ACS Mechanical-Bearing Direct-Drive Rotary Stage

Description

Design Features

  • Integral pneumatic ER collet chuck or 3-jaw gripper
  • Clear aperture for product feed-through
  • Normally-closed or -open gripper options
  • Low-inertia shaft for maximum acceleration
  • Direct-drive brushless motor and encoder
  • Integral rotary union

Aerotech's ACS series rotary stages with integrated ER collet chuck or 3-jaw gripper configuration provide automated material handling capability for a wide range of materials and applications.

High Precision ER Collet

The collet chuck on the ACS-150 accepts either ER25 or ER40 series collets. These collets are readily available from machine-tool component suppliers in sizes that support tube diameters from 0.5 mm to 30 mm. ER collets provide excellent run-out characteristics for applications requiring high-precision gripping of tubular material. The collet is retained with a threaded retaining cap enabling quick changeover. It is configured in a “fail-safe” normally closed mode where full clamping force is applied when no air pressure is present.

Flexible 3-Jaw GripperACSadv

Both the ACS-150 and ACS-200 support three-jaw grippers with clear apertures for product feed-through. All gripper assemblies are configurable as either normally-open or normally-closed with various jaw strokes to support a wide range of material sizes. The gripper can be fitted with custom jaws for the handling of materials with non-round profiles such as square or hexagonal bar stock. The normally-open and -closed options also provide the ability to grip either the O.D. or I.D. of the material.

Integral Rotary Union

Air is delivered to the collet or gripper assembly through an integral rotary union. The 3-jaw grippers use a seal-based rotary union design while the ER collet option uses a seal-less, frictionless design. This 100% noncontact rotary union design ensures a lifetime of maintenance-free operation. The combination collet chuck or gripper and rotary union assembly also have significantly less friction and inertia than external assemblies created from discrete parts. This reduced inertia improves system performance by allowing higher peak acceleration and reducing position error during laser machining operations.

Brushless Direct-Drive

To maximize positioning performance the ACS series utilizes direct-drive brushless motor technology. Direct-drive technology is optimized for 24/7 production environments, as there are no brushes to replace and no gear trains or belts to maintain. Direct-drive also provides quicker acceleration and higher top speeds than gear- or belt-driven mechanisms, which yields higher total overall throughput.

The low maintenance, high throughput characteristics of the ACS coupled with the integral material handling capability provide the lowest total cost of ownership when compared to component-level solutions.

Specifications

ACS Series Specifications

ModelACS-100-85 ACS-100-135 ACS-150-115 ACS-150-135 ACS-150-180
Travel ±360° Continuous
Gripper/Collet Option(1) ER8, MicroBore ER25, ER40, 3J-12
Three-Jaw Gripper Travel N/A 10 mm, 16 mm
Maximum Torque (Continuous) 0.48 N·m 1.6 N·m 2.85 N·m 5.06 N·m 9.29 N·m
Accuracy(2) ±72.7 µrad (±15 arc sec)
Repeatability(2) ±29 µrad (±6 arc sec)
Pin/Collet Runout (ER Collets)(3) <25 µm
Grip Repeatability/Max Jaw Length (3 Jaw) ±20 µm/50 mm
Aperture ER25 N/A 16 mm
ER40 N/A 30 mm
3J-12 N/A 12 mm
Max Loads(4) ER25 10 kg (Axial); 5 kg (Radial); 6 N·m (Moment)
ER40 15 kg (Axial); 10 kg (Radial); 12 N·m (Moment)
3J-12 20 kg (Axial); 11 kg (Radial); 6 N·m (Moment)
Rated Speed(5) 800 rpm 600 rpm
Bus Voltage Up to 340 VDC
Finish Table Hardcoat
Stage Black Anodize
  1. Collet chuck accepts Rego-Fix ER collets manufactured to DIN6499 specifications only.
  2. Repeatability and accuracy are dependent on encoder resolution. To achieve the listed specifi cations, encoder resolution must be 1.2 arc sec or less.
  3. Measured TIR of precision gage pin chucked with an ultra-precision ER collet (DIN6499) 6 mm away from collet face with no load.
  4. Maximum loads are mutually exclusive. Loading limits are due to the collet chuck mechanism. Contact Aerotech directly if part load requirement exceeds specifications.
  5. Maximum speed based on stage capability; maximum application velocity may be limited by system data rate, system resolution and load.
  6. Collet chuck mechanism is normally-closed. Collet mechanism requires air to open collet chuck. Air supply must be dry (0ºF dew point) oil-less air OR 99.99% pure nitrogen. Air or nitrogen must be filtered to 0.25 micron particle size or better. With 3-jaw gripper, air or nitrogen should be filtered to 20 micron particle size or better.

