AGR Series Stage Hardware Manual P/N: EDS139 (Revision 1.03.00) Dedicated to the Science of Motion Aerotech, Inc. 101 Zeta Drive, Pittsburgh, PA, 15238 Phone: 412-963-7470 Fax: 412-963-7459 www.aerotech.
Technical Support Go to www.aerotech.com/service-and-support.aspx for information and support about your Aerotech products. The website provides downloadable resources (such as up-to-date software, product manuals, and Help files), training schedules, and PC-to-PC remote technical support. You can also complete Product Return (RMA) forms and get information about repairs and spare or replacement parts. For immediate help, contact a service office or your sales representative.
AGR Series Stage Hardware Manual Table of Contents Table of Contents Table of Contents List of Figures List of Tables iii iv v Chapter 1: Overview 1 1.1. Standard Features 1.2. Optional Features 1.2.1. Limited Travel Option 1.2.2. Motor Options 1.2.2.1. Motor Orientation and Location 1.2.3. Brake Option 1.2.4. Encoder Option 1.2.5. Seal Option 1.2.6. Accessories 1.3. Model Numbers 1.4. Dimensions 1.5. Safety Procedures and Warnings 1.6. EC Declaration of Incorporation Chapter 2: Installation 2.1.
Table of Contents AGR Series Stage Hardware Manual List of Figures Figure 1-1: Figure 1-2: Figure 1-3: Figure 1-4: Figure 1-5: Figure 1-6: Figure 1-7: Figure 1-8: Figure 1-9: Figure 1-10: Figure 1-11: Figure 1-12: Figure 2-1: Figure 2-2: Figure 3-1: Figure 3-2: Figure 4-1: Figure A-1: iv Standard AGR Rotary Stages AGR Rotary Stage Showing Standard Features AGR Rotary Stage Without Motor Option AGR Rotary Stage Motor Locations AGR Rotary Stage Encoder Option AGR Rotary Stage Seal Option AGR Rotary Stage
AGR Series Stage Hardware Manual Table of Contents List of Tables Table 1-1: Table 3-1: Table 3-2: Table 3-3: Table 3-4: Table 3-5: Table 3-6: Table 3-7: Table 3-8: Table 3-9: 310SM) Table 3-10: Table 3-11: Table 3-12: Table 3-13: Table 3-14: Table 3-15: Table 3-16: Table 3-17: Table 3-18: Table 3-19: Table 4-1: Model Numbering System Environmental Specifications AGR Series Mechanical Specifications Electrical Specifications Recommended Controller BMS35 and BMS60 Motor Specifications (AGR50/75 - BMS35, A
Table of Contents vi AGR Series Stage Hardware Manual www.aerotech.
AGR Series Stage Hardware Manual Overview Chapter 1: Overview AGR series motorized rotary stages provide significant improvements in speed, load capacity, and long-term positioning performance over previous generations of worm-gear-drive stages. AGR series stages address a wide range of applications for general purpose positioning in laboratory and industrial uses. The AGR series of worm gear driven rotary stages are available in both continuous and limited travel versions.
Overview AGR Series Stage Hardware 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 with either a vertical or horizontal axis of rotation. These two mounting surfaces as well as the standard AGR rotary stage features are shown in Figure 1-2.
AGR Series Stage Hardware Manual Overview A precision ground worm shaft with matching gear makes up the drive mechanism in all AGR rotary stages. The gear mesh is precisely set at the factory 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 worm drive mechanism also creates outstanding angular positioning and velocity control.
Overview AGR Series Stage Hardware Manual 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 15° and 270° in 15° increments. Each option is proved with 4° of over-travel as standard. Custom travels are handled as part of Aerotech's engineering specificaion (ES) system. The limit output can be selected to be either normally open or normally closed.
AGR Series Stage Hardware Manual Overview 1.2.2.1. Motor Orientation and Location In an effort to provide the maximum flexibility to integrate the stage into higher level systems, the motor may be mounted to the rotary stage in multiple orientations and locations.
Overview AGR Series Stage Hardware Manual 1.2.3. Brake Option AGR rotary stages are available with brakes integrated into the motor. Note that in two models (AGR100 and AGR150), the brake housing extends below the stage mounting surface. In addition, the stepper motor option for the AGR200 also extends below the mounting surface. Refer to the dimension drawings for specific stage details (refer to Section 1.4.).
