ARMS Mechanical-Bearing Direct-Drive Rotary Stage

Description

Design Features

  • Designed for highly accurate motion generation
  • Velocity stability of 0.0001% over 360 degrees
  • Position resolution to 0.02 arc sec
  • Payloads to 230 kg
  • Integrated slip rings and fluid rotary unions
  • Direct-drive brushless motor options for high speed or high torque

Aerotech's ARMS series direct-drive rotary motion simulators provide superior angular rates, accelerations, and positioning for the testing of inertial components and systems such as MEMS, gyroscopes, inertial measurement units, avionics, and accelerometers.

Accurate Velocity and Positioning

The ARMS family of stages provides excellent velocity and positioning control. When coupled with Aerotech's advanced controls, resolution can be as fine as 0.02 arc second, with accuracy to ±2.5 arc second and repeatability to ±0.5 arc second. 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. The ARMS has rate resolution down to 0.001 deg/s and rate stability to 0.0001%.

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

The ARMS series utilizes Aerotech's S-series brushless, slotless motor to maximize positioning performance. The S-series motor provides 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. The slotless, ironless design eliminates cogging and, therefore, produces absolutely no torque ripple. With its low inherent inertia and optimized motor design, the ARMS is capable of speeds and accelerations that are significantly higher than competing products. Low inertia and zero backlash make the ARMS the ideal solution for applications requiring frequent directional changes.

Flexible Configurations

Slip rings and rotary unions are standard options available to ease integration of customer devices. With various tabletop styles as well as optional HDP pedestals, customers can also tailor the mechanical interface of the ARMS stages to suit many different needs.

Advanced User-Friendly Controls

Aerotech rate tables are controlled with state-of-the-art Aerotech controls and drives. Our software packages are available as stand-alone applications, where no other language or compiler is needed, as well as LabVIEW®, C, and .NET software interfaces. Users can graphically generate their own motion profiles and execute them automatically with Aerotech's GUI Motion Designer software. Or, for users who already have their own motion simulation software, our software can easily accept files with arrays of velocity, position, and acceleration versus time profiles. This is then downloaded and run on the ARMS by our motion control software.

Specifications

ARMS Specifications

ARMS SeriesARMS150-M1ARMS150-M2ARMS200-M1ARMS200-M2ARMS260-M1ARMS260-M2
Width 146 mm 196 mm 260 mm
Height(1) 183 mm 246 mm 224 mm 249 mm 229 mm 250 mm
Aperture(2) 8 mm 25 mm
Total Travel ±360° Continuous
Bus Voltage Up to 340 VDC
Maximum Torque (Continuous) 2.36 N·m 7.69 N·m 11.12 N·m 15.93 N·m 19.71 N·m 29.09 N·m
Fundamental Encoder Resolution 16,200 lines/rev 23,600 lines/rev 32,400 lines/rev
Accuracy(3) ±2.5 arc sec
Repeatability