AGR Gear-Driven Rotary Stages

Description

Design Features

  • Enhanced speed and load capacity
  • Large aperture addresses a wide range of applications
  • Continuous 360 degrees rotary positioning
  • Direct encoder options available

AGR series motorized rotary stages provide significant improvements in speed, load capacity, and long-term positioning performance over previous generations of worm-gear-drive stages. AGR series stages address a wide range of applications for general purpose positioning in laboratory and industrial uses.

Construction Features

The presence of a large, clear aperture in the stage allows the AGR series to address applications requiring a through-hole or accommodations to mount an optic, including articulation of beam polarizing lenses, through-holes for cabling and/or air lines, or vision/camera/inspection applications.

The AGR stage base is fabricated from an aluminum alloy that offers significant weight savings in multi-axis arrangements and other weight critical applications, while providing high structural stiffness and long-term stability.

Each stage is designed with two high-precision angular contact bearings with optimal spacing to provide excellent error motions coupled with high load capacities in a small, compact package.

Flexible Options

Options include flexible motor selections as well as a direct encoder mounted to the stage shaft for outstanding repeatability and to virtually eliminate hysteresis and backlash. Vacuum-compatible versions (for use in pressures as low as 10-6 torr) are also available.

Motor and Drives

Standard AGR stage configurations feature Aerotech’s brushless servomotors. However, all AGR stages can be outfitted with stepper or DC brush motors. A full range of matching drives and controls are available for a complete single-source solution.

Specifications

AGR Specifications

Mechanical SpecificationsAGR50AGR75AGR100AGR150AGR200
Travel 360° (Limited Travel Versions Available)
Accuracy(1) Uncalibrated 0.87 mrad (180 arc sec) 0.58 mrad (120 arc sec)
Calibrated 0.29 mrad (60 arc sec) 0.24 mrad (50 arc sec)
Uncalibrated with Direct Encoder Option 97 µrad (20 arc sec)
Calibrated with Direct Encoder Option 58 µrad (12 arc sec) 49 µrad (10 arc sec)
Repeatability
(Unidirectional)(1)
Standard 49 µrad (10 arc sec)
Direct Encoder(2) 24 µrad (5 arc sec)
Repeatability
(Bi-directional)(1)
Standard 0.22 mrad (45 arc sec)
Direct Encoder(2) 39 µrad (8 arc sec) 29 µrad (6 arc sec)
Tilt Error Motion 49 µrad (10 arc sec)
Axial Error Motion 5 µm
Radial Error Motion 10 µm
Gear Ratio 51:1 67:1 85:1 117:1 126:1
Maximum Speed(3) with Brushless Servomotor (BM and BMS Models) 180°/s 120°/s
with Stepper Motor 60°/s 40°/s
Maximum Acceleration(4) 720°/s2 480°/s2
Aperture 50 mm 75 mm 100 mm 150 mm 200 mm
Load Capacity Axial 40 kg 100 kg 200 kg 300 kg 425 kg
Radial 20 kg 50 kg 100 kg 125 kg 200 kg
Moment See Moment Load Curves
Maximum Torque Load to Stage Shaft 2.5 N·m 3.5 N·m 12 N·m 20 N·m 80 N·m
Rotor Inertia (Unloaded) 0.00052 kg·m2 0.0013 kg·m2 0.0035 kg·m2 0.011 kg·m2 0.076 kg·m2

Stage Mass
(No Motor)

Standard 1.9 kg 2.4 kg 4.5 kg 6.1 kg 18.6 kg
Direct Encoder 2.5 kg 3.1 kg 5.6 kg 7.6 kg 21.7 kg
Material Aluminum
  1. Certified with each stage.
  2. Direct encoder repeatability specifications are for systems using the -E1 or -E3 direct encoder options only.
  3. Maximum speed is load dependent. Contact an Aerotech Application Engineer if imbalanced loads are present.
  4. Unloaded acceleration.
  5. On-axis loading is listed.
  6. Specifications are for single-axis systems measured 25 mm above the tabletop. Performance of multi-axis systems is payload and workpoint dependent. Consult factory for multi-axis or non-standard applications.

Electrical Specifications

ModelAGR50AGR75AGR100AGR150AGR200
Drive System Precision Worm-Gear with Brushless Servomotor or Stepper Motor
Feedback Standard Noncontact Rotary Encoder Contained Within Motor; See Motor Description Under "Ordering Options" Section for Details
Direct Encoder Noncontact Rotary Encoder Directly Mounted to AGR Stage Shaft
15744 Lines/Rev 18000 Lines/Rev 23600 Lines/Rev 31488 Lines/Rev 40000 Lines/Rev
Maximum Bus Voltage with Brushless Servomotor (BM Models) 80 VDC 320 VDC
with Brushless Servomotor (BMS Models) 320 VDC
with Stepper Motor 40 VDC 80 VDC
Limit Switches 5 V, Normally Closed or Normally Open
Home Switch Near Limit (for Limited Travel Stage Version)
  1. For stepper motors with Aerotech controllers, amplifier bus voltages are 2X values listed.