AGR Series Stage Hardware Manual Overview 1.2.5. Seal Option Non-contact labyrinth seals are available in all sizes of the AGR series, as shown in Figure 1-6. This option provides protection from external contaminants while not adding any torque reducing friction. This option increases the height of the product (refer to Section 1.4.). SEAL ENCLOSURE Figure 1-6: www.aerotech.
Overview AGR Series Stage Hardware Manual 1.2.6. Accessories Two accessories are available for the AGR series of rotary stages: English/Metric table tops and a breadboard adapter plate. An AGR100 model with both accessories is shown in Figure 1-7. 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 (refer to Section 1.4.).
AGR Series Stage Hardware Manual Overview 1.3. Model Numbers N O T E : Aerotech continually improves its product offerings; 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.
Overview AGR Series Stage Hardware Manual Motor and Brake Options (Continued) -BM-BK Brushless servomotor with connectors, TTL encoder, and fail-safe brake (requires motorto-controller cable) AGR50/75: BM22-D25-E2000H-BK AGR100/150: BM75-D25-E2500H-BK1 AGR200: BM250-MS-E1000H-BK2) -BMS-AS Brushless, slotless servomotor with 1000-line amplified sine encoder AGR50/75: BMS35-A-D25-E1000ASH AGR100/150: BMS60-A-D25-E1000ASH AGR200: BMS280-AH-MS-E1000ASH -BMS-AS-BK Brushless, slotless servomotor with fail-safe
AGR Series Stage Hardware Manual Overview 1.4. Dimensions MOTOR LENGTH "A" OPTION HEIGHT "B" BM22 91.1 DEFAULT 50 BM22-BRAKE 128 SEAL 60 BMS35 125 ENCODER 66.4 BMS35-BRAKE 153 SEAL + ENCODER 76.4 NEMA17 STEPPER 95.3 100 25 25 8X M5X0.8 50 APERTURE 10.5 7.5 63 BC 75 10.5 4X 5.5 THRU ALL 10 TO DEPTH SHOWN 4X M4X0.7 6 4X M4X0.7 6 31 20 GREASE FITTING 50 129.8 22 20 3 69.4 37 SQ 20 TYP 6.35 [1/4"] SHAFT INPUT 105 2 31 SQ 120.8 12X M3X0.5 A CW 0.
Overview AGR Series Stage Hardware Manual MOTOR LENGTH "A" OPTION HEIGHT "B" BM22 91.1 DEFAULT 50 BM22-BRAKE 128 SEAL 60 BMS35 125 ENCODER 66.4 BMS35-BRAKE 153 SEAL + ENCODER 76.4 NEMA17 STEPPER 95.3 146.2 125 25 8X M5X0.8 75 APERTURE 10.5 25 7.5 85 BC 94.5 10.5 5.5 THRU ALL 4X 10 TO DEPTH SHOWN 4X M4X0.7 6 4X M4X0.7 6 20 GREASE FITTING 50 155.2 22 20 3 82.1 46.5 TYP 37 SQ 31 SQ 20 TYP 6.35 [1/4"] SHAFT INPUT 12.7 120.8 A 12X M3X0.5 15 CW 0.
AGR Series Stage Hardware Manual Overview MOTOR LENGTH "A" OPTION HEIGHT "B" BM75 132.3 DEFAULT 65 BM75-BRAKE 209.5 SEAL 78 BMS60 132.3 ENCODER 81 BMS60-BRAKE 209.5 SEAL + ENCODER 94 50SMB2-HM 84.3 150 25 100 APERTURE 8X M6X1.0 17.2 9 25 112.5 BC 127 17.2 6.6 THRU ALL 4X 12.7 TO DEPTH SHOWN 4X M5X0.8 7.5 4X M5X0.8 7.5 50 GREASE FITTING 80 190.7 50 104.9 38.1 4.5 33.4 TYP 3.2 47.1 SQ 15 6.35 [1/4"] SHAFT INPUT A 171.6 4X M4X0.7 8 MOTOR HIDDEN FOR CLARITY CW 0.
