ARMS-200 Rotary Motion Simulator

Description

Design Features

  • Designed for highly accurate motion generation
  • Velocity stability of 0.0001% over 360 degrees
  • Position resolution to 0.03 arc second
  • Payloads to 140 kg
  • Integrated slip rings and fluid rotary unions
  • Direct-drive brushless motor options for high speed or high torque

Aerotech's ARMS series direct-drive rotary motion simulators provide superior angular rates, accelerations and positioning for the testing of inertial components and systems such as MEMS, gyroscopes, inertial measurement units, avionics and accelerometers.

Accurate Velocity and Positioning

The ARMS family of stages provides excellent velocity and positioning control. When coupled with Aerotech’s advanced controls, resolution can be as fine as 0.03 arc second, with accuracy to ±2.5 arc second and repeatability to ±0.5 arc second. The motor and high-performance rotary encoder are directly coupled to a common shaft. The absence of gear trains and mechanical couplings means no position errors caused by hysteresis, windup or backlash. The ARMS-200 has rate resolution down to 0.002 deg/s and rate stability to 0.0001%.

Superior Mechanical Design

Dual large-diameter bearings are used to maximize performance with respect to wobble, moment stiffness and repeatability. The large diameter bearings permit large payloads without compromising performance.

Brushless Direct-Drive

The ARMS series utilizes Aerotech's S-series brushless, slotless motor to maximize positioning performance. The S-series motor provides all of the advantages of a brushless direct-drive motor – no brushes to wear, no gear trains to maintain and high acceleration and high speeds. The slotless, ironless design eliminates cogging and, therefore, produces absolutely no torque ripple. With its low inherent inertia and optimized motor design, the ARMS is capable of speeds and accelerations that are significantly higher than competing products. Low inertia and zero backlash make the ARMS the ideal solution for applications requiring frequent directional changes.

Flexible Configurations

Slip rings and rotary unions are standard options available to ease integration of customer devices. With various tabletop styles as well as optional HDP pedestals, customers can also tailor the mechanical interface of the ARMS stages to suit many different needs.

Advanced User-Friendly Controls

Aerotech rate tables are controlled with state-of-the-art Aerotech controls and drives. Our software packages are available as stand-alone applications, where no other language or compiler is needed, as well as LabVIEW®, C and .NET software interfaces. Users can graphically generate their own motion profiles and execute them automatically with Aerotech's new GUI Motion Designer software. Or, for users who already have their own motion simulation software, our software can easily accept files with arrays of velocity, position and acceleration versus time profiles. This is then downloaded and run on the ARMS by our motion control software.

Specifications

ARMS Specifications

ARMS SeriesARMS-150-12ARMS-150-37ARMS-200-56ARMS-200-80ARMS-260-100ARMS-260-146
Width 146 mm 196 mm 260 mm
Height(1) 183 mm 246 mm 224 mm 249 mm 229 mm 250 mm
Aperture(2) 8 mm 25 mm
Total Travel ±360° Continuous
Bus Voltage Up to 340 VDC
Maximum Torque (Continuous) 2.36 N·m 7.69 N·m 11.12 N·m 15.93 N·m 19.71 N·m 29.09 N·m
Fundamental Encoder Resolution 16,200 lines/rev 23,600 lines/rev 32,400 lines/rev
Accuracy(3) ±2.5 arc sec
Repeatability ±0.5 arc sec
Max Load(4) Axial 30 kg 140 kg 230 kg
Max Load(4) Moment 175 N·m 425 N·m 650 N·m
Tilt Error Motion ±1 arc sec
Maximum Rate(5) 1500°/s
Minimum Rate(6) 0.002°/s 0.001°/s
Rate Resolution(6) 0.002°/s 0.001°/s
Rate Stability(6) Over 360° 0.0001%
Over 10° 0.005%
Over 1° 0.05%
Peak Acceleration(7) >20,000°/s2
Inertia (unloaded)(7) 6,600 kg·mm2 9,700 kg·mm2 33,600 kg·mm2 39,800 kg·mm2 115,200 kg·mm2 139,000 kg·mm2
Total Mass(7) 9 kg 15 kg 22 kg 26 kg 39 kg 44 kg
Servo Bandwidth(8) >70 Hz (3 dB)
Material Aluminum
Stage Finish Black Anodize
Tabletop Finish Hard Coating (62 Rockwell Hardness)
  1. Height may vary with certain slip ring and rotary union options. See product dimensional drawings for more details.
  2. Aperture not available with all slip ring and rotary union options. See ordering information for more details.
  3. Certified with each stage. Requires the use of an Aerotech controller.
  4. Maximum loads are mutually exclusive.
  5. Maximum rate is based on stage capability. Actual rate may depend on encoder resolution, load, amplifier bus voltage, and motor. See the S-series rotary motor for more information.
  6. Minimum rate, rate resolution and rate accuracy are based on stage capability. Actual rate, resolution and accuracy may depend on encoder resolution.
  7. Peak acceleration, inertia and total mass based on unloaded stage with standard diameter tabletop.
  8. Servo bandwidth is based on unloaded stage with standard diameter tabletop. Actual bandwidth may depend on mass and inertia of stage payload.

