ALAR Mechanical-Bearing Direct-Drive Rotary Stage

Description

Design Features

  • 5 different aperture sizes: 100 mm, 150 mm, 200 mm, 250 mm, 325 mm
  • Axial load capacity up to 595 kg; radial loads to 680 kg
  • Excellent accuracy and repeatability
  • Cog free motor provides smooth motion
  • No accuracy changes over time from gear wear
  • 45-300 rpm continuous rotation speed
  • Vacuum compatible versions available
  • Absolute encoder options

Aerotech’s ALAR series direct-drive rotary stages provide superior angular positioning and velocity control with exceptionally large apertures. With the combination of a large aperture and direct-drive motor, the ALAR series makes worm-drive large aperture stages a thing of the past.

Advantage ALAR

Now customers can get large aperture rotary stages with zero backlash and no gear wear or gear vibration as is commonly seen in worm-drive stages. The other added benefit is that direct drive is significantly faster than worm drive, so testing can be completed in less time. In production settings, this equates to faster testing, lower cost manufacturing and higher profits. From the standpoint of system accuracy and repeatability, the stage will maintain its performance over time with no need for maintenance because there are no gears to wear out. With higher accuracy and no backlash, customers can produce more accurate products because their test system is now more accurate.

Applications

Applications for the ALAR include single and multi-axis electro-optic sensor testing, missile seeker testing, antenna testing, inertial navigation device testing, photonic component alignment, high-accuracy laser machining and precision wafer inspection. These include testing in vacuum to 10-6 Torr. These rotary stages can also be configured as multi-axis gimbals.

High Speed

ALAR stages can operate between 45-300 rpm, depending on the particular model selected. This speed range is significantly higher than gear-drive stages of similar size.

Superior Mechanical Design

Angular contact bearings are used to maximize performance with respect to tilt error, moment stiffness and rotating friction. A precision-machined shaft further minimizes tilt error. The design incorporates integral connections that minimize cable issues. The ALAR works especially well in applications that require 360° continuous motion but have limited space. The stage is 65-160 mm tall and provides smooth motion without travel restrictions.

Brushless Direct-Drive

To maximize positioning performance, the ALAR series utilizes Aerotech’s brushless, slotless motors. 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 there is absolutely no torque ripple. This makes the ALAR ideal for applications requiring outstanding contoured motion, smooth scan velocity or precise incremental steps.

High Payload Capacity and Large Moment Load Stiffness

The ALAR comes in two different configurations. The standard profile (SP) unit has high payload capacity and high moment load stiffness so it can handle applications where its rotation axis is parallel or perpendicular to gravity and the payload center of gravity is cantilevered away from the stage. The low profile (LP) unit has high payload capacity and is good for applications where the axis of rotation is parallel to gravity. Both the SP and LP units have the same aperture options. Either SP or LP stages can handle between 260-1300 lb of axial load.

Accurate Positioning

Performance is assured with encoder line counts from 31000 to 76800 per rev, resulting in resolutions from 0.02 arc sec/count to 0.009 arc sec/count. 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. As a result, accuracy of ±2 arc sec and bi-directional repeatability of ±0.5 arc sec is attainable.ALAR2