Overview AGR Series Stage Hardware Manual MOTOR LENGTH "A" OPTION HEIGHT "B" BM75 132.3 DEFAULT 65 BM75-BRAKE 209.5 SEAL 78 BMS60 132.3 ENCODER 81 BMS60-BRAKE 209.5 SEAL + ENCODER 94 50SMB2-HM 84.3 NOTE: CONFIGURATIONS: AGR150-SM-R-3 & AGR150-SM-L-5 ARE UNAVAILABLE AS STANDARD CONFIGURATIONS. 222.4 200 25 150 APERTURE 9 8X M6X1.0 25 164 BC 177 17.2 17.2 6.6 THRU ALL 4X 12.7 TO DEPTH SHOWN 4X M5X0.8 7.5 4X M5X0.8 7.5 100 GREASE FITTING 125 241.5 100 130.3 58.
AGR Series Stage Hardware Manual Overview LENGTH "A" OPTION BM250 190 DEFAULT 90 BM250-BRAKE 245.6 SEAL 107 MOTOR HEIGHT "B" BMS280 190 ENCODER 108.5 BMS280-BRAKE 245.6 SEAL + ENCODER 125.5 310SMB3-HM 165.4 305 250 8X M8X1.25 200 APERTURE 235 50 17 12 217 BC 9 THRU ALL 4X 15 TO DEPTH SHOWN 17 50 4X M6X1.0 9 4X M6X1.0 9 150 GREASE FITTING 200 150 340.1 187.6 73 4 85 TYP 57.9 TYP 69.6 SQ SHAFT INPUT 12.7 [1/2"] STANDARD 9.
Overview AGR Series Stage Hardware Manual 1.5. Safety Procedures and Warnings The following statements apply wherever the Warning or Danger symbol appears within this manual. Failure to observe these precautions could result in serious injury to those individuals performing the procedures and/or damage to the equipment. Operators should be trained before operating this equipment and all service and maintenance must be performed by qualified personnel.
AGR Series Stage Hardware Manual Overview 1.6. EC Declaration of Incorporation Manufacturer: Aerotech, Inc.
Overview 18 AGR Series Stage Hardware Manual Chapter 1 www.aerotech.
AGR Series Stage Hardware Manual Installation Chapter 2: Installation This chapter describes the installation procedure for the AGR stage, including handling the stage, preparing the mounting surface to accept the stage, securing the stage to the mounting surface, attaching the payload, and making the electrical connections. W A R N I N G : AGR installation must be in accordance to instructions provided by this manual and any accompanying documentation.
Installation AGR Series Stage Hardware Manual 2.2. Preparing the Mounting Surface The mounting surface should be flat and have adequate stiffness in order to achieve the maximum performance from the AGR. When the AGR 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. Adjustments to the mounting surface must be done before the stage is secured.
AGR Series Stage Hardware Manual Installation 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. The counter-bored mounting holes are designed for 5 mm socket head cap screws (SHCS) for the AGR50 and AGR75, 6 mm SHCS for the AGR100 and AGR150, and 8 mm SHCS for the AGR200. W A R N I N G : The AGR must be mounted securely. Improper mounting can result in injury and damage to the equipment.
Installation AGR Series Stage Hardware Manual 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 system in accordance with the system documentation. Document all results for future reference. For information on electrical connections, refer to Section 3.4. and the documentation delivered with the stage.
AGR Series Stage Hardware 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. 3.1. Environmental Specifications The environmental specifications for the AGR are listed in the following table.
Operating Specifications AGR Series Stage Hardware Manual 3.2. Basic Specifications Basic AGR series positioning stage specifications are shown below.
AGR Series Stage Hardware Manual Table 3-3: Operating Specifications Electrical Specifications Model AGR50 Drive System Feedback Standard Direct Encoder Maximum Bus Voltage Limit Switches Home Switch AGR75 AGR100 AGR150 AGR200 Precision Worm-Gear with Brushless or Stepping Motor Rotary Motor Feedback: Rotary Motor Feedback: 2500 Lines/Rev 2000 Lines/Rev Square Square Wave and 1000 Lines/Rev AmpliWave (BM Motor); 2500 fied Sine Lines/Rev Square Wave and 1000 Lines/Rev Amplified Sine (BMS Motor) No
Operating Specifications Table 3-5: AGR Series Stage Hardware Manual BMS35 and BMS60 Motor Specifications (AGR50/75 - BMS35, AGR100/150 - BMS60) Motor Model Units BMS35 BMS60 -A -A N·m (oz·in) N·m (oz·in) rpm W 0.27 (38.0) 1.07 (152.0) 4,000 96 0.33 (46.2) 1.31 (184.9) 4,000 112 Vpk/krpm 12.9 19 Continuous Current, Stall (2) Apk (Arms) 2.5 (1.7) 2.3 (1.6) Peak Current, Stall (3) Apk (Arms) 9.8 (6.9) 9.2 (6.5) 0.11 (15.5) 0.14 (20.
