agr series - aerotechgmbh.de · options include flexible motor selections as well as a direct...

Rotary StagesAGR Series

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AGR SeriesGear-Driven Rotary Stages

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.

Construction FeaturesThe presence of a large, clear aperture in the stage allows the AGR series to address applications requiring a through-hole or accommodations to mount an optic, including articulation of beam polarizing lenses, through-holes for cabling and/or air lines, or vision/camera/inspection applications.

The AGR stage base is fabricated from an aluminum alloy that offers significant weight savings in multi-axis arrangements and other weight critical applications, while providing high structural stiffness and long-term stability.

Enhanced speed and load capacity

Large aperture addresses a wide range of applications

Continuous 360 degrees rotary positioning

Direct encoder options available

Each stage is designed with two high-precision angular contact bearings with optimal spacing to provide excellent error motions coupled with high load capacities in a small, compact package.

Flexible OptionsOptions include flexible motor selections as well as a direct encoder mounted to the stage shaft for outstanding repeatability and to virtually eliminate hysteresis and backlash. Vacuum-compatible versions (for use in pressures as low as 10-6 torr) are also available.

Motor and DrivesStandard AGR stage configurations feature Aerotech’s brushless servomotors. However, all AGR stages can be outfitted with stepper or DC brush motors. A full range of matching drives and controls are available for a complete single-source solution.

AGR gear-driven rotary stages have a large, clear aperture and are available with a variety of motor selections to meet your needs.

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AGR Series SPECIFICATIONSMechanical Specifications AGR50 AGR75 AGR100 AGR150 AGR200Travel 360° (Limited Travel Versions Available)

Accuracy

Uncalibrated 0.87 mrad (180 arc sec) 0.58 mrad (120 arc sec)

Calibrated 0.29 mrad (60 arc sec) 0.24 mrad (50 arc sec)

Uncalibrated with Direct Encoder Option 97 µrad (20 arc sec)

Calibrated with Direct Encoder Option

58 µrad (12 arc sec) 49 µrad (10 arc sec)

Repeatability (Uni-Directional)

Standard 49 µrad (10 arc sec)

Direct Encoder(1) 24 µrad (5 arc sec)

Repeatability (Bi-Directional)

Standard 0.22 mrad (45 arc sec)

Direct Encoder(1) 39 µrad (8 arc sec) 29 µrad (6 arc sec)

Tilt Error Motion 49 µrad (10 arc sec)

Axial Error Motion 5 µm

Radial Error Motion 10 µm

Gear Ratio 51:1 67:1 85:1 117:1 126:1

Maximum Speed(2)with Brushless Servomotor (BM and BMS Models) 180°/s 120°/s

with Stepper Motor 60°/s 40°/s

Maximum Acceleration(3) 720°/s2 480°/s2

Aperture mm 50 mm 75 mm 100 mm 150 mm 200 mm

Load Capacity

Axial 40 kg 100 kg 200 kg 300 kg 425 kg

Radial 20 kg 50 kg 100 kg 125 kg 200 kg

Moment See Moment Load Curves

Maximum Torque Load to Stage Shaft 2.5 N·m 3.5 N·m 12 N·m 20 N·m 80 N·m

Rotor Inertia (Unloaded) 0.00052 kg·m2 0.0013 kg·m2 0.0035 kg·m2 0.011 kg·m2 0.076 kg·m2

Stage Mass (No Motor)

Standard 1.9 kg 2.4 kg 4.5 kg 6.1 kg 18.6 kg

Direct Encoder 2.5 kg 3.1 kg 5.6 kg 7.6 kg 21.7 kg

Material Aluminum

Notes:1. Direct encoder repeatability specifications are for systems using the -E1 or -E3 direct encoder options only.2. Maximum speed is load dependent. Contact an Aerotech Application Engineer if imbalanced loads are present.3. Unloaded acceleration.4. On-axis loading is listed.5. Specifications are for single-axis systems measured 25 mm above the tabletop. Performance of multi-axis systems is payload and workpoint dependent. Consult factory for multi-axisor non-standard applications.