ACS Series Specifications

ModelACS-200-155 ACS-200-185
Travel ±360° Continuous
Gripper/Collet Option 3J-12(1); 3J-25(2)
3 Jaw Gripper Travel 3J-12 10 mm, 16 mm
3J-25 13 mm, 20 mm
Maximum Torque (Continuous) 11.12 N·m 15.93 N·m
Accuracy(3) ±72.7 µrad (±15 arc sec)
Repeatability(3) ±29 µrad (±6 arc sec)
Grip Repeatability(1) ±20 µm
Max Jaw Length From Chuck Face 50 mm for 3J-12; 70 mm for 3J-25
Aperture 3J-12 12 mm
3J-25 25 mm
Max Load(2) 3J-12 20 kg (Axial); 11 kg (Radial); 6 N·m (Moment)
3J-25 30 kg (Axial); 18 kg (Radial); 13 N·m (Moment)
Rated Speed 600 rpm
Bus Voltage Up to 340 VDC
Finish Table Hardcoat
Stage Black Anodize
  1. Measured TIR of precision gage pin 10 mm away from gripper face with no load.
  2. Maximum loads are mutually exclusive. Loading limits are due to the collet chuck mechanism. Contact Aerotech directly if part load requirement exceeds specifications.
  3. Repeatability and accuracy are dependent on encoder resolution. To achieve the listed specifi cations, encoder resolution must be 1.2 arc sec or less.
  4. Collet chuck mechanism is normally-closed. Gripper mechanism requires air to open. Air supply must be dry (0ºF dew point) oil-less air OR 99.99% pure nitrogen. For 3-jaw gripper, air or nitrogen must be filtered to 20 micron particle size or better.

ACS Maximum Speeds for Encoder Option

Encoder OptionACS-100 ACS-150 ACS-200
-AS/-X5/-X10/-X25 800 rpm 600 rpm 600 rpm
-X50 800 rpm 600 rpm 500 rpm

Dimensions

  • ACS-100
  • ACS-150-ER
  • ACS-150-3J
  • ACS-200-3J

Ordering Information

Ordering Example

ACS -150-115 -ER25 -AS -NO-10 -S -1.5-2.5MM -WR -AP -HPD

Ordering Options

Series Frame SizeFixture TypePosition Transducer Gripper OptionsSeal Options Collet Size ToolingAir PurgeConnector Option for ACS-100-xx
ACS -100-85-ER-PRECISION
-100-135-ER-PRECISION
-100-85-ER-MICRO
-100-135-ER-MICRo
-150-115
-150-135
-150-180
-200-155
-200-185
-ER25
-ER40
-3J-12
-3J-25
-AS
-XX
NO/NC-10
NO/NC-13
NO/NC-16
NO/NC-20
-NS
-S
-X.X-Y.Y MM -WR -AP -HPD
-25D

ACS Series Direct-Drive Rotary Stage

Option Description
ACS The ACS series direct-drive rotary stages have an integral single port frictionless rotary union and can be configured with either an ER collet or 3 jaw gripper.