AGR Series Stage Hardware Manual Table 3-6: Operating Specifications BMS280 Motor Specifications (AGR200) Motor Model Winding Designation Performance Specifications (1, 5) Stall Torque, Continuous (2) Peak Torque (3) Rated Speed Rated Power Output, Continuous Electrical Specifications (5) Units BMS280 -A N·m (oz·in) N·m (oz·in) rpm W 1.60 (227.0) 6.41 (908.0) 3,000 381 Vpk/krpm 57 Continuous Current, Stall (2) Apk (Arms) 3.8 (2.7) Peak Current, Stall (3) Apk (Arms) 15.2 (10.
Operating Specifications Table 3-7: AGR Series Stage Hardware Manual BM22 and BM75 Motor Specifications (AGR50/75 - BM22, AGR100/150 - BM75) Motor Model Units BM22 BM75 N·m (oz·in) N·m (oz·in) rpm W 0.16 (22.5) 0.48 (68.0) 3,000 50 0.55 (78.3) 1.4 (196) 4,000 207 Vpk/krpm 3.9 9 Continuous Current, Stall (2,8) Apk (Arms) 4.9 (3.5) 10.0 (7.1) Peak Current, Stall (3) Apk (Arms) 14.7 (10.4) 25.0 (17.7) N·m/Apk (oz·in/Apk) 0.032 (4.5) 0.06 (7.8) N·m/(Arms (oz·in/(Arms) 0.045 (6.4) 0.
AGR Series Stage Hardware Manual Table 3-8: Operating Specifications BM250 Motor Specifications (AGR200) Motor Model Units BM250 N·m (oz·in) N·m (oz·in) rpm W 2.0 (285) 5.0 (712) 4,000 671 Vpk/krpm 28 Continuous Current, Stall (2,8) Apk (Arms) 10.5 (7.4) Peak Current, Stall (3) Apk (Arms) 26.3 (18.6) N·m/Apk (oz·in/Apk) 0.19 (27.1) N·m/Arms (oz·in/Arms) 0.27 (38.4) N·m/√W (oz·in/√W) Ω mH VDC 0.171 (24.24) 1.1 1.30 °C/W -- 0.94 8 kg (lb) kg·m2 (oz·in·s2) N (lb) N (lb) NEMA 3.6 (7.
Operating Specifications Table 3-9: 310SM) AGR Series Stage Hardware Manual Stepper Motor Specifications (AGR50/75 - NEMA17, AGR100/150 - 50SM, AGR200 - Model Units NEMA17 50SM 310SM 17 23 34 N·m (oz·in) 0.59 (83) 0.3 (38) 2.6 (370) Rated Phase Current A 2.1 1 6 Recommended Driver Bus Voltage V 40 40 80 kg·m2 (oz·in·s2) 6.80 x 10-6 ( 9.58 x 10-4) 12 x 10-6 ( 1.66 x 10-3) 187 x 10-6 (27 x 10-3) Full Step Angle ° 1.8 1.8 1.8 Accuracy ° 0.05 ±0.054° (NonCumulative) ±0.
AGR Series Stage Hardware Manual Operating Specifications 3.3.
Operating Specifications AGR Series Stage Hardware Manual 3.4. Standard Motor Wiring Stages fitted with standard motors and encoders come from the factory completely wired and assembled. Connector pin assignments and general wiring information are provided for reference. N O T E : Refer to the other documentation accompanying your Aerotech equipment. Call your Aerotech representative if there are any questions on system configuration.
AGR Series Stage Hardware Manual Table 3-11: Operating Specifications High Power D-Style Mating Connector Aerotech P/N ECK00656 Backshell Third Party P/N Amphenol #17-1726-2 Sockets ECK00659 ITT Cannon #DM53744-6 Connector ECK00657 ITT Cannon #DBMM9W4S Table 3-12: Pin Motor Feedback Connector Pin Assignment (D-Style Connector) Label Description 1 SIG SHLD Signal shield connection Connector 2 Thermistor (1) Over-temperature Thermistor Sensor 3 Encoder +5V 5 HALL B +5 V supply input
Operating Specifications AGR Series Stage Hardware Manual 3.4.1. Motor Wiring for the AGR200 By default, the AGR200 stage comes with an attached BMS280 motor with MS connectors. The AGR200 is the only stage in the AGR series for which the BMS280 is available.
