AMG-GR Gear-Drive Motorized Gimbal

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 provide 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 are 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

ModelAMG-100GRAMG-150GRAMG-200GRAMG-300GR
Travel(1) 180°, Continuous rotation (Azimuth), 90°, 315°, and Continuous rotation (Elevation)
Clear Aperture 100 mm 150 mm 200 mm 300 mm
Accuracy(2) Standard 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)
Standard (HALAR)

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)
Direct Encoder

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

Direct Encoder (HALAR)

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)
Standard Azimuth: 0.22 mrad (45 arc sec)
Elevation: 0.22 mrad (45 arc sec)
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) BM/BMS 180°/s
SM 60°/s 40°/s (Azimuth)
60°/s (Elevation)
40°/s
Azimuth Aperture
(Available with -A180 option 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 (BMS Motor) 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

 AMG-100GRAMG-150GRAMG-200GRAMG-300GR
Drive System Precision Worm-Gear with Brushless or Stepping Motor
Feedback Standard Rotary Motor Feedback: 2000 Lines/Rev Square Wave (BM Motor); 2000 Lines/Rev Square Wave and 1000 Lines/Rev Amplified Sine (BMS Motor) Rotary Motor Feedback: 2000 Lines/Rev Square Wave (Elevation), 2500 Lines/Rev Square Wave (Azimuth) and 1000 Lines/Rev Amplified Sine Rotary Motor Feedback: 2500 Lines/Rev Square Wave and 1000 Lines/Rev Amplified Sine
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

  • AMG-100GR
    AMG-100GR
  • AMG-150GR
    AMG-150GR
  • AMG-200GR
    AMG-200GR
  • AMG-300GR
    AMG-300GR

Ordering Information

Ordering Example

AMG-100GR -C1 -X5 -A180 -A-SM -E90 -E-BMS -BP -PLOTS

Ordering Options

Stage (Cell Size)Cell TypeDirect EncoderAzimuth TravelAzimuth MotorElevation TravelElevation MotorBase PlateMetrology
AMG-100GR (100 mm dia. cell size)
AMG-150GR (150 mm dia. cell size)
AMG-200GR (200 mm dia. cell size)
AMG-300GR (300 mm dia. cell size)
-C0
-C1
-C2

-AS
-X5
-X50

-A180
-ACONT

-A-NM
-A-SM
-A-BMS
-A-BMSBK
-A-BMSASBK
-A-BM
-A-BMBK
-A-BMAS
-A-BMASBK

-E90
-E315
-ECONT
-E-NM
-E-SM
-E-BMS
-E-BMSBK
-E-BMSASBK
-E-BM
-E-BMBK
-E-BMAS
-E-BMASBK
-BP
-NOBP
-PLOTS

Cell Type (Required)

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

Direct Encoder (Optional)

Options Description
-AS Amplified sine output encoder (See Electrical Specifications for fundamental resolution)
-X5 Square wave TTL output; X5 multiplication
-X50 Square wave TTL output; Continuous rotation

Azimuth Travel (Required)

Options Description
-A180 Azimuth travel, Limited, 180° (±90°)
-ACONT Azimuth travel, Continuous rotation (Not available if -E-NM option is selected. Requires -BP option.)

Azimuth Motor (Required)

