agr series stage

AGR Series StageUser’s Manual

P/N: EDS139 (Revision 1.01.00)

Dedicated to the Science of MotionAerotech, Inc.101 Zeta Drive,Pittsburgh, PA, 15238Phone: 412-963-7470Fax: 412-963-7459www.aerotech.com

Product Registration Register online at: http://www.-aerotech.com/prodreg.cfm

Technical Support United States Headquarters:Phone: (412) 967-6440Fax: (412) 967-6870Email: [email protected] Kingdom:Phone: +44 118 940 9400Fax: +44 118 940 9401Email: [email protected]:Phone: +49 911 967 9370Fax: +49 911 967 93720Email: [email protected]:Phone: +81(0)47-489-1741 (Sales)Phone: +81(0)47-489-1742 (Service)Fax: +81(0)47-489-1743Email: [email protected]:Phone: +852-3793-3488Email: [email protected]

Revision History Revision 1.01.00 February 2, 2011Revision 1.01.00 April 2, 2009

Product names mentioned herein are used for identification purposes only andmay be trademarks oftheir respective companies.© Aerotech, Inc. 2011

http://www.aerotech.com/prodreg.cfm



mailto:[email protected]





AGRSeries Stage User's Manual Table of Contents

Table of ContentsTable of Contents iiiList of Figures vList of Tables vii

Chapter 1: Overview 11.1. Standard Features 21.2. Optional Features 4

1.2.1. Limited Travel Option 41.2.2. Motor Options 4

1.2.2.1. Motor Orientation and Location 51.2.3. BrakeOption 61.2.4. Encoder Option 61.2.5. Seal Option 71.2.6. Accessories 7

1.3. Model Numbers 81.4. Safety Procedures andWarnings 101.5. EC Declaration of Incorporation 12

Chapter 2: Installation 132.1. Unpacking and Handling the Stage 132.2. Preparing theMounting Surface 142.3. Securing the Stage to theMounting Surface 152.4. Motor Installation 162.5. Attaching the Payload to the Stage 172.6. Electrical Installation 17

Chapter 3: Operating Specifications 193.1. Environmental Specifications 193.2. Basic Specifications 203.3. Torque Capability 243.4. StandardMotorWiring 26

3.4.1. MotorWiring for the AGR-200 283.5. Limit SwitchWiring 30

3.5.1. Limit Switch Operation 30

Chapter 4: Maintenance 334.1. Service and Inspection Schedule 334.2. Cleaning and Lubrication 34

4.2.1. Recommended Cleaning Solvents 344.2.2. Lubrication Procedure 35

Appendix A: Warranty and Field Service 37Appendix B: Technical Changes 39Index 41Reader'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 1Figure 1-2: AGR Rotary Stage Showing Standard Features 2Figure 1-3: AGR Rotary StageWithout Motor Option 4Figure 1-4: AGR Rotary StageMotor Orientations 5Figure 1-5: AGR Rotary StageMotor Locations 5Figure 1-6: AGR Rotary Stage BrakeOption 6Figure 1-7: AGR Rotary Stage Encoder Option 6Figure 1-8: AGR Rotary Stage Seal Option 7Figure 1-9: AGR Rotary Stage Accessories 7Figure 2-1: Results of Flat Versus Non-Flat Mounting 14Figure 2-2: View of an AGR Stage ShowingMounting Holes 15Figure 2-3: View of an AGR Stage Showing SideMounting Holes 15Figure 2-4: View of an AGR Stage Showing Coupling Access Holes 16Figure 3-1: Torque vs Speed for AGR-50 and AGR-75 Rotary Stages 24Figure 3-2: Toque vs Speed for AGR-100 through AGR-200 Rotary Stages 25Figure 3-3: Motor Power Connector 26Figure 3-4: Motor Feedback Connector 27Figure 3-5: Encoder and BrakeWiring for the AGR-200 Stage 28Figure 3-6: MotorWiring Connector for the AGR-200 Stage 29Figure 3-7: Limit SwitchWiring 30Figure 3-8: Limit Switch Connector 30Figure 4-1: View of an AGR Stage Showing Lubrication Access Holes 35Figure 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 8Table 3-1: Environmental Specifications 19Table 3-2: AGR Series Specifications 20Table 3-3: AGR Motor Specifications (-BMS and -BMOptions) 22Table 3-4: AGR Stepper Motor Specifications (-SMOption) 23Table 3-5: High Power D-Style Motor Connector Pin Assignment 26Table 3-6: High Power D-Style Mating Connector 26Table 3-7: Motor Feedback Connector Pin Assignment (D-Style Connector) 27Table 3-8: Motor Feedback Connector Mating Connector 27Table 3-9: Feedback Connector Pin Assignment (MS3101A-20-29P) 28Table 3-10: Motor Power Connector Pin Assignment (MS3101A-10P) 29Table 3-11: MotorWiring Pinout Descriptions 29Table 3-12: Limit Switch Connector Pin Assignment 30Table 3-13: Limit Switch Connector Mating Connector 31Table B-1: Current Changes (1.01.00) 39Table 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: OverviewThe AGR series of worm gear driven rotary stages are available in both continuous and limited travel ver-sions. There are fivemembers of the product family whose apertures range from 50mm to 200mm in 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 anytime. Refer to themost recent edition of the AerotechMotion Control Product Guide for themost currentproduct information at www.aerotech.com.