Electrical Specifications AGR50 AGR75 AGR100 AGR150 AGR200Drive System Precision Worm-Gear with Brushless Servomotor or Stepper Motor

FeedbackStandard Noncontact Rotary Encoder Contained Within Motor;

See Motor Description Under “Ordering Options” Section for Details

Direct EncoderNoncontact Rotary Encoder Directly Mounted to AGR Stage Shaft

15744 Lines/Rev 18000 Lines/Rev 23600 Lines/Rev 31488 Lines/Rev 40000 Lines/Rev

Maximum Bus Voltage

with Brushless Servomotor (BM Models)

80 VDC 320 VDC

with Brushless Servomotor (BMS Models)

320 VDC

with Stepper Motor 40 VDC 80 VDC

Limit Switches 5 V, Normally Closed or Normally Open

Home Switch Near Limit (for Limited Travel Stage Version)

Note:1. For stepper motors with Aerotech controllers, amplifier bus voltages are 2X values listed

Recommended Controller AGR50 AGR75 AGR100 AGR150 AGR200Multi-Axis A3200 Ndrive MP10/Ndrive CP10/Npaq

Ensemble Ensemble MP10/Ensemble CP10/Epaq

Single Axis Soloist Soloist MP10/Soloist CP10


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AGR Series SPECIFICATIONS

0

5

10

15

20

25

30

35

40

45

0 50 100 150 200 250 300

Distance (mm) from Axis of Rotation (Axial)Distance (mm) from Tabletop/Shaft (Radial)

Max

Lo

ad (

kg)

Axial

Radial

Axial and Radial Cantilevered Load Capability (AGR50)

0

20

40

60

80

100

120

0 50 100 150 200 250 300


Max

Lo

ad (

kg)

Axial

Radial


0

50

100

150

200

250

0 50 100 150 200 250 300


Max

Lo

ad (

kg)

Axial

Radial


0

50

100

150

200

250

300

350

0 100 200 300 400 500


Max

Lo

ad (

kg)

Axial

Radial


0

50

100

150

200

250

300

350

400

450

0 100 200 300 400 500


Max

Lo

ad (

kg)

Axial

Radial


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105

100

120.8

15

A

129.8 50

63 BC

8X M5X0.8 7.5

4X 5.5 THRU ALL 10 TO DEPTH SHOWN

50 APERTURE

75

2

69.4

31

CW0.5 * NOMINAL TRAVEL

TABLETOP BC ORIENTATIONAT CENTER OF TRAVEL

1.

CCW0.5 * NOMINAL TRAVEL

B

10.5

75

25

4X M5X0.8 7.5

10.5

25

20

4X M4X0.7 6

C

12X M3X0.5 6

37 SQ 31 SQ

22 3

GREASEFITTING

MOTOR HIDDENFOR CLARITY

10.5

25

20

4X M4X0.7 6

20TYP

DIMENSIONS: MILLIMETERS [INCHES]

NOTES:

1. CW AND CCW TRAVEL LIMITATIONS APPLY TO -TRXXX LIMITED TRAVEL OPTION ONLY. ORIENTATION OF TABLETOP BC AT CENTER OF TRAVEL IS CONSISTENT FOR ALL CONFIGURATIONS.

MOTOR LENGTH "A" SHAFT INPUT DIAMETER "C"

NO MOTOR - 6.35 [0.25]

-M1, -M3 125 6.35 [0.25]

-M2, -M4 153 6.35 [0.25]

-M5 91.1 6.35 [0.25]

-M6 128 6.35 [0.25]

-M7 127 5.0

-M8 132 5.0

OPTION HEIGHT "B"

DEFAULT 50

-SL1 60

-E1, -E2, -E3 66.4

-SL1 + -E1, -E2, -E3 76.4

AGR50

AGR Series DIMENSIONS


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105

101.6 100

52 THRU

100

4X M5X0.8 7.5

120.8

50

50.8

50 31

69.4

4X 6.8 THRU ALL11.1 SLOT 6.8

-MP1 MOUNTING PLATE

10

129.8

100

16X M5X0.8 7.5

8X 5.5 THRU ALL 10 6

EVENLY SPACEDON BC

25 SQ TYP

50 SQ TYP

63 BC

-TT1 TABLETOP

100


EVENLY SPACEDON BC

25.4 SQ TYP

50.8 SQ TYP

16X 10-32 UNF 7.2

63 BC

-TT2 TABLETOP

12 12

DIMENSIONS: MILLIMETERS

AGR50 Accessories


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125

15

A

50

85 BC

8X M5X0.8 7.5

4X 5.5 THRU ALL 10 TO DEPTH SHOWN

75APERTURE

94.5

155.2

12.7 120.8

146.2

46.5TYP

82.1



1.


