AMG-GR Gear-Driven Gimbals

Description

Design Features

  • Economical, high-accuracy, two-axis gimbal design
  • Travels from 90 degrees to continuous rotation available
  • Circular (100 to 300 mm) and custom cells available
  • Front surface reflecting and centered cell options
  • Direct encoder option for increased accuracy/repeatability
  • Servo and stepper motors available

The AMG-GR series of gear-driven motorized gimbals provides economical, high-accuracy elevation-over-azimuth positioning. These gimbals are built using the primary positioning elements of the robust and economical AGR-series rotary stage. The AMG-GR is available in a variety of standard travel ranges. Due to the flexibility of the design, customized travels are easily accommodated. A variety of accuracy grades, motor types, and cell designs make this the ideal stage series for applications ranging from sensor calibration to laser beam steering.

Cell Design Versatility

The AMG-GR comes standard with circular cells ranging from 100 mm to 300 mm diameter. Cell mounting options include a centered (balanced) cell or a front-surface reflection option where the front of the optic is located on the axes of rotation. Special configurations are available to accommodate non-circular optics, cameras, sensors, and round optics larger than 300 mm in diameter. Due to a modular-design approach, each gimbal mirror cell can be easily modified or replaced with different shaped cells to accommodate sensors or other asymmetrically-shaped payloads.

Flexible Options

The AMG-GR can be outfitted with brushless servo or stepper motors. A full range of matching drives and controls is available for a complete single-source solution.

For applications that require high-accuracy and repeatability, a direct-encoder mounted to the cell and yoke is available. Vacuum-compatible versions are also available.

Specifications

AMG-GR Specifications

ModelAMG100GRAMG150GRAMG200GRAMG300GR
Travel(1) 180°, Continuous rotation (Azimuth), 90°, 315°, and Continuous rotation (Elevation)
Clear Aperture 100 mm 150 mm 200 mm 300 mm
Accuracy(2) Uncalibrated Azimuth: 0.87 mrad (180 arc sec)
Elevation: 0.87 mrad (180 arc sec)
Azimuth: 0.58 mrad (120 arc sec)
Elevation: 0.58 mrad (120 arc sec)
Calibrated

Azimuth: 0.29 mrad (60 arc sec)
Elevation: 0.29 mrad (60 arc sec)

Azimuth: 0.24 mrad (50 arc sec)
Elevation: 0.24 mrad (50 arc sec)
Uncalibrated  with Direct Encoder

Azimuth: 97 µrad (20 arc sec)
Elevation: 97 µrad (20 arc sec)

Calibrated with Direct Encoder

Azimuth: 58 µrad (12 arc sec)
Elevation: 58 µrad (12 arc sec)

Azimuth: 49 µrad (10 arc sec)
Elevation: 49 µrad (10 arc sec)
Repeatability
(Bi-Directional)(2)
Without Direct Encoder Azimuth: 0.22 mrad (45 arc sec)
Elevation: 0.22 mrad (45 arc sec)
With Direct Encoder Azimuth: 39 µrad (8 arc sec)
Elevation: 39 µrad (8 arc sec)
Azimuth: 29 µrad (6 arc sec)
Elevation: 39 µrad (8 arc sec)
Azimuth: 29 µrad (6 arc sec)
Elevation: 29 µrad (6 arc sec)
Tilt Error Motion 49 µrad (10 arc sec)
Orthogonality 73 µrad (15 arc sec)
Gear Ratio Azimuth: 51:1 Elevation: 51:1 Azimuth: 51:1 Elevation: 51:1 Azimuth: 85:1 Elevation: 67:1 Azimuth: 117:1 Elevation: 85:1
Maximum Speed(3) Servomotor 180°/s
Stepper Motor 60°/s 40°/s (Azimuth)
60°/s (Elevation)
40°/s
Azimuth Aperture
(Available with 180-degree azimuth travel only)
50 mm 50 mm 100 mm 150 mm
Max. Load Capacity 12 kg 15 kg 25 kg 45 kg
Maximum Torque Load to AZ/EL Shaft for Offset Loading 2.5 N·m 2.5 N·m 3.5 N·m 12 N·m
Mass (with BMS Servomotor) Standard 9.7 kg 11.9 kg 18.7 kg 32.2 kg
Direct Encoder 11.1 kg 13.3 kg 20.8 kg 35.1 kg
Material Aluminum
  1. Custom travels available upon request.
  2. Certified with each stage. Specifications are per axis.
  3. Maximum speed is load dependent. Contact and Aerotech Application Engineer if imbalanced loads are present. Requires the selection of an appropriate amplifier with sufficient voltage and current.

Electrical Specifications

 AMG100GRAMG150GRAMG200GRAMG300GR
Drive System Precision Worm-Gear with Brushless or Stepping Motor
Feedback Standard Rotary Servomotor Feedback:
Choose Between TTL Digital Encoder or 1 Vpp Analog Encoder (See Ordering Options Table)
Direct Encoder Noncontact Rotary Encoder Directly Mounted to AZ/EL Stage Shaft
Azimuth: 15744 Lines/Rev Elevation: 15744 Lines/Rev Azimuth: 15744 Lines/Rev Elevation: 15744 Lines/Rev Azimuth: 23600 Lines/Rev Elevation: 18000 Lines/Rev Azimuth: 31488 Lines/Rev
Elevation: 23600 Lines/Rev
Maximum Bus Voltage BM 80 VDC 80 VDC (Elevation) 340 VDC (Azimuth) 340 VDC
BMS 340 VDC
SM(1) 40 VDC
Limit Switches 5 V, Normally Closed
Home Switch Near Limit (for Limited Travel Stage Version)
  1. For SM motors with Aerotech controllers, amplifier bus voltages are 2X values listed.