AGR Series Stage Hardware Manual Operating Specifications 3.4.2. Position Encoder Wiring Stages fitted with standard motors and encoders come from the factory completely wired and assembled. Connector pin assignments and general wiring information are provided for reference.
Operating Specifications AGR Series Stage Hardware Manual 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 maximum useable travel distance in all directions. The limit switch is mounted to a small circuit board within the stage. A reflective surface is used as a trigger. 3.5.1. Limit Switch Operation The limit switch is mounted on a small, printed circuit board.
AGR Series Stage Hardware Manual Maintenance Chapter 4: Maintenance This chapter will cover information about component maintenance and replacement, 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 low maintenance positioning systems, however periodic lubrication and cleaning is required to ensure long term reliability.
Maintenance AGR Series Stage Hardware Manual 4.2. Cleaning and Lubrication If a solvent is necessary for cleaning the stage, isopropyl alcohol should be used. For the worm gear drive mechanism, Klubersynth BEM-44-461-US grease is the only approved lubricant for standard stages. 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.
AGR Series Stage Hardware Manual Maintenance 4.3. Troubleshooting This section provides some information regarding typical stage related problems. Table 4-1: Troubleshooting Symptom Stage will not move. Stage moves uncontrollably Stage oscillates or squeals Possible Cause and Solution Brake not released (If equipped with brake). See stage documentation. In Limit condition. Check limits.
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AGR Series Stage Hardware Manual Stepper Motor Removal Appendix A: Stepper Motor Removal Step 1: Ensure power has been removed from the system. D A N G E R : To minimize the possibility of bodily injury or death, disconnect all electrical power prior to making any mechanical adjustments. Step 2: Remove caps and unscrew socket head cap screws that are opposite of the motor stud locations. Step 3: Remove the motor can and disconnect the 6-pin limit wire connector.
Stepper Motor Removal 42 AGR Series Stage Hardware Manual Appendix A www.aerotech.
AGR Series Stage Hardware Manual Warranty and Field Service Appendix B: Warranty and Field Service Aerotech, Inc. warrants its products to be free from defects caused by faulty materials or poor workmanship for a minimum period of one year from date of shipment from Aerotech. 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.
Warranty and Field Service On-site Warranty Repair AGR Series Stage Hardware Manual 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
AGR Series Stage Hardware Manual Revision History Appendix C: Revision History Revision Date 1.03.00 May 14, 2013 1.02.00 March 8, 2011 1.01.00 February 2, 2011 1.00.00 April 2, 2009 www.aerotech.com General Information General overhaul revision l Updated wiring section: Section 3.4. l Dimension section added: Section 1.4. l Added new section: Stepper Motor Removal l Limit switch wiring figure updated: Section 3.5.1. l Dust and water exposure requirements updated: Section 3.1.
Revision History 46 AGR Series Stage Hardware Manual Appendix C www.aerotech.
AGR Series Stage Hardware Manual Index Index 3 Ambient Temperature 23 Attaching the Payload 22 310SM Stepper Motor Specifications (AGR200) 30 5 50SM Stepper Motor Specifications (AGR100/150) 30 A AGR100 50SM Stepper Motor Specifications 30 BM75 Motor Specifications 28 BMS60 Motor Specifications 26 Dimensions 13 AGR150 B BM22 Motor Specifications (AGR50/75) 28 BM250 Motor Specifications 29 BM75 Motor Specifications (AGR100/150) 28 BMS280 Motor Specifications 27 BMS35 Motor Specifica
Index AGR Series Stage Hardware Manual lubrication schedule 37 Standard Features M Mechanical Specifications Model Numbers T 24 Technical Support 9 Moment Load Capacity 31 Motor Installation 21 Motor Orientation and Location Motor Wiring for the AGR200 5 30 O 4 Accessories 8 Brake Option 6 Encoder Option 6 Limited Travel Option 4 Motor Options 4 Seal Option 7 Ordering Options Unpacking and Handling the Stage 19 V Vibration 23 W Warnings 16 Warranty and Field Service 43