Flexible Configurations

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

Specifications

ALAR Series Specifications

ModelALAR100SPALAR100LPALAR150SPALAR150LP
Aperture 100 mm 100 mm 150 mm 150 mm
Motor Brushless Slotless
Continuous Current Apk 2.7 A 5.76 A 6.2 A 5.41 A
Arms 1.9 A 4.1 A 4.4 A 4.1 A
Peak Current, Stall Apk 10.8 A 33.5 A 24.8 A 31.4 A
Arms 7.6 A 23.7 A 17.5 A 22.2 A
Bus Voltage Up to 340 VDC
Unlimited Travel Yes
Maximum Limited Travel ±170° ±170° ±170° ±170°
Maximum Velocity @ 160 V Bus(1) 300 rpm 50 rpm 250 rpm 45 rpm
Maximum Acceleration 1364 rad/s2 1009 rad/s2 1330 rad/s2 829 rad/s2
Resolution (Min. Incremental Motion)(2) 0.1 µrad
(0.02 arc sec)
0.1 µrad
(0.02 arc sec)
0.08 µrad
(0.016 arc sec)
0.09 µrad
(0.018 arc sec)
Incremental Encoder Line Count 31,488 lines/rev 31,488 lines/rev 40,000 lines/rev 36,000 lines/rev
Maximum Torque 23.9 N·m 17.5 N·m 42.9 N·m 22.9 N·m
Continuous Torque 6.0 N·m 3.0 N·m 10.7 N·m 4.0 N·m
Stage Mass 16.3 kg 8.3 kg 18.6 kg 9.8 kg
Stage Mass with Limits 17 kg 8.9 kg 19.6 kg 10.8 kg
Shaft Inertia 0.022 kg·m2 0.022 kg·m2 0.040 kg·m2 0.031 kg·m2
Shaft Inertia with Limits 0.026 kg·m2 0.026 kg·m2 0.051 kg·m2 0.042 kg·m2
Axial Load 1550 N (348 lb) 1175 N (264 lb) 1950 N (438 lb) 1325 N (298 lb)
Radial Load 1350 N (303 lb) 950 N (214 lb) 1925 N (433 lb) 1275 N (287 lb)
Moment Load 250 N·m 150(3) N·m 450 N·m 225(3) N·m
Repeatability ±2.4 µrad (±0.5 arc sec)
Accuracy(4) ±9.7 µrad (±2 arc sec)
Tilt-Error Motion 9.7 µrad (2.0 arc sec)
  1. Square-wave digital encoder options will limit maximum speed below the listed value. Contact factory for specific stage and encoder speed combination.
  2. Resolution assumes -AS encoder with 2000X controller multiplication.
  3. The ALAR-LP base must be fully supported by a rigid mounting plate to achieve this moment load.
  4. Certified with each stage. Requires the use of an Aerotech controller.

ALAR Series Specifications

ModelALAR200SPALAR200LPALAR250SP-M1ALAR250SP-M2ALAR250LP
Aperture 200 mm 200 mm 250 mm 250 mm 250 mm
Motor Brushless Slotless
Continuous Current Apk 5.3 5.3 5.3 7.95 5.3
Arms 3.75 3.75 3.75 5.62 3.75
Peak Current, Stall Apk 34.8 34.8 34.8 52.2 34.8
Arms 24.6 24.6 24.6 36.9 24.6
Bus Voltage Up to 340 VDC
Unlimited Travel Yes
Maximum Limited Travel ±170° ±170° ±170° ±170° ±170°
Maximum Velocity(1) 90 rpm 90 rpm 140 rpm 140 rpm 90 rpm
Maximum Acceleration 361 rad/s2 570 rad/s2 287 rad/s2 287 rad/s2 407 rad/s2
Resolution (Min. Incremental Motion) (2) 0.06 µrad
(0.012 arc sec)
0.07 µrad
(0.014 arc sec)
0.05 µrad
(0.01 arc sec)
0.05 µrad
(0.01 arc sec)
0.05 µrad
(0.01 arc sec)
Incremental Encoder Line Count 55,040 lines/rev 47,200 lines/rev 64,800 lines/rev 64,800 lines/rev 55,040 lines/rev
Maximum Torque 126.8 N·m 126.8 N·m 137.8 N·m 206.7 N·m 147.9 N·m
Continuous Torque 19.3 N·m 19.3 N·m 21.0 N·m 31.5 N·m 22.5 N·m
Stage Mass 40.4 kg 28.2 kg 51.3 kg 51.3 kg 35.0 kg
Stage Mass with Limits 43.1 kg 30.1 kg 54.5 kg 54.5 kg 37.4 kg
Shaft Inertia 0.320 kg·m2 0.190 kg·m2 0.500 kg·m2 0.500 kg·m2 0.310 kg·m2
Shaft Inertia with Limits 0.359 kg·m2 0.229 kg·m2 0.573 kg·m2 0.573 kg·m2 0.383 kg·m2
Axial Load 4675 N (1051 lb) 4350 N (978 lb) 4950 N (1113 lb) 4950 N (1113 lb) 4950 N (1113 lb)
Radial Load 4775 N (1073 lb) 4125 N (927 lb) 5200 N (1169 lb) 5200 N (1169 lb) 5050 N (1135 lb)
Moment Load 1600 N·m 1075(3) N·m 1825 N·m 1825 N·m 1475(3) N·m
Repeatability ±2.4 µrad (±0.5 arc sec)
Accuracy(4) ±9.7 µrad (±2 arc sec)
Tilt-Error Motion 9.7 µrad (2.0 arc sec)
  1. Square-wave digital encoder options will limit maximum speed below the listed value. Contact factory for specific stage and encoder speed combination.
  2. Resolution assumes -AS encoder with 2000X controller multiplication.
  3. The ALAR-LP base must be fully supported by a rigid mounting plate to achieve this moment load.
  4. Certified with each stage. Requires the use of an Aerotech controller.