Recommended Controller

Multi-Axis A3200 Ndrive MP10/Ndrive CP10/Npaq
Ensemble Ensemble MP10/Ensemble CP10/Epaq
Single Axis Soloist Soloist MP10/Soloist CP10
  • AGR Specifications Graph

Dimensions

  • AGR50
  • AGR50 Accessories
  • AGR75
  • AGR75 Accessories
  • AGR100
  • AGR100 Accessories
  • AGR150
  • AGR150 Accessories
  • AGR200
  • AGR200 Accessories

Ordering Information

AGR Series Gear-Driven Rotary Stages

Model (Required)

Option Description
AGR50 Gear-driven rotary stage, 50 mm diameter clear aperture
AGR75 Gear-driven rotary stage, 75 mm diameter clear aperture
AGR100 Gear-driven rotary stage, 100 mm diameter clear aperture
AGR150 Gear-driven rotary stage, 150 mm diameter clear aperture
AGR200 Gear-driven rotary stage, 200 mm diameter clear aperture

Motor (Optional)

Option Description
-M1 BMS35 brushless servomotor and 2000-line TTL encoder (AGR50, AGR75)
BMS60 brushless servomotor and 2500-line TTL encoder (AGR100, AGR150)
BMS280 brushless servomotor and 2500-line TTL encoder (AGR200)
-M2 BMS35 brushless servomotor and 2000-line TTL encoder with brake (AGR50, AGR75)
BMS60 brushless servomotor and 2500-line TTL encoder with brake (AGR100, AGR150)
BMS280 brushless servomotor and 2500-line TTL encoder with brake (AGR200)
-M3 BMS35 brushless servomotor and 1000-line 1 Vpp encoder (AGR50, AGR75)
BMS60 brushless servomotor and 1000-line 1 Vpp encoder (AGR100, AGR150)
BMS280 brushless servomotor and 1000-line 1 Vpp encoder (AGR200)
-M4 BMS35 brushless servomotor and 1000-line 1 Vpp encoder with brake (AGR50, AGR75)
BMS60 brushless servomotor and 1000-line 1 Vpp encoder with brake (AGR100, AGR150)
BMS280 brushless servomotor and 1000-line 1 Vpp encoder with brake (AGR200)
-M5 BM22 brushless servomotor and 2000-line TTL encoder (AGR50, AGR75)
BM75 brushless servomotor and 2500-line TTL encoder (AGR100, AGR150)
BM250 brushless servomotor and 2500-line TTL encoder (AGR200)
-M6 BM22 brushless servomotor and 2000-line TTL encoder with brake (AGR50, AGR75)
BM75 brushless servomotor and 2500-line TTL encoder with brake (AGR100, AGR150)
BM250 brushless servomotor and 2500-line TTL encoder with brake (AGR200)
-M7 SM35 stepper motor (AGR50, AGR75)
BM75 brushless servomotor and 1000-line 1 Vpp encoder (AGR100, AGR150)
BM250 brushless servomotor and 1000-line 1 Vpp encoder (AGR200)
-M8 SM35 stepper motor with brake (AGR50, AGR75)
BM75 brushless servomotor and 1000-line 1 Vpp encoder with brake (AGR100, AGR150)
BM250 brushless servomotor and 1000-line 1 Vpp encoder with brake (AGR200)
-M9 SM60 high voltage stepper motor (AGR100, AGR150)
SM280 high voltage stepper motor (AGR200)
-M10 SM60 high voltage stepper motor with brake (AGR100, AGR150)
SM280 high voltage stepper motor with brake (AGR200)

Motor Location (Required)

Option Description
-ML1 Motor located on right side of stage housing, standard (see diagram)
-ML2 Motor located on left side of stage housing (see diagram)

Motor Orientation (Optional)

Option Description
-2 Motor orientation 2 (see diagram)
-3 Motor orientation 3, standard (see diagram)
-4 Motor orientation 4 (see diagram)
-5 Motor orientation 5 (see diagram)

AGR-MOTOR-ORIENT-CAT


Travel (Required)

Option Description
  Continuous travel (standard)
-TR015 Limited travel, ±7.5 degrees
-TR030 Limited travel, ±15 degrees
-TR045 Limited travel, ±22.5 degrees
-TR060 Limited travel, ±30 degrees
-TR075 Limited travel, ±37.5 degrees
-TR090 Limited travel, ±45 degrees
-TR105 Limited travel, ±52.5 degrees
-TR120 Limited travel, ±60 degrees
-TR135 Limited travel, ±67.5 degrees
-TR150 Limited travel, ±75 degrees
-TR165 Limited travel, ±82.5 degrees
-TR180 Limited travel, ±90 degrees
-TR195 Limited travel, ±97.5 degrees
-TR210 Limited travel, ±105 degrees
-TR225 Limited travel, ±112.5 degrees
-TR240 Limited travel, ±120 degrees
-TR255 Limited travel, ±127.5 degrees
-TR270 Limited travel, ±135 degrees
    Note: -TRxxx limited travel options contain an extra 2 degrees of overtravel between the nominal travel and the electrical limit on each side (Ex: -TR270 contains ±135 degrees of nominal travel, with ±137 degrees of travel between electrical limits).

Limits (Required)

Option Description
-LI1 Normally-closed, end-of-travel limit switches with 9-pin connector
-LI2 Normally-open, end-of-travel limit switches with 9-pin connector

Direct Rotary Feedback (Optional)

Option Description
-E1 Direct, amplified-sine output encoder
-E2 Direct, square-wave TTL output encoder, X5 multiplication
-E3 Direct, square-wave TTL output encoder, X50 multiplication

Tabletop (Optional)

Option Description
-TT1 Metric tabletop
-TT2 English tabletop

Mounting Plate (Optional)

Option Description
-MP1 Universal English/metric mounting plate

Seals (Optional)

Option Description
-SL1 Labyrinth seal

Metrology (Required)

Option 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.

Option Description
-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.