Options Description
-A-NM No motor
-A-SM Stepping motor; AMG-100/150GR (NEMA17 stepping motor); AMG-200/300GR (50SMB2-HM)
-A-BMS Brushless, slotless servomotor with connectors and TTL encoder (requires motor-to-controller cable); AMG- 100/150GR (BMS35-A-D25-E2000H); AMG-200/300GR (BMS60-A-D25-E2500H)
-A-BMSBK Brushless, slotless servomotor with connectors, TTL encoder, and fail-safe brake (requires motor-to-controller cable); AMG-100/150GR (BMS35-A-D25-E2000H-BK); AMG-200/300GR
(BMS60-A-D25-E2500H-BK1)
-A-BMSAS Brushless, slotless servomotor with 1000-line amplified sine encoder; AMG-100/150GR
(BMS35-A-D25- E1000ASH); AMG-200/300GR (BMS60-A-D25-E1000ASH)
-A-BMSASBK Brushless, slotless servomotor with fail-safe brake and 1000-line amplified sine encoder; AMG-100/150GR (BMS35-A-D25-E1000ASH-BK); AMG-200/300GR (BMS60-A-D25-E1000ASH-BK1)
-A-BM Brushless servomotor with connectors and TTL encoder (requires motor-to-controller cable);
AMG-100/150GR (BM22-D25-E2000H); AMG-200/300GR (BM75-D25-E2500H)
-A-BMBK Brushless servomotor with connectors, TTL encoder, and fail-safe brake (requires motor-to-controller cable); AMG-100/150GR (BM22-D25-E2000H-BK); AMG-200/300GR (BM75-D25-E2500H-BK1)
-A-BMAS Brushless servomotor with 1000-line amplified sine encoder; Not available on AMG-100/150GR; AMG- 200/300GR (BM75-D25-E1000ASH)
-A-BMASBK Brushless servomotor with 1000-line amplified sine encoder; Not available on AMG-100/150GR;
AMG- 200/300GR (BM75-D25-E1000ASH-BK1)

Elevation Travel (Required)

Options Description
-E90 Elevation travel; Limited; 90° (± 45°)
-E315 Elevation travel; Limited; 315° (± 157.5°)
-ECONT Elevation travel; Continuous rotation

Elevation Motor (Required)

Options Description
-E-NM No motor (Not available with -ACONT option)
-E-SM Stepping motor; AMG-100/150/200GR (NEMA17 stepping motor); AMG-300GR (50SMB2-HM)
-E-BMS Brushless, slotless servomotor with connectors and TTL encoder (requires motor-to-controller cable); AMG- 100/150/200GR (BMS35-A-D25-E2000H); AMG-300GR (BMS60-A-D25-E2500H)
-E-BMSBK Brushless, slotless servomotor with connectors, TTL encoder, and fail-safe brake (requires motor-to-controller cable); AMG-100/150/200GR (BMS35-A-D25-E2000H-BK); AMG-300GR(BMS60-A-D25-E2500H-BK1)
-E-BMSAS Brushless, slotless servomotor with 1000-line amplified sine encoder; AMG-100/150/200GR (BMS35-A-D25- E1000ASH); AMG-300GR (BMS60-A-D25-E1000ASH)
-E-BMSASBK Brushless, slotless servomotor with fail-safe brake and 1000-line amplified sine encoder; AMG-100/150/200GR (BMS35-A-D25-E1000ASH-BK); AMG-300GR (BMS60-A-D25-E1000ASH-BK1)
-E-BM Brushless servomotor with connectors and TTL encoder (requires motor-to-controller cable); AMG- 100/150/200GR (BM22-D25-E2000H); AMG-300GR (BM75-D25-E2500H)
-E-BMBK Brushless servomotor with connectors, TTL encoder, and fail-safe brake (requires motor-to-controller cable); AMG-100/150/200GR (BM22-D25-E2000H-BK); AMG-300GR (BM75-D25-E2500H-BK1)
-E-BMAS Brushless servomotor with 1000-line amplified sine encoder; Not available on AMG-100/150/200GR; AMG- 300GR (BM75-D25-E1000ASH)
-E-BMASBK Brushless servomotor with 1000-line amplified sine encoder; Not availabe on AMG-100/150/200GR; AMG- 300GR (BM75-D25-E1000ASH-BK1)

Base Plate (Required)

Options Description
-BP Base plate option (required for -ACONT option). Will mount to English/Metric optical breadboard table.
-NOBP No base plate

Metrology (Optional)

Options Description
-PLOTS Accuracy and repeatability performance plots