www.aerotech.com Chapter 1 1

Overview AGRSeries Stage User's Manual

1.1. Standard FeaturesAll 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 themountedmotor, minimizing the overallheight of the product. Each AGR rotary stage is designed to bemounted in two orientations: tabletop up andtabletop to the side. These twomounting surfaces as well as the standard AGR rotary stage features areshown in Figure 1-2.

The AGR series of rotary stages come standard with a one of Aerotech’s high performance brushless servomotors mounted with motor cabling oriented as shown in Figure 1-2. Coupling access is provided allowing foreasy maintenance.

Figure 1-2: AGR Rotary Stage Showing Standard Features

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A precision ground worm shaft with matching gear makes up the drivemechanism in all AGR rotary stages.The worm is preloaded in such a way as tominimize wear characteristics, greatly improving stage life whilemaintaining stage performance even over a large temperature range. The precision ground worm drivemech-anism also creates outstanding angular positioning and velocity control. This is especially useful in scanningapplications where torque ripple cannot be tolerated. Other added benefits of the worm drive are high levels oftorque output and natural braking ability.

The drivemechanism is lubricated with a high pressure grease instead of themessy 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 andreduces the requiredmotor size. Lubrication is easily maintained on the fly with an access port on the side ofthe 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 bearingswhich are preloaded to ensure superior stiffness, load carrying capacity andminimal tilt errors. Stages in theAGR product family can handle loads ranging from 200 to 1300 lbs of axial load. The combination of the inno-vative worm preloading 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 homelimit switch wiring passes through the top cover plate on themotor side and into the connector where it is thenattached to themotor wiring. Refer to Section 3.5.1. for a description of home limit switch operation and wir-ing. The electrical wiring from themotor and encoder to the connectorized ports on themotor case is con-tained within the rear motor housing and has been completed at the factory. Themotor cables and limit cableconvey 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 standardmotor wiring and connector pin outputs.

Standard AGR stage performance is assured with themotor mounted encoder providing resolutions from 2.1arc-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 thesemodels is between 5°and 340°. With the innovative design, limit travels can be customized to any amount within this range tomeet the needs of individual applications. Likewise, centers of travel with respect to the payloadmountingpattern 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 attachedmotor. The requiredmotor frame size perproduct 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 themaximum flexibility to integrate the stage into higher level systems, themotor maybemounted to the rotary stage inmultiple orientations and locations.