Recommended Controller

Multi-Axis A3200 Ndrive MP/Ndrive CP/Npaq
Ensemble Ensemble MP/Ensemble CP/Epaq
Single-Axis Soloist Soloist MP/Soloist CP

Dimensions

  • AMG100GR
    AMG-100GR
  • AMG150GR
    AMG-150GR
  • AMG200GR
    AMG-200GR
  • AMG300GR
    AMG-300GR

Ordering Information

AMG-GR Gear-Driven Gimbal

Options Description
AMG100GR AMG100GR gear-driven gimbal with 100 mm diameter clear aperture
AMG150GR AMG150GR gear-driven gimbal with 150 mm diameter clear aperture
AMG200GR AMG200GR gear-driven gimbal with 200 mm diameter clear aperture
AMG300GR AMG300GR gear-driven gimbal with 300 mm diameter clear aperture

Cell (Required)

Options Description
-C0 No cell
-C1 Front surface reflecting cell
-C2 Centered cell

Direct Rotary Feedback (Optional)

Options Description
-E1 Incremental encoders, 1 Vpp, one per axis
-E2 Incremental encoders, digital TTL output, x5 multiplication, one per axis
-E3 Incremental encoders, digital TTL output, x50 multiplication, one per axis

Azimuth Travel (Required)

Options Description
-TR180 Limited travel, +/- 90 degrees
-TRCNT Continuous travel

Azimuth Motor (Required)

Options Description
-M0 No motor
-M1 BMS35 brushless servomotor with 2000-line TTL encoder (AMG100GR, AMG150GR)
BMS60 brushless servomotor with 2500-line TTL encoder (AMG200GR, AMG300GR)
-M2 BMS35 brushless servomotorr with 2000-line TTL encoder and brake (AMG100GR, AMG150GR)
BMS60 brushless servomotor with 2500-line TTL encoder and brake (AMG200GR, AMG300GR)
-M3 BMS35 brushless servomotor with 2000-line TTL encoder (AMG100GR, AMG150GR)
BMS60 brushless servomotor with 1000-line 1 Vpp encoder (AMG200GR, AMG300GR)
-M4 BMS35 brushless servomotor with 2000-line TTL encoder and brake (AMG100GR, AMG150GR)
BMS60 brushless servomotor with 1000-line 1 Vpp encoder and brake (AMG200GR, AMG300GR)
-M5 BM22 brushless servomotor with 2000-line TTL encoder (AMG100GR, AMG150GR)
BM75 brushless servomotor with 2500-line TTL encoder (AMG200GR, AMG300GR)
-M6 BM22 brushless servomotor with 2000-line TTL encoder and brake (AMG100GR, AMG150GR)
BM75 brushless servomotor with 2500-line TTL encoder and brake (AMG200GR, AMG300GR)
-M7 SM35 stepper motor (AMG100GR, AMG150GR)
BM75 brushless servomotor with 1000-line 1 Vpp encoder (AMG200GR, AMG300GR)
-M8 BM75 brushless servomotor with 1000-line 1 Vpp encoder and brake (AMG200GR, AMG300GR)
-M9 SM60 stepper motor (AMG200GR, AMG300GR)

Elevation Travel (Required)

Options Description
-TR090 Limited travel, +/- 45 degrees
-TR315 Limited travel, +/- 157.5 degrees
-TRCNT Continuous travel

Elevation Motor (Required)

Options Description
-M0 No motor
-M1 BMS35 brushless servomotor with 2000-line TTL encoder (AMG100GR, AMG150GR, AMG200GR)
BMS60 brushless servomotor with 2500-line TTL encoder (AMG300GR)
-M2 BMS35 brushless servomotorr with 2000-line TTL encoder and brake (AMG100GR, AMG150GR, AMG200GR)
BMS60 brushless servomotor with 2500-line TTL encoder and brake (AMG300GR)
-M3 BMS35 brushless servomotor with 2000-line TTL encoder (AMG100GR, AMG150GR, AMG200GR)
BMS60 brushless servomotor with 1000-line 1 Vpp encoder (AMG300GR)
-M4 BMS35 brushless servomotor with 2000-line TTL encoder and brake (AMG100GR, AMG150GR, AMG200GR)
BMS60 brushless servomotor with 1000-line 1 Vpp encoder and brake (AMG300GR)
-M5 BM22 brushless servomotor with 2000-line TTL encoder (AMG100GR, AMG150GR, AMG200GR)
BM75 brushless servomotor with 2500-line TTL encoder (AMG300GR)
-M6 BM22 brushless servomotor with 2000-line TTL encoder and brake (AMG100GR, AMG150GR, AMG200GR)
BM75 brushless servomotor with 2500-line TTL encoder and brake (AMG300GR)
-M7 SM35 stepper motor (AMG100GR, AMG150GR, AMG200GR)
BM75 brushless servomotor with 1000-line 1 Vpp encoder (AMG300GR)
-M8 BM75 brushless servomotor with 1000-line 1 Vpp encoder and brake (AMG300GR)
-M9 SM60 stepper motor (AMG300GR)

Mounting Plate (Optional)

Options Description
-MP Optical table mounting plate
    *Note: -MP option required when continuous azimuth travel option is selected

Metrology (Required)

Options Description
-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. This is typically used for spare parts, replacement parts, or items that will not be used or shipped together (ex: stage only). These components may or may not be part of a larger system