ALAR-SP Large Aperture Rotary Stages

Description

Design Features

  • Ideal balance of load capability, torque output, and profile height, with clear aperture diameters up to 325 mm
  • Direct-drive torque motor delivers extremely precise, smooth, cog-free rotation
  • High axial-, radial-, and moment-load capacities support large payloads and gimbal configurations
  • Long service life and consistent performance over time
  • Engineered for easy integration into multi-axis systems and machines
Aerotech’s ALAR family of direct-drive rotary stages provides superior angular positioning and velocity control. ALAR-SP (standard profile) is the flagship of the ALAR product line. It offers a balance of high load capability, torque, and profile height, and is suitable for use in both vertical and horizontal applications. Other members of the ALAR family include the ALAR-LP, with an ultra-low profile, and the ALAR-XP, which delivers the highest levels of torque.

Advantage: ALAR

ALAR-SP offers numerous advantages over worm-drive stages.  Because ALAR stages use direct-drive torque motors, they are free from backlash, vibration, and excessive wear commonly associated with gear-driven stages, and they are also capable of much higher speeds and accelerations. These advantages translate to higher system accuracy, repeatability, and longevity, as well as greater throughput. Users can more precisely manufacture, inspect, or process more parts in less time, leading to lower operating costs and higher profits.

Brushless, Slotless Direct-Drive Motors

Aerotech’s brushless, direct-drive motors are featured in all ALAR stages. Because there are neither brushes to wear, nor gear trains or couplings to maintain, ALAR stages are capable of high speeds and accelerations, plus consistent, stable performance over time with zero backlash, windup, or hysteresis. Further, ALAR motors are both slotless and ironless, thereby eliminating cogging and torque ripple to deliver exceptionally smooth motion. ALAR stages are ideal for applications requiring outstanding contoured motion, smooth scan velocities, and precise, incremental steps.

High Payload Capacity and Moment-Load Stiffness

Large-diameter angular contact bearings provide high axial-, radial-, and moment-load capacities, maximizing positioning performance with respect to tilt error, stiffness, and rotating friction. ALAR-SP is capable of achieving the highest performance standards regardless of whether the axis of rotation is vertical or horizontal.  Due to its ample moment-load capability, ALAR-SP is especially well-suited to carry cantilevered or offset payloads, when the center of gravity is shifted away from the axis of rotation.

Flexible Configurations for Simplified Integration

ALAR-SP is offered with features and options that facilitate easy integration into multi-axis motion systems and subsystems. It is available with a range of clear-aperture diameters from 100 mm to 325 mm, and also a variety of feedback options including analog 1 Vpp, digital RS422, and absolute encoders. Continuous 360-degree travel is standard, with available limited-travel options ranging from 10 degrees to 340 degrees.  ALAR250SP and ALAR325SP can be configured with an even more powerful motor option for increased torque to more effectively rotate high-inertia payloads. ALAR-SP stages can even be adapted for use in vacuum environments.

Applications

Common applications for ALAR-SP stages include single- and multi-axis sensor testing, missile seeker testing, antenna testing, inertial navigation device testing, photonic component alignment, high-accuracy laser machining, and precision wafer inspection.  ALAR-SP stages can also be configured as multi-axis gimbals. The large-diameter clear aperture and direct-drive motor make ALAR a better-performing alternative to more traditional worm-gear stages, especially in dynamic applications with high payloads.

Specifications

ALAR-SP Specifications

Mechanical Specifications

ALAR100SP

ALAR150SP

ALAR200SP

Travel

Continuous (optional 340° max. limited travel)

Aperture

100 mm

150 mm

200 mm

Resolution (Min. Incremental Motion)1

0.1 µrad (0.02 arc sec)

0.08 µrad (0.016 arc sec)

0.06 µrad (0.012 arc sec)

Accuracy2

± 9.7 µrad (± 2 arcsec)

Bidirectional Repeatability

± 2.4 µrad (± 0.5 arc sec)

Tilt-Error Motion

9.7 µrad (2.0 arc sec)

Maximum Speed3

300 rpm

250 rpm

90 rpm

Maximum Torque

23.9 N•m

42.9 N•m

126.8 N•m

Continuous Torque

6.0 N•m

10.7 N•m

19.3 N•m

Axial Load

1550 N

1950 N

4675 N

Radial Load

1350 N

1925 N

4775 N

Moment Load

250 N•m

450 N•m

1600 N•m

Shaft Inertia

0.022 kg•m2

0.040 kg•m2

0.320 kg•m2

Shaft Inertia with Limits

0.026 kg•m2

0.051 kg•m2

0.359 kg•m2

Stage Mass

16.3 kg

18.6 kg

40.4 kg

Stage Mass with Limits

17 kg

19.6 kg

43.1 kg

Mechanical Specifications

ALAR250SP-M1

ALAR250SP-M2

ALAR325SP-M1

ALAR325SP-M2

Travel

Continuous (optional 340° max. limited travel)