Themotors may bemounted such that themotor cablingmay exit the stage forward, backward, above, orbelow 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 themotor can bemounted on either side of the drivemech-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 themotor. Note that in twomodels (AGR-100and AGR-150), the brake housing extends 2mm below the stagemounting surface. Caremust be taken toprovide clearance whenmounting 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 0.04arc-sec/count to 0.014 arc-sec/count. The high-performance rotary encoder is directly coupled to the payloadmounting surface. This option is available in an amplified sine or with 50X TTL output. This option increasesthe height of the standardmodel (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 optionprovides protection from external contaminants while not adding any torque reducing friction. This optionincreases 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-100model with both accessories is shown in Figure 1-9. The table top providesa convenient mounting pattern with both English andmetric holes. The adapter plate allows the AGR seriestomount to English or metric breadboards. These accessories increase the height of the product (see Table3-2).

Figure 1-9: AGR Rotary Stage Accessories



1.3. Model NumbersStagemodel 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 themostrecent edition of the AerotechMotion Control Product Guide for themost current product information atwww.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 with2500 line feedback encoder (BM250-MS-E2500H).

-BM-BRK Motor mounted brake with brushless servomotor: AGR-50 and -75 with 2000 line feedbackencoder (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-inNEMA34 (310SMB3-HM).



Motor Locationblank 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 WarningsThe following statements apply throughout this manual. Failure to observe these precautions could result inserious 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 thestage.

Tominimize the possibility of electrical shock and bodily injury or death, disconnect all elec-trical power prior to making any electrical connections.

Tominimize the possibility of electrical shock and bodily injury or death when any electricalcircuit is in use, ensure that no person comes in contact with the circuitry when the stage isconnected to a power source.

Tominimize the possibility of bodily injury or death, disconnect all electrical power prior tomaking any mechanical adjustments.

Moving parts of the stage can cause crushing or shearing injuries. All personnel mustremain clear of any moving parts.

Improper use of the stage can cause damage, shock, injury, or death. Read and understandthis manual before operating the stage.

If the stage is used in amanner not specified by the manufacturer, the protection providedby the stage can be impaired.

Stage cables can pose a tripping hazard. Securely mount and position all stage cables toavoid 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 tothe equipment.

The stagemust be mounted securely. Improper mounting can result in injury and damage tothe equipment.

Use care whenmoving the stage. Manually lifting or transporting stages can result in injury.

Only trained personnel should operate, inspect, andmaintain the stage.

This stage is intended for light industrial manufacturing or laboratory use. Use of the stagefor unintended applications can result in injury and damage to the equipment.

Before using this stage, perform an operator risk assessment to determine the neededsafety requirements.



1.5. EC Declaration of Incorporation

Manufactorer: Aerotech, Inc.101 Zeta DrivePittsburgh, PA 15238USA

herewith declares that the product:Aerotech, Inc. AGR Stage

is intended to be incorporated into machinery to constitute machinery covered by the Directive2006/42/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 ISO 12100-1,-2:2003+A1:2009Safety of machinery - Basic concepts, general principles for designISO 14121-1:2007Safety of machinery - Risk assessment - Par 1: PrinciplesEN 60204-1:2005Safety of machinery - Electrical equipment of machines - Part 1: General requirements

and further more declares thatit is not allowed to put the equipment into service until the machinery into which itis to be incorporated or of which it is to be a component has been found anddeclared to be in conformity with the provisions of the Directive 2006/42/EC andwith national implementing legislation, i.e. as a whole, including the equipmentreferred to in this Declaration.

Authorized Representative: Manfred BesoldAddress: AEROTECH GmbH

Süd-West-Park 90D-90449 Nürnberg

Name:

Alex Weibel /Position: Engineer Verifying ComplianceLocation: Pittsburgh, PADate: February 2, 2011


AGRSeries Stage User's Manual Installation

Chapter 2: InstallationThis chapter describes the installation procedure for the AGR stage, including handling the stage properly,preparing themounting surface to accept the stage, securing the stage to themounting surface, attaching thepayload, andmaking the electrical connections.

Installation must follow the instructions in this chapter. Failure to follow these instructionscould result in injury and damage to the equipment.