B

10.5

75

25

4X M5X0.8 7.5

10.5

25

25

4X M4X0.7 6

C

12X M3X0.5 6

22 3

37 SQ 31 SQ

GREASEFITTING


25

25

4X M4X0.7 6

10.5

20TYP


NOTES:



NO MOTOR - 6.35 [0.25]

-M1, -M3 125 6.35 [0.25]

-M2, -M4 153 6.35 [0.25]

-M5 91.1 6.35 [0.25]

-M6 128 6.35 [0.25]

-M7 127 5.0

-M8 132 5.0

OPTION HEIGHT "B"

DEFAULT 50

-SL1 60

-E1, -E2, -E3 66.4

-SL1 + -E1, -E2, -E3 76.4

AGR75



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146.2

120.8

125

127 125

76.2

75

77 THRU

4X M5X0.8 7.5

46.5

50

82.1

4X 6.8 THRU ALL11.1 SLOT 6.8

29.5

-MP1 MOUNTING PLATE

10

155.2

125 25 SQ TYP

50 SQ TYP

75 SQ TYP


EVENLY SPACED ON BC

24X M5X0.8 7.5 85 BC

-TT1 TABLETOP

125

24X 10-32 UNF 7.2


EVENLY SPACED ON BC

25.4 SQ TYP

50.8 SQ TYP

76.2 SQ TYP

85 BC

-TT2 TABLETOP

12 12


AGR75 Accessories


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150

171.6

190.7 80

112.5 BC

8X M6X1.0 9

4X 6.6 THRU ALL 12.7 TO DEPTH SHOWN

100APERTURE

127

15

A 3.2

104.9



1.


B

9.7

125

40

4X M6X1.0 9

2.4 NOTE: BRAKE OPTIONS PROTRUDEBELOW MOUNTING SURFACE

17.2

25

50

4X M5X0.8 7.5

47.1 SQ 38.14.5

6.35 [1/4"]SHAFT INPUT

4X M4X0.7 8

GREASEFITTING


17.2

25

50

4X M5X0.8 7.5

33.4TYP


NOTES:


MOTOR LENGTH "A"

-M1, -M3, -M5, -M7 132.3

-M2, -M4, -M6, -M8 209.5

-M9 110.9

-M10 111.9

OPTION HEIGHT "B"

DEFAULT 65

-SL1 78

-E1, -E2, -E3 81

-SL1 + -E1, -E2, -E3 94

AGR100



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171.6

152.4 150

150

101.6

100

102 THRU

4X M6X1.0 9

4X 6.8 THRU ALL11.1 SLOT 7

80

104.9

49.5

-MP1 MOUNTING PLATE

190.7

12

25 SQ TYP

50 SQ TYP

75 SQ TYP

100 SQ TYP


EVENLY SPACED ON BC 32X M6X1.0 9

157

112.5 BC

-TT1 TABLETOP

157

32X 1/4-20 UNC 9.58X 6.6 THRU ALL

11 7EVENLY SPACED ON BC

25.4 SQ TYP

50.8 SQ TYP

76.2 SQ TYP

101.6 SQ TYP

112.5 BC

-TT2 TABLETOP

15 15


AGR100 Accessories


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200

125

164 BC

8X M6X1.0 9

4X 6.6 THRU ALL 12.7 TO DEPTH SHOWN

150APERTURE

177

222.4

241.5

58.8TYP

25.4 171.6

15

A

130.3



1.


B

9.7

125

40

4X M6X1.0 9

2.4 NOTE: BRAKE OPTIONS PROTRUDE

BELOW MOUNTING SURFACE

17.2

25

100

4X M5X0.8 7.5

47.1 SQ 38.14.5

6.35 [1/4"]SHAFT INPUT

4X M4X0.7 8

GREASEFITTING


25

100

4X M5X0.8 7.5

17.2

33.4TYP


NOTES:


MOTOR LENGTH "A"

-M1, -M3, -M5, -M7 132.3

-M2, -M4, -M6, -M8 209.5

-M9 110.9

-M10 111.9

OPTION HEIGHT "B"

