 963-7470
Fax: (412) 963-7459
38 Appendix A www.aerotech.com
AGRSeries Stage User's Manual Technical Changes
Appendix B: Technical Changes
Table B-1: Current Changes (1.01.00)
Section(s) Affected General Information
Section 1.5. Section added
Section 3.1. Section added
Chapter 2: Installation, Section 2.1. , Section
2.3. , Section 2.6. , and Section 1.4.
Safety information and warnings added
Section 3.2. Motor specifications added, Continuous Current rating
updated
Section 3.4. Note about motor wire current and voltage requirements
added
Section 3.5.1. Added limit switch diagram and pin assignment table
www.aerotech.com Appendix B 39
Technical Changes AGRSeries Stage User's Manual
Table B-2: Archived Changes
Revision Section(s) Affected General Information
1.00.00 -- New manual
40 Appendix B www.aerotech.com
www.aerotech.com Index 41
Index
A
Attaching the Payload 17
C
cable 17
Cleaning 34
Cleaning solvents
recommended 34
D
Declaration of Incorporation 12
E
Electrical Installation 17
encoders 26
Environmental Specifications 19
L
Limit Switch
Wiring 30
limit switches 3
Limit Switches 30
Lubrication 34
Lubrication Procedure 35
lubrication schedule 33
M
model numbers 13
Model Numbers 8
Motor Installation 16
Motor Orientation and Location 5
Motor Wiring for the AGR-200 28
O
Optional Features 4
Accessories 7
Brake Option 6
Encoder Option 6
Limited Travel Option 4
Motor Options 4
Seal Option 7
Ordering Options 8
P
Preparing the Mounting Surface 14
S
safety procedures 10
Securing the Stage to the Mounting Surface 15
Specifications 20
Standard Features 2
T
Torque Capability 24
U
Unpacking and Handling the Stage 13
W
Warnings 10
worm shaf 3
Index AGRSeries Stage User's Manual
AGRSeries Stage User's Manual Index
42 Index www.aerotech.com
Reader's Comments
AGR Series Stage Manual
P/N: EDS139, February 2, 2011
Revision 1.01.00
Please answer the questions below and add any suggestions for improving this doc-
ument.
Is the manual: Yes No
Adequate to the subject
Well organized
Clearly presented
Well illustrated
How do you use this document in your job? Does it meet your needs? What improvements, if any, would you
like to see? Please be specific or cite examples.
Stage/Product Details Name
Model # Title
Serial # Company Name
Date Shipped Address
Customer Order #
Aerotech Subsidiary
Order #
Email
Mail your comments to: Fax to:
Aerotech, Inc.
101 Zeta Drive
Pittsburgh, PA
15238 U.S.A.
412-967-6870
Email:
service@aerotech.com

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