2.1. Unpacking and Handling the StageCarefully remove the stage from the protective shipping crate. It is important to clean the stage by blowing itoff with pressurized nitrogen or clean, oil-less air.

Each stage has a label listing the system part number and serial number. These numbers contain informationnecessary for maintaining or updating system hardware 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 stage’s performance. Use care whenmoving 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 SurfaceThemounting surface should be flat and have adequate stiffness in order to achieve themaximum per-formance from the AGR stage. When a stage is mounted to a non-flat surface, the stage can be distorted asthemounting screws are tightened. This distortion will decrease the overall accuracy of the stage.

To maintain accuracy, the mounting surface should be flat within 10 µm over the entirestage footprint.

Adjustments to themounting surfacemust be done before the stage is secured. The effects of flatness onmounting are illustrated in Figure 2-1.

Figure 2-1: Results of Flat Versus Non-Flat Mounting

NOTE : The stage base is precisionmachined 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 themounting sur-face rather than the stage base. Shimming should be avoided if possible. If shimming is required, it shouldbeminimized to improve the rigidity of the system.



2.3. Securing the Stage to the Mounting SurfaceAGR series stages have a fixedmounting pattern available to secure the stage to amounting surface. Figure2-2 shows themainmounting holes in the base of the stage. These counter-bored holes are designed for5mm socket head cap screws for the AGR-75 and smaller models, 6 mm socket head cap screws for theAGR-150 and smaller models, and 8mm socket head cap screws for the AGR-200.

The stagemust be mounted securely. Improper mounting can result in injury and damage tothe equipment.

Figure 2-2: View of an AGR Stage Showing Mounting Holes

AGR series stages also have a fixedmounting pattern on the side of the stage available to secure the stagein an alternative orientation. The size of the sidemounting holes areM5 for the AGR-50 and –75; M6 for theAGR-100 and –150; andM8 for the AGR-200.

Figure 2-3: View of an AGR Stage Showing Side Mounting Holes



2.4. Motor InstallationThe basic model of the AGR series of rotary stages are factory shipped with the appropriate sizedmotor.When the “nomotor” option has been selected or for motor service, access to themotor coupling is providedby removing two set screws on the side of the stage. Figure 2-4 shows the locations of these couplingaccess holes.

Figure 2-4: View of an AGR Stage Showing Coupling Access Holes



2.5. Attaching the Payload to the StageTo prevent damage to payloads, test the operation of the stage before the payload is attached to the stagetable. Proceed with the electrical installation and test themotion control system in accordance with the sys-tem documentation. Document all results for future reference. For information on electrical connections, referto Section 2.6.

2.6. Electrical InstallationAerotechmotion control systems are adjusted at the factory for optimum performance. When the AGR seriesstage is part of a complete Aerotechmotion control system, setup involves connecting a stage andmotorcombination to the appropriate drive chassis with the cables provided. Connect the provided cables to themotor and feedback connectors on the stage. Labels on the drivey indicate the appropriate connections.Refer to your drivemanuals and documentation for additional installation and operation information. In somecases, if the system is uniquely configured, a drawing showing system interconnects 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 isapplied, or serious damagemay result.

The protective ground for themotor option is located on pin A4 (pin D on the AGR-200) of themotor power connector. If you are using cables other than those provided by Aerotech toconnect themotor to the drive, youmust connect pin A4 (pin D on the AGR-200) to a groundconnection.

NOTE : Refer to controller documentation regarding adjusting servo gains for optimum velocity and posi-tion stability.


AGRSeries Stage User's Manual Operating Specifications

Chapter 3: Operating SpecificationsThe surrounding environment and operating conditions can affect the performance and service life of thestage. This chapter provides information on ideal environmental and operating conditions. Included are basicproduct specifications and general information on limit switches andmotor wiring. Also included are instruc-tions for estimating load and torque required to turn the ballscrew given various loadings.

3.1. Environmental SpecificationsThe environmental specifications for the AGR are listed in the following table.

Table 3-1: Environmental Specifications

AmbientTemperature

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 forinformation 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 RHThe 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 levelContact 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 affectstage 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 tothe equipment.


