ADRT Mechanical-Bearing Direct-Drive Rotary Stage

Description

Design Features

  • High torque output, direct-drive brushless servomotor
  • Cog-free design for outstanding velocity stability
  • Outstanding wobble and runout
  • Direct coupled, high-accuracy rotary encoder
  • Large diameter clear aperture

Aerotech’s ADRT series direct-drive rotary stages provide superior angular positioning and velocity control. Applications range from indexing to high-speed laser machining to precision wafer inspection.

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

To maximize positioning performance, the ADRT series utilizes Aerotech’s S-series brushless, slotless motor. This motor has 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. Since it is a slotless, ironless design, there is zero cogging, meaning that there is absolutely no torque ripple.

With its low inherent inertia and optimized motor design, the ADRT is capable of speeds and accelerations that are significantly higher than other competing products. These stages have a lower height profile compared to competing products within given torque ranges.

The low inertia and zero backlash make the ADRT the ideal solution for applications requiring frequent directional changes.

Accurate Positioning

Line counts range from 3600 to 5400 lines per revolution. When coupled with Aerotech’s MXH series resolution multipliers, resolutions can be as fine as 0.12 arc sec.

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.

Flexible Configurations

Options include a high-precision bearing for improved accuracy, smoothness and run-out performance. Slip rings and rotary unions are available to ease integration of custom tooling, and a holding brake is available to limit movement of the stage during large impulse loads or when power is removed from the motor.

The ADRT is equipped with "T-slots" integrated into the exterior housing. These slots can be used to mount the table horizontally or to attach custom application specific fixtures.

Aerotech manufactures a wide range of servo amplifiers and advanced controllers to provide a complete integrated package.

Specifications

ADRT Series Specifications

ModelADRT100-85ADRT100-135ADRT150-115ADRT150-135ADRT150-180
Maximum Torque (Continuous) 0.48 N·m 1.6 N·m 2.85 N·m 5.06 N·m 9.29 N·m
Bus Voltage(1) Up to 340 VDC
Accuracy(2,3) Uncalibrated 60 arc sec
Calibrated 5 arc sec
Repeatability(3) 3 arc sec
Axial Error Motion 5 µm
Radial Error Motion(4) 5 µm
Tilt Error Motion 10 arc sec
Height 85 mm 135 mm 115 mm 135 mm 180 mm
Aperture 13 mm 50 mm
Radial Load(5) 10 kg 25 kg
Axial Load 15 kg 30 kg
Rated Speed 1500 rpm 600 rpm
Inertia 0.00028 kg·m2 0.00067 kg·m2 0.003379 kg·m2 0.004958 kg·m2 0.008118 kg·m2
Mass 2.0 kg 3.6 kg 5.3 kg 6.9 kg 10.2 kg
Finish Table Hardcoat
Stage Black Anodize
  1. Bus voltage for ADRT-100 with -25D connector is limited to 160 V.
  2. -P accuracy requires calibration and Aerotech controls.
  3. Repeatability and accuracy are dependent on encoder resolution. To achieve the listed specifications, encoder resolution must be 0.36 arc sec or less.
  4. Specifications are for single-axis systems. Performance of multi-axis systems is payload and workpoint dependent. Consult factory for multi-axis or non-standard applications.
  5. Moment load based on 5 year continuous rotation at 250 rpm with maximum axial load applied. Larger moment loads possible for low speed and/or low duty cycle applications. Consult Aerotech for additional information.

ADRT Series Specifications

ModelADRT200-155ADRT200-185ADRT260-160ADRT260-180
Maximum Torque (Continuous) 11.12 N·m 15.93 N·m 19.71 N·m 29.09 N·m
Bus Voltage(1) Up to 340 VDC
Accuracy(2,3) Uncalibrated 60 arc sec
Calibrated 5 arc sec
Repeatability(3) 3 arc sec
Axial Error Motion 5 µm
Radial Error Motion(4) 5 µm
Tilt Error Motion 10 arc sec
Height 155 mm 160 mm
Aperture 75 mm 100 mm
Radial Load(5) 80 kg 110 kg
Axial Load 140 kg 170 kg
Rated Speed 600 rpm 375 rpm
Inertia 0.020991 kg·m2 0.027666 kg·m2 0.066488 kg·m2 0.08566 kg·m2
Mass 13.4 kg 16.7 kg 25.4 kg 30.6 kg
Finish Table Hardcoat
Stage Black Anodize
  1. Bus voltage for ADRT-100 with -25D connector is limited to 160 V.
  2. -P accuracy requires calibration and Aerotech controls.
  3. Repeatability and accuracy are dependent on encoder resolution. To achieve the listed specifications, encoder resolution must be 0.36 arc sec or less.
  4. Specifications are for single-axis systems. Performance of multi-axis systems is payload and workpoint dependent. Consult factory for multi-axis or non-standard applications.
  5. Moment load based on 5 year continuous rotation at 250 rpm with maximum axial load applied. Larger moment loads possible for low speed and/or low duty cycle applications. Consult Aerotech for additional information.