Dimensions

  • ARMS-200
  • ARMS-200-LD
  • HDP200

Ordering Information

Ordering Example

ARMS -260 -M -146 -RTAS -SRNG48 -RU2

Ordering Options

Series WidthMounting and Grid PatternMotorPosition Transducer Slip Ring CircuitRotary Union
ARMS -150
-200
-260
-M
-U
-MA
-UA
-MLD
-ULD
-MLDA
-ULDA
-12
-37
-56
-80
-100
-146
-RTAS -SRNG12
-SRNG24
-SRNG36
-SRNG48
-SRNG56
-SRNG72
-SRNG96
-SRNG12LN
-SRNG24LN
-SRNG30LN
-SRNG48LN
-SRNG70LN
-SRNG90LN
-NRU
-RU1
-RU2

ARMS Series Rotary Motion Simulator

Option Description
ARMS-150-12 Direct-drive rotary motion simulator with 2.36 N·m continuous torque motor
ARMS-150-37 Direct-drive rotary motion simulator with 7.69 N·m continuous torque motor
ARMS-200-56 Direct-drive rotary motion simulator with 11.12 N·m continuous torque motor
ARMS-200-80 Direct-drive rotary motion simulator with 15.93 N·m continuous torque motor
ARMS-260-100 Direct-drive rotary motion simulator with 19.71 N·m continuous torque motor
ARMS-260-146 Direct-drive rotary motion simulator with 29.09 N·m continuous torque motor

Mounting and Grid Pattern

Option Description
-M Standard diameter tabletop with engraved markings every 1° and metric-dimension mounting pattern and holes
-U Standard diameter tabletop with engraved markings every 1° and English-dimension mounting pattern and holes
-MA Standard diameter tabletop with aperture, engraved markings every 1° and metric-dimension mounting pattern and holes
-UA Standard diameter tabletop with aperture, engraved markings every 1° and English-dimension mounting pattern and holes
-MLD Large diameter tabletop with metric-dimension mounting pattern and holes
-ULD Large diameter tabletop with English-dimension mounting pattern and holes
-MLDA Large diameter tabletop with aperture and metric-dimension mounting pattern and holes
-ULDA Large diameter tabletop with aperture and English-dimension mounting pattern and holes

Position Transducer

Option Description
-RTAS Standard feedback device; 1 Vpp sine wave output; 32,400 cycles per rev on ARMS-260; 23,600 cycles per rev on ARMS-200; 16,200 cycles per rev on ARMS-150

Slip-Ring Circuit

Option Description
-SRNG12 12 lines rated at 2 A max (ARMS-150 and -200 only)
-SRNG24 24 lines rated at 2 A max
-SRNG36 36 lines rated at 2 A max (ARMS-200 only - no aperture option)
-SRNG48 48 lines rated at 2 A max (ARMS-260 only)
-SRNG56 56 lines rated at 2 A max (ARMS-200 only - no aperture option)
-SRNG72 72 lines rated at 2 A max (ARMS-260 only)
-SRNG96 96 lines rated at 2 A max (ARMS-260 only)
-SRNG12LN 12 low electrical noise lines rated at 1 A max (ARMS-150 and -200 only - no aperture option)
-SRNG24LN 24 low electrical noise lines rated at 2 A max (1 A max on ARMS-150 and -200 - no aperture option)
-SRNG30LN 30 low electrical noise lines rated at 1 A max (ARMS-200 only - no aperture option)
-SRNG48LN 48 low electrical noise lines rated at 2 A max (ARMS-260 only - no aperture option)
-SRNG70LN 70 low electrical noise lines rated at 2 A max (ARMS-260 only - no aperture option)
-SRNG90LN 90 low electrical noise lines rated at 2 A max (ARMS-260 only - no aperture option)

Rotary Union

Option Description
-NRU No rotary union lines
-RU1 1 rotary union line for air, vacuum or fluid at 250 psi max (no aperture option)
-RU2 2 rotary union lines for air, vacuum or fluid at 250 psi max (no aperture option)

Accessories (to be ordered as separate line item)

Option Description
HDP150 ARMS-150 mounting pedestal
HDP200 ARMS-200 mounting pedestal
HDP260 ARMS-260 mounting pedestal
MCK-15D-F-45DEG Connector kit, 15 pin D-Sub
MCK-25D-F-45DEG Connector kit, 25 pin D-Sub