Operating Specifications AGRSeries Stage User's Manual

3.2. Basic SpecificationsBasic AGR series positioning stage specifications are shown in Table 3-2. Motor specifications are given inTable 3-3 and Table 3-4.

Table 3-2: AGR Series Specifications

Basic Model AGR-50 AGR-75 AGR-100Total Travel 360° Continuous, Limited up to 340°Aperture Diameter 50 mm 75 mm 100 mmLength 121 mm 146 mm 172 mmWidth 130 mm 155 mm 191 mmHeight Basic Model 50 mm 50 mm 65 mm

W/ Encoder Option 66 mm 66 mm 81 mmW/ Seal Option 56 mm 56 mm 71 mmW/ Tabletop 62 mm 62 mm 80 mmW/ Adapter Plate 60 mm 60 mm 75 mm

Frame Size NEMA17 NEMA17 NEMA23Aerotech Standard Motor BM22 BM22 BMS60Mechanical Drive System Worm Gear DriveGear Ratio 51:1 67:1 85:2Continuous Cur-rent

Apk 4.9 A 4.9 A 2.3 AArms 3.5 A 3.5 A 1.6 A

Maximum Torque, Stall 15.2 N-m 20 N-m 27.7 N-mContinuous Torque, Stall 3 N-m 4 N-m 6.9 N-mAccuracy Basic Model ±60 arc-sec

W/ EncoderOption(1)

±10 arc-sec

UnidirectionalRepeatability

Basic Model 10 arc-secW/ Encoder Option 5 arc-sec

BidirectionalRepeatability


Maximum Rotary Speed(2) 30 rpmResolution Basic Model 3.2 arc-sec 2.4 arc-sec 3.0 arc-sec

W/ EncoderOption(3)

.041 – 20.5 arc-sec .036 – 18 arc-sec .027 – 13.5 arc-sec

Maximum Axial Load Capability 90 Kg 170 Kg 270 KgMaximum Moment Load Capability 80 Nm 200 Nm 410 NmAxis Wobble 10 arc-secStandard Finish Black Anodize with Hard-Coated Table TopWeight 1.8 Kg 2.2 Kg 5.1 KgWeight with Encoder Option 2.4 Kg 3.2 Kg 6.2 KgInertia(4) 0.00052 kg•m2 0.0013 kg•m2 0.0035 kg•m2

(1) ±25 arc-sec calibrated (HALAR); ±100 arc-secuncalibrated.(2) Maximum speed based on stage capability; maximum application velocitymaybe limited by system data rate, resolution and busvoltage.(3) Range is consistent with 500x to 1xmultiplication(4) Unloaded inertia.



Basic Model AGR-150 AGR-200Total Travel 360° Continuous, Limited up to 340°Aperture Diameter 150 mm 200 mmLength 222 mm 305 mmWidth 241 mm 340 mmHeight Basic Model 65 mm 90 mm

W/ Encoder Option 81 mm 109 mmW/ Seal Option 73 mm 98 mmW/ Tabletop 80 mm 110 mmW/ Adapter Plate 75 mm 105 mm

Frame Size NEMA23 NEMA34Aerotech Standard Motor BMS60 BMS280Mechanical Drive System Worm Gear DriveGear Ratio 117:2 63:1Continuous Current Apk 2.3 A 3.8 A

Arms 1.6 A 2.7 AMaximum Torque, Stall 38.1 N-m 184.9 N-mContinuous Torque, Stall 9.5 N-m 46.2 N-mAccuracy Basic Model ±60 arc-sec

W/ Encoder Option(1) ±10 arc-secUnidirectional Repeat-ability


Bidirectional Repeat-ability


Maximum Rotary Speed(2) 30 rpmResolution Basic Model 2.2 arc-sec 2.1 arc-sec

W/ Encoder Option(3) .021 – 10.5 arc-sec .014 – 7 arc-secMaximum Axial Load Capability 350 Kg 570 KgMaximum Moment Load Capability 720 Nm 1750 NmAxis Wobble 10 arc-secStandard Finish Black Anodize with Hard-Coated Table TopWeight 6.6 Kg 21.4 KgWeight with Encoder Option 8.1 Kg 24.3 KgInertia(4) 0.011 kg•m2 0.076 kg•m2