DEFAULT 65

-SL1 78

-E1, -E2, -E3 81

-SL1 + -E1, -E2, -E3 94

AGR150



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222.4

171.6

58.8

203.2 200

152.4

150

152 THRU

4X M6X1.0 9

130.3

125


200

72

-MP1 MOUNTING PLATE

12

241.5


EVENLY SPACED ON BC

40X M6X1.0 9

207

25 SQ TYP

50 SQ TYP

75 SQ TYP

100 SQ TYP

125 SQ TYP

164 BC

-TT1 TABLETOP

207

40X 1/4-20 UNC 9.58X 6.6 THRU ALL

11 7EVENLY SPACED ON BC

25.4 SQ TYP

50.8 SQ TYP

76.2 SQ TYP 101.6 SQ TYP 127 SQ TYP

164 BC

-TT2 TABLETOP

15 15


AGR150 Accessories


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AGR Series — DIMENSIONS

250

200

217 BC

8X M8X1.25 12

4X 9 THRU ALL 15 TO DEPTH SHOWN

200APERTURE

235

305

340.1

85TYP

14 277

15

A

187.6



1.


B

17

200

50

4X M8X1.25 12

0.9 NOTE: STEPPER MOTOR OPTION PROTRUDES

BELOW MOUNTING SURFACE

17 50

150

4X M6X1.0 9

69.6 SQ 734

C

4X M5X0.8 10

GREASEFITTING


50

150

4X M6X1.0 9

17

57.9TYP


NOTES:



-M1, -M3, -M5, -M7 190 12.7 [0.5]

-M2, -M4, -M6, -M8 245.6 12.7 [0.5]

-M9 177.1 9.5 [0.375]

-M10 187.1 9.5 [0.375]

OPTION HEIGHT "B"

DEFAULT 90

-SL1 107

-E1, -E2, -E3 108.5

-SL1 + -E1, -E2, -E3 125.5

AGR200


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305

277

254 250

177.8

175

202 THRU

85.1

4X M8X1.25 12


200

187.6

250

117.6

-MP1 MOUNTING PLATE

15

340.1

285

8X 9 THRU ALL 15 9

EVENLY SPACED ON BC

25 SQ TYP 50 SQ TYP 75 SQ TYP 100 SQ TYP 125 SQ TYP 150 SQ TYP

48X M6X1.0 9

217 BC

-TT1 OPTION

48X 1/4-20 UNC 9.5

285

8X 9 THRU ALL 15 9

EVENLY SPACED ON BC

76.2 SQ TYP 101.6 SQ TYP

127 SQ TYP 152.4 SQ TYP

50.8 SQ TYP 25.4 SQ TYP

217 BC

-TT2 OPTION

20 20


AGR200 Accessories


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AGR Series Gear-Driven Rotary Stages

Model (Required)AGR50 Gear-driven rotary stage, 50 mm diameter clear apertureAGR75 Gear-driven rotary stage, 75 mm diameter clear apertureAGR100 Gear-driven rotary stage, 100 mm diameter clear apertureAGR150 Gear-driven rotary stage, 150 mm diameter clear apertureAGR200 Gear-driven rotary stage, 200 mm diameter clear aperture

Motor (Optional) -M1 BMS35 brushless servomotor and 2000-line TTL encoder (AGR50, AGR75) BMS60 brushless servomotor and 2500-line TTL encoder (AGR100, AGR150) BMS280 brushless servomotor and 2500-line TTL encoder (AGR200)-M2 BMS35 brushless servomotor and 2000-line TTL encoder with brake (AGR50, AGR75) BMS60 brushless servomotor and 2500-line TTL encoder with brake (AGR100, AGR150) BMS280 brushless servomotor and 2500-line TTL encoder with brake (AGR200)-M3 BMS35 brushless servomotor and 1000-line 1 Vpp encoder (AGR50, AGR75) BMS60 brushless servomotor and 1000-line 1 Vpp encoder (AGR100, AGR150) BMS280 brushless servomotor and 1000-line 1 Vpp encoder (AGR200)-M4 BMS35 brushless servomotor and 1000-line 1 Vpp encoder with brake (AGR50, AGR75) BMS60 brushless servomotor and 1000-line 1 Vpp encoder with brake (AGR100, AGR150) BMS280 brushless servomotor and 1000-line 1 Vpp encoder with brake (AGR200)-M5 BM22 brushless servomotor and 2000-line TTL encoder (AGR50, AGR75) BM75 brushless servomotor and 2500-line TTL encoder (AGR100, AGR150) BM250 brushless servomotor and 2500-line TTL encoder (AGR200)-M6 BM22 brushless servomotor and 2000-line TTL encoder with brake (AGR50, AGR75) BM75 brushless servomotor and 2500-line TTL encoder with brake (AGR100, AGR150) BM250 brushless servomotor and 2500-line TTL encoder with brake (AGR200)-M7 SM35 stepper motor (AGR50, AGR75) BM75 brushless servomotor and 1000-line 1 Vpp encoder (AGR100, AGR150) BM250 brushless servomotor and 1000-line 1 Vpp encoder (AGR200)-M8 SM35 stepper motor with brake (AGR50, AGR75) BM75 brushless servomotor and 1000-line 1 Vpp encoder with brake (AGR100, AGR150) BM250 brushless servomotor and 1000-line 1 Vpp encoder with brake (AGR200)-M9 SM60 high voltage stepper motor (AGR100, AGR150) SM280 high voltage stepper motor (AGR200)-M10 SM60 high voltage stepper motor with brake (AGR100, AGR150) S M280 high voltage stepper motor with brake (AGR200)