Aperture

250 mm

325 mm

Resolution (Min. Incremental Motion)1

0.05 µrad (0.01 arc sec)

0.04 µrad (0.009 arc sec)

Accuracy2

± 9.7 µrad (± 2 arcsec)

Bidirectional Repeatability

± 2.4 µrad (± 0.5 arc sec)

Tilt-Error Motion

9.7 µrad (2.0 arc sec)

Maximum Speed3

140 rpm

150 rpm

Maximum Acceleration

287 rad/s2

185 rad/s2

Maximum Torque

137.8 N•m

206.7 N•m

213.8 N•m

320.8 N•m

Continuous Torque

21.0 N•m

31.5 N•m

35.0 N•m

52.4 N•m

Axial Load

4950 N

5825 N

Radial Load

5200 N

6650 N

Moment Load

1825 N•m

2650 N•m

Shaft Inertia

0.500 kg•m2

1.010 kg•m2

Shaft Inertia with Limits

0.573 kg•m2

1.2 kg•m2

Stage Mass

51.3 kg

61.2 kg

Stage Mass with Limits

54.5kg

64.9 kg
  1. Resolution assumes -AS encoder with 2000x controller multiplication.
  2. Certified with each stage. Requires the use of an Aerotech controller.
  3. Square-wave digital encoder options will limit maximum speed below the listed value. Contact factory for specific stage and encoder speed combination.

Electrical Specifications

Electrical Specifications

ALAR100SP

ALAR150SP

ALAR200SP

Motor

Brushless Slotless

Continuous Current

Apk

2.7

6.2

5.3

Arms

1.9

4.4

3.8

Peak Current, Stall

Apk

10.8

24.8

34.8

Arms

7.6

17.5

24.6

Bus Voltage

Up to 340 VDC

Incremental Encoder Line Count

31,488 lines/rev

40,000 lines/rev

55,040 lines/rev

Limit Switches1

5 V, normally closed

Electrical Specifications

ALAR250SP-M1

ALAR250SP-M2

ALAR325SP-M1

ALAR325SP-M2

Motor

Brushless Slotless

  

Continuous Current

Apk

5.3

8.0

5.1

7.7

Arms

3.8

5.6

3.6

5.4

Peak Current, Stall

Apk

34.8

52.2

31.2

46.8

Arms

24.6

36.9

22.1

33.1

Bus Voltage

Up to 340 VDC

Incremental Encoder Line Count

64,800 lines/rev

76,800 lines/rev

Limit Switches1

5 V, normally closed
  1. Limited travel options only.

Dimensions

Ordering Information

ALAR-SP Large-Aperature Rotary Stage

Option Description
ALAR100SP Mechanical-bearing, direct-drive rotary stage, 100 mm aperture
ALAR150SP Mechanical-bearing, direct-drive rotary stage, 150 mm aperture
ALAR200SP Mechanical-bearing, direct-drive rotary stage, 200 mm aperture
ALAR250SP Mechanical-bearing, direct-drive rotary stage, 250 mm aperture
ALAR325SP Mechanical-bearing, direct-drive rotary stage, 325 mm aperture

Motor (Required)

Option Description
-M1 Standard motor
-M2 High-power motor
    Motor options (-M1 and -M2) only apply to the ALAR250SP and ALAR325SP stages.

Travel (Required)

Option Description
  Continuous travel (standard)
-TR010 Limited travel, ±5 degrees
-TR020 Limited travel, ±10 degrees
-TR030 Limited travel, ±15 degrees
-TR060 Limited travel, ±30 degrees
-TR090 Limited travel, ±45 degrees
-TR120 Limited travel, ±60 degrees
-TR180 Limited travel, ±90 degrees
-TR240 Limited travel, ±120 degrees
-TR300 Limited travel, ±150 degrees
-TR340 Limited travel, ±170 degrees

Feedback (Required)

Option Description
-E1 Incremental encoder, 1 Vpp
-E2 Incremental encoder, digital RS422, x4 interpolation
-E3 Incremental encoder, digital RS422, x20 interpolation
-E4 Incremental encoder, digital RS422, x40 interpolation
-E5 Incremental encoder, digital RS422, x100 interpolation
-E6 Incremental encoder, digital RS422, x200 interpolation
-E7 Absolute encoder

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 that ship together. This is typically used for spare parts, replacement parts, or items that will not be used together. These components may or may not be part of a larger system.