(1) ±25 arc-sec calibrated (HALAR); ±100 arc-secuncalibrated.(2) Maximum speed based on stage capability; maximum application velocitymaybe limited by system data rate, resolution and busvoltage.(3) Range is consistent with 500x to 1xmultiplication(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 BM250Performance Specifications (1,5)

Stall Torque, Continuous(2)

N-m 0.33 1.6 0.16 0.55 2.0oz-in 46.2 227 22.5 78.3 285

Peak Torque (3) N-m 1.31 6.4 0.5 1.4 5.0oz-in 184.9 908 68 196 712

Rated Speed rpm 4,000 3,000 3,000 4,000 4,000Rated Power Output, Con-tinuous

watts 112.0 381.0 50 207 671

Electrical Specifications (5)

BEMF Constant (line toline, 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 10.5Amp 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 26.3Amp rms 6.5 10.7 10.4 17.7 18.6

Torque Constant (4,8) N-m / Amppk

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 / Amprms

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 0.171oz-in / √W 7.02 25.34 5.37 7.33 24.24

Resistance, 25 °C (line toline)

ohms 8.4 5.7 0.7 1.0 1.1

Inductance (line to line) mH 1.30 1.10 0.73 0.80 1.30Maximum Bus Voltage VDC 340 340 80 340 340Thermal Resistance °C / W 1.73 0.93 6.26 1.14 0.94Number of Poles P 8 14 8 8 8(1) Performance is dependent upon heat sink configuration, system cooling conditions, and ambient temperature(2) Values shown@130 °C rise above a 25 °C ambient temperature, with motor mounted to a 250mm x250mm x6mmaluminumheat sink(3) Peak torque assumescorrect rmscurrent, consult Aerotech(4) Torque Constant andMotor 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 by10%when using an encoder(9) All Aerotech amplifiers are rated Apk; use torque constant in N-m / Apkwhen sizing



Table 3-4: AGR Stepper Motor Specifications (-SM Option)

Model 50SM 310SMNEMA Motor 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-m2

(oz-in-s2)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)


http://www.aerotech.com/products/motors/smspecs.html#


3.3. Torque CapabilityThe worm drivemechanism of the AGR series of rotary stages provides amechanical advantage that ampli-fies the input torque of the attachedmotor. The resultant output torquemeasured 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 thestandard brushless motor. Bus voltage is assumed to be 320V. Note that the available torque increases withstage angular velocity. This is a function of the higher levels of friction in the worm drivemechanism at slowspeeds. In some instances, the torque falls off at higher speeds because of themotor.

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 WiringStages fitted with standardmotors and encoders come from the factory completely wired and assembled.For reference, connector pin assignments and general wiring information are given in the following figuresand 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 system configuration.

NOTE : If you are using your own cables to connect the stage, ensure that motor and ground wires canhandle current higher than the continuous current or rated phase current listed in Table 3-3 and Table 3-4respectively. The voltage rating of the wire insulationmust 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 DescriptionA1 MTR ØA Motor Phase AA2 MTR ØB Motor Phase BA3 MTR ØC Motor Phase C1 MTR SHLD Shield for motor wiring connector2 Reserved Reserved3 Reserved Reserved4 Reserved Reserved5 Reserved ReservedA4 FRM GND Ground to stage base

Table 3-6: High Power D-Style Mating Connector

Aerotech P/N 3rd Party P/NBackshell ECK656 Amphenol #17-1726-2Sockets ECK659 ITT Cannon #DM53744-6Connector ECK657 ITT Cannon #DBMM9W4S



Figure 3-4: Motor Feedback Connector

Table 3-7: Motor Feedback Connector Pin Assignment (D-Style Connector)