Motor Location (Required) -ML1 Motor located on right side of stage housing, standard (see diagram)-ML2 Motor located on left side of stage housing (see diagram)

Motor Orientation (Optional)

-2 Motor orientation 2 (see diagram) -3 Motor orientation 3, standard (see diagram)-4 Motor orientation 4 (see diagram) -5 Motor orientation 5 (see diagram)

Travel (Required) Continuous travel (standard)-TR015 Limited travel, ±7.5 degrees-TR030 Limited travel, ±15 degrees-TR045 Limited travel, ±22.5 degrees-TR060 Limited travel, ±30 degrees-TR075 Limited travel, ±37.5 degrees-TR090 Limited travel, ±45 degrees

AGR Series ORDERING INFORMATIONAGR Series ORDERING INFORMATION


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-TR105 Limited travel, ±52.5 degrees-TR120 Limited travel, ±60 degrees-TR135 Limited travel, ±67.5 degrees-TR150 Limited travel, ±75 degrees-TR165 Limited travel, ±82.5 degrees-TR180 Limited travel, ±90 degrees-TR195 Limited travel, ±97.5 degrees-TR210 Limited travel, ±105 degrees-TR225 Limited travel, ±112.5 degrees-TR240 Limited travel, ±120 degrees-TR255 Limited travel, ±127.5 degrees-TR270 Limited travel, ±135 degreesNote: -TRxxx limited travel options contain an extra 2 degrees of overtravel between the nominal travel and the electrical limit on each side (Ex: -TR270 contains ±135 degrees of nominal travel, with ±137 degrees of travel between electrical limits).

Limits (Required)LI1 Normally-closed, end-of-travel limit switches with 9-pin connectorLI2 Normally-open, end-of-travel limit switches with 9-pin connectorNote: Limits option is only available with limited-travel configurations.

Direct Rotary Feedback (Optional) -E1 Direct, amplified-sine output encoder-E2 Direct, square-wave TTL output encoder, X5 multiplication-E3 Direct, square-wave TTL output encoder, X50 multiplication

Tabletop (Optional) -TT1 Metric tabletop -TT2 English tabletop

Mounting Plate (Optional)-MP1 Universal English/metric mounting plate

Seals (Optional) -SL1 Labyrinth seal

Metrology (Required)-PL0 No metrology performance plots-PL1 Metrology, uncalibrated with performance plots-PL2 Metrology, calibrated (HALAR) with performance plots

Integration (Required)Aerotech offers both standard and custom integration services to help you get your system fully operational as quickly as possible. The following standard integration options are available for this system. Please consult Aerotech if you are unsure what level of integration is required, or if you desire custom integration support with your system.

-TAS Integration - Test as system Testing, integration, and documentation of a group of components as a complete system that will be used together (ex: drive, controller, and stage). This includes parameter file generation, system tuning, and documentation of the system configuration.-TAC Integration - Test as components Testing and integration of individual items as discrete components that ship together. This is typically used for spare parts, replacement parts, or items that will not be used together. These components may or may not be part of a larger system.

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AGR Series — MOTOR ORIENTATION

-ML1-2 -ML1-3 (STANDARD)

-ML1-4 -ML1-5

-ML2-2 -ML2-3 -ML2-4 -ML2-5

-ML1 (NO MOTOR)

-ML2 (NO MOTOR)

AGR SERIES MOTOR LOCATION AND ORIENTATION OPTIONS

agr series - aerotechgmbh.de · options include flexible motor selections as well as a direct...

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