ALAR Series Specifications

ModelALAR325SP-M1ALAR325SP-M2ALAR325LP
Aperture 325 mm 325 mm 325 mm
Motor Brushless Slotless
Continuous Current Apk 5.1 7.65 5.1
Arms 3.63 5.41 3.63
Peak Current, Stall Apk 31.2 46.8 31.2
Arms 22.1 33.1 22.1
Bus Voltage Up to 340 VDC
Unlimited Travel Yes
Maximum Limited Travel ±170° ±170° ±170°
Maximum Velocity(1) 150 rpm 150 rpm 120 rpm
Maximum Acceleration 185 rad/s2 185 rad/s2 339 rad/s2
Resolution (Min. Incremental Motion)(2) 0.04 µrad (0.009 arc sec) 0.04 µrad (0.009 arc sec) 0.04 µrad (0.009 arc sec)
Incremental Encoder Line Count 76,800 lines/rev 76,800 lines/rev 64,800 lines/rev
Maximum Torque 213.8 N·m 320.8 N·m 213.8 N·m
Continuous Torque 35.0 N·m 52.4 N·m 35.0 N·m
Stage Mass 61.2 kg 61.2 kg 44.5 kg
Stage Mass with Limits 64.9 kg 64.9 kg 49.9 kg
Shaft Inertia 1.01 kg·m2 1.01 kg·m2 0.55 kg·m2
Shaft Inertia with Limits 1.2 kg·m2 1.2 kg·m2 0.675 kg·m2
Axial Load 5825 N (1310 lb) 5825 N (1310 lb) 5825 N (1310 lb)
Radial Load 6650 N (1495 lb) 6650 N (1495 lb) 6450 N (1450 lb)
Moment Load 2650 N·m 2650 N·m 2200(3) N·m
Repeatability ±2.4 µrad (±0.5 arc sec)
Accuracy(4) ±9.7 µrad (±2 arc sec)
Tilt-Error Motion 9.7 µrad (2.0 arc sec)
  1. Square-wave digital encoder options will limit maximum speed below the listed value. Contact factory for specific stage and encoder speed combination.
  2. Resolution assumes -AS encoder with 2000X controller multiplication.
  3. The ALAR-LP base must be fully supported by a rigid mounting plate to achieve this moment load.
  4. Certified with each stage. Requires the use of an Aerotech controller.

Dimensions

  • ALAR100SP
  • ALAR100LP
  • ALAR150SP
  • ALAR150LP
  • ALAR200SP
  • ALAR200LP
  • ALAR250SP
  • ALAR250LP
  • ALAR325SP
  • ALAR325LP

Ordering Information

ALAR-LP Mechanical-Bearing, Direct-Drive Rotary Stage

Option Description
ALAR100LP Mechanical-bearing, direct-drive rotary stage
ALAR150LP Mechanical-bearing, direct-drive rotary stage
ALAR200LP Mechanical-bearing, direct-drive rotary stage
ALAR250LP Mechanical-bearing, direct-drive rotary stage
ALAR325LP Mechanical-bearing, direct-drive rotary stage

Travel (Required)

Option Description
- Continuous travel
-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 sine
-E2 Incremental encoder, x4 interpolation
-E3 Incremental encoder, x20 interpolation
-E4 Incremental encoder, x40 interpolation
-E5 Incremental encoder, x100 interpolation
-E6 Incremental encoder, 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. 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.

Note: LP stages are ideal for vertical-axis applications. SP stages are ideal for horizontal or vertical applications.

ALAR-SP Mechanical-Bearing, Direct-Drive Rotary Stage

Option Description
ALAR100SP Mechanical-bearing, direct-drive rotary stage
ALAR150SP Mechanical-bearing, direct-drive rotary stage
ALAR200SP Mechanical-bearing, direct-drive rotary stage
ALAR250SP Mechanical-bearing, direct-drive rotary stage
ALAR325SP Mechanical-bearing, direct-drive rotary stage

Motor (Required)

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

Travel (Required)

Option Description
- Continuous travel
-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 Sine
-E2 Incremental encoder, x4 interpolation
-E3 Incremental encoder, x20 interpolation
-E4 Incremental encoder, x40 interpolation
-E5 Incremental encoder, x100 interpolation
-E6 Incremental encoder, 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. 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.

Note: LP stages are ideal for vertical-axis applications. SP stages are ideal for horizontal or vertical applications.