Pin # Pin Output Description1 SIG SHLD Shield for feedback connector2 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 CWmotor rotation.15 COS-N Incremental encoder output. Complement of cos.16 LMT +5V +5 V supply for limit switch17 SIN Sine. Incremental encoder output; either TTL line driven or amplified sine wave type sig-

nal. COS leads SIN for CWmotor rotation.18 SIN-N Incremental encoder output. Complement of sine.20 LMT COM Common ground for limit switch21 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

Aerotech P/N 3rd Party P/NBackshell ECK656 Amphenol #17-1726-2Connector ECK300 Cinch DB-255



3.4.1. Motor Wiring for the AGR-200

By default, the AGR-200 stage comes with an attached BMS280motor with MS connectors. The AGR-200is the only stage in the AGR series for which the BMS280 is available. For reference, connector pin outputsand general wiring information for the BMS280 are given in the following figures. Pin outputs are defined inTable 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 FunctionA Cosine L ThermistorB Cosine-N M Hall Effect BC Sine N ReservedD Sine-N P Hall Effect CE Marker R ReservedF Marker-N S Brake + (optional)G Encoder Common T Brake – (optional)H Encoder +5vJ 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 FunctionA Motor Phase AB Motor Phase BC Motor Phase CD Motor Phase Ground

Table 3-11: Motor Wiring Pinout Descriptions

Pin Output DescriptionCosine 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.

EncoderCommon

+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 maxBrake - Brake 24 VDC CommonThermistor Motor over temperature Thermistor



3.5. Limit Switch WiringAGR series stages are provided with a optical limit switch. The limit switch signals when the stage hasreached its maximum useable travel distance in all directions. The limit switch is mounted to a small circuitboard within the stage and reflective tape, used as a trigger, is adhered to the bottom of 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 limitswitch 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 12.8mA) 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

Pin # Pin Output Description1 LMT +5V +5 V supply for limit switch2 LMT COM Common ground for limit switch3 CW/+ LMT Clockwise end of travel limit (option)4 Home

LMTHome Reference Limit Output

5 CW/-LMT Counterclockwise end of travel limit (option)6 SIG SHLD Shield for feedback connector7-9 N.C. Reserved - No Connection



Table 3-13: Limit Switch Connector Mating Connector

Aerotech P/N 3rd Party P/NBackshell ECK1027 Amphenol #DE24657Connector ECK340 Cinch DE-95


AGRSeries Stage User's Manual Maintenance

Chapter 4: MaintenanceThis chapter will cover information about intervals between lubrications, detail the lubrication and inspectionprocess, and cover which lubricants are recommended for use. The AGR series stages are designed to beminimummaintenance positioning systems. Periodic lubrication and cleaning is recommended.

Tominimize the possibility of bodily injury, confirm that all electrical power is disconnectedprior to making any mechanical adjustments.

4.1. Service and Inspection ScheduleLubricant 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 developsfor the application. Longer or shorter intervals may be required tomaintain the film of lubricant on the wormthreads. In general, it is recommended that stages operating in a clean environment be lubricatedmonthly, orevery 100,000 revolutions, whichever comes first. For stages operating under conditions involving excessivedebris, 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 thatthe stage be periodically driven through full travel to redistribute the lubrication in the bearings and wormdrive. For high-speed applications (i.e., near maximum speed at a duty cycle of 50%), frequent worm threadmaintenance with standard lubricants is required. The worm shaft end bearings andmotor bearings shouldnot need to be relubricated under normal use.