Frame Size

Option Description
-100-85-ER-PRECISION 100 mm diameter, 85 mm high direct-drive rotary stage; integral rotary union and 300 mm (11.8 in) integral cables with HPD motor power and 25 pin D encoder feedback connectors; air actuated ER8 collet holder, normally closed; supports tube diameters from 0.5 mm to 5 mm
-100-135-ER-PRECISION 100 mm diameter, 135 mm high direct-drive rotary stage; integral rotary union and 300 mm (11.8 in) integral cables with HPD motor power and 25 pin D encoder feedback connectors; air actuated ER8 collet holder, normally closed; supports tube diameters from 0.5 mm to 5 mm
-100-85-ER-MICRO 100 mm diameter, 85 mm high direct-drive rotary stage; integral rotary union and 300 mm (11.8 in) integral cables with HPD motor power and 25 pin D encoder feedback connectors; air actuated MicroBore collet holder, normally closed; supports tube diameters from 0.2 mm to 0.913 mm
-100-135-ER-MICRO 100 mm diameter, 135 mm high direct-drive rotary stage; integral rotary union and 300 mm (11.8 in) integral cables with HPD motor power and 25 pin D encoder feedback connectors; air actuated MicroBore collet holder, normally closed; supports tube diameters from 0.2 mm to 0.913 mm
-150-115 150 mm diameter, 115 mm high direct-drive rotary stage with integral rotary union
-150-135 150 mm diameter, 135 mm high direct drive rotary stage with integral rotary union
-150-180 150 mm diameter, 180 mm high direct drive rotary stage with integral rotary union
-200-155 200 mm diameter, 155 mm high direct drive rotary stage with integral rotary union
-200-185 200 mm diameter, 185 mm high direct drive rotary stage with integral rotary union

Collet Type (Required)

Option Description
-ER25 Air-actuated ER25 collet holder, normally closed, supports tube diameters from 0.5 mm to 16 mm; only available on ACS-150-XXX
-ER40 Air-actuated ER40 collet holder, normally closed, supports tube diameters from 15.5 mm to 30 mm; only available on ACS-150-XXX
-3J-12 Air-actuated 3-jaw gripper with 12 mm clear aperture, ±20 micron repeatability; available on ACS-150 and ACS-200
-3J-25 Air-actuated 3-jaw gripper with 25 mm clear aperture, ±20 micron repeatability; only available on ACS-200

Feedback Configuration Transducer

Option Description
-AS Standard feedback device; 1 Vpp sine wave output; 3600 lines/rev on the ACS-100/150; 5400 lines/rev on ACS-200; final resolution multiplier dependent
-X5 Square wave digital output; 18 arc sec resolution on ACS-100/150; 12 arc sec resolution on ACS-200
-X10 Square wave digital output; 9 arc sec resolution on ACS-100/150; 6 arc sec resolution on ACS-200
-X25 Square wave digital output; 3.6 arc sec resolution on ACS-100/150; 2.4 arc sec resolution on ACS-200
-X50 Square wave digital output; 1.8 arc sec resolution on ACS-100/150; 1.2 arc sec resolution on ACS-200

Note: Digital output encoder signals are synthesized with a 16 MHz clock. Care must be taken to ensure that the encoder sample rate on the controller is at least 16 MHz or higher. Slower clock rates are available on request.

Gripper Options

Option Description
NC-10 Normally closed 3J-12 gripper with 10 mm jaw stroke, 240 N peak grip force
NO-10 Normally open 3J-12 gripper with 10 mm jaw stroke, 240 N peak grip force
NC-13 Normally closed 3J-25 gripper with 13 mm jaw stroke, 450 N peak grip force
NO-13 Normally open 3J-25 gripper with 13 mm jaw stroke, 450 N peak grip force
NC-16 Normally closed 3J-12 gripper with 16 mm jaw stroke, 150 N peak grip force
NO-16 Normally open 3J-12 gripper with 16 mm jaw stroke, 150 N peak grip force
NC-20 Normally closed 3J-25 gripper with 20 mm jaw stroke, 270 N peak grip force
NO-20 Normally open 3J-25 gripper with 20 mm jaw stroke, 270 N peak grip force

ER Collet Seal Options

Option Description
-NS No rear seal (standard)
-S Rear shaft seal

ER Collet Size

Option Description
-XX-YYMM Electro-polished DIN6499AA ER style collet; supports tube diameters from XX to YY mm

Tooling

Option Description
-WR Spanner wrench set for changing ER collet

Air Purge

Option Description
-AP Air purge fitting to positive pressurize ACS stage to limit ingress of airborne particulates

Connector Options for ACS-100-xx

Option Description
-HPD 4 pin D-style motor power and 25 pin D-style feedback
-25D 25 pin D-style motor power and 25 pin D-style feedback