ADRT Maximum Speeds for Encoder Option

Encoder OptionADRT100ADRT150ADRT200ADRT260
-AS/-X5/-X10/-X25 1500 rpm 600 rpm 600 rpm 375 rpm
-X50 800 rpm 600 rpm 500 rpm 375 rpm
  • ADRT Axial & Radial Cantilevered Load Capabilities

Dimensions

  • ADRT100
  • ADRT150
  • ADRT150 Limits/Hardstops
  • ADRT200
  • ADRT200 Limits/Hardstops
  • ADRT260
  • ADRT260 Limits/Hardstops

Ordering Information

ADRT Mechanical-Bearing Direct-Drive Rotary Stage

Option Description
ADRT100 ADRT100 mechanical-bearing direct-drive rotary stage
ADRT150 ADRT150 mechanical-bearing direct-drive rotary stage
ADRT200 ADRT200 mechanical-bearing direct-drive rotary stage Stage
ADRT260 ADRT200 mechanical-bearing direct-drive rotary stage

Stage Height (Required)

Option Description
-85 85 mm stage height - Only available for ADRT100
-115 115 mm stage height - Only available for ADRT150
-135 135 mm stage height - Only available for ADRT100 and ADRT150
-155 155 mm stage height - Only available for ADRT200
-160 160 mm stage height - Only available for ADRT260
-180 180 mm stage height - Only available for ADRT150 and ADRT 260
-185 185 mm stage height - Only available for ADRT200

Motor (Required)

Option Description
-M1 Low current, -A winding
-M2 Low voltage, -B winding

Feedback (Required)

Option Description
-E1 Incremental encoder, 1 Vpp
-E2 Incremental encoder, TTL, x5 interpolation
-E3 Incremental encoder, TTL, x10 interpolation
-E4 Incremental encoder, TTL, x25 interpolation
-E5 Incremental encoder, TTL, x50 interpolation

Connector (Required)

Option Description
-CN1 4-pin HPD motor and 25-pin D Fbk connectors
-CN2 25-pin D motor and 25-pin D Fbk connectors
      Note: Only available for ADRT100.

Rear Seal (Optional)

Option Description
-SL Rear seal
    Note: Only available for ADRT100.

Air Purge (Optional)

Option Description
-PR Air-purge fitting
    Note: Only available for ADRT100.

Brake (Optional)

Option Description
-BK Holding brake
    Note: Only available for the ADRT150 and the ADRT200.

Limited Travel (Optional)

Option Description
-TR010 Limited travel, +/- 5 degrees
-TR020 Limited travel, +/- 10 degrees
-TR040 Limited travel, +/- 20 degrees
-TR060 Limited travel, +/- 30 degrees
-TR080 Limited travel, +/- 40 degrees
-TR090 Limited travel, +/- 45 degrees
-TR100 Limited travel, +/- 50 degrees
-TR120 Limited travel, +/- 60 degrees
-TR140 Limited travel, +/- 70 degrees
-TR160 Limited travel, +/- 80 degrees
-TR180 Limited travel, +/- 90 degrees
-TR200 Limited travel, +/- 100 degrees
-TR220 Limited travel, +/- 110 degrees
-TR240 Limited travel, +/- 120 degrees
-TR260 Limited travel, +/- 130 degrees
-TR270 Limited travel, +/- 135 degrees - Only available on ADRT200 and ADRT260
-TR280 Limited travel, +/- 140 degrees - Only available on ADRT200 and ADRT260
-TR300 Limited travel, +/- 150 degrees - Only available on ADRT200 and ADRT260
    Note: Not available with ADRT100.

Metrology (Required)

Option  
-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