Maintenance AGRSeries Stage User's Manual

4.2. Cleaning and LubricationIf a solvent is necessary for cleaning the stage, isopropyl alcohol should be used.

For the worm gear drivemechanism, 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 orclean, dry air be used to blow away small particles and dust. Any metal surface of the stagemay be cleanedwith 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 worm drive system. The drivemech-anismmay be lubricated while the stage is under power and integrated in upper level systems providingaccess to the lubrication port is maintained. Access to the lubrication port is provided by removing the portcover 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 anyexcess 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 theadded lubricant the resulting current pull is much smoother, leading tomuch better mechanical performanceandmaximum life 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 ServiceAerotech, Inc. warrants its products to be free from defects caused by faulty mate-rials or poor workmanship for aminimum period of one year from date of shipmentfrom 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 thewarranty period. Aerotechmakes no warranty that its products are fit for the use orpurpose to which they may be put by the buyer, where or not such use or purposehas been disclosed to Aerotech in specifications or drawings previously or sub-sequently provided, or whether or not Aerotech's products are specificallydesigned and/or manufactured for buyer's use or purpose. Aerotech's liability orany claim for 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 aminimumperiod of one year from date of shipment. This warranty covers defects in work-manship andmaterial and is voided for all laser power supplies, plasma tubes andlaser systems subject to electrical or physical abuse, tampering (such as openingthe housing or removal of the serial tag) or improper operation as determined byAerotech. This warranty is also voided for failure to comply with Aerotech's returnprocedures.

Laser Products

Claims for shipment damage (evident or concealed) must be filed with the carrierby the buyer. Aerotechmust be notified within (30) days of shipment of incorrectmaterials. No product may be returned, whether in warranty or out of warranty, with-out first obtaining approval from Aerotech. No credit will be given nor repairs madefor products returned without such approval. Any returned product(s) must beaccompanied by a return authorization number. The return authorization numbermay 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 areturn 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 thebuyer desires an airfreight return, the product(s) will be shipped collect. Warrantyrepairs 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 suchtime, the buyer must issue a valid purchase order to cover the cost of the repair andfreight, or authorize the product(s) to be shipped back as is, at the buyer'sexpense. Failure to obtain a purchase order number or approval within (30) days ofnotification will result in the product(s) being returned as is, at the buyer's expense.Repair work is warranted for (90) days from date of shipment. Replacement com-ponents are warranted for one year from date of shipment.

Returned ProductNon-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 addedrush 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 WarrantyRepair

If an Aerotech product cannot bemade functional by telephone assistance or bysending and having the customer install replacement parts, and cannot be returnedto the Aerotech service center for repair, and if Aerotech determines the problemcould be warranty-related, then the following policy applies:

Aerotech will provide an on-site field service representative in a reasonable amountof 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 andmaterial. If service is rendered attimes other than normal work periods, then special service rates apply.

If during the on-site repair it is determined the problem is not warranty related, thenthe terms and conditions stated in the following "On-Site Non-Warranty Repair"section apply.

On-site Non-warrantyRepair

If any Aerotech product cannot bemade functional by telephone assistance or pur-chased replacement parts, and cannot be returned to the Aerotech service centerfor repair, then the following field service policy applies:

Aerotech will provide an on-site field service representative in a reasonable amountof 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 DrivePittsburgh, PA15238-2897

Phone: (412) 963-7470

Fax: (412) 963-7459

38 Appendix A www.aerotech.com

AGRSeries Stage User's Manual Technical Changes

Appendix B: Technical ChangesTable B-1: Current Changes (1.01.00)

Section(s) Affected General InformationSection 1.5. Section addedSection 3.1. Section added

Chapter 2: Installation, Section 2.1. , Section2.3. , Section 2.6. , and Section 1.4.

Safety information and warnings added

Section 3.2. Motor specifications added, Continuous Current ratingupdated

Section 3.4. Note about motor wire current and voltage requirementsadded

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 Information1.00.00 -- 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 CommentsAGR Series Stage ManualP/N: EDS139, February 2, 2011Revision 1.01.00Please answer the questions below and add any suggestions for improving this doc-ument.

Is themanual: Yes NoAdequate to the subjectWell organizedClearly presentedWell illustrated

How do you use this document in your job? Does it meet your needs?What improvements, if any, would youlike to see? Please be specific or cite examples.

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Mail your comments to: Fax to:Aerotech, Inc.101 Zeta DrivePittsburgh, PA15238 U.S.A.

412-967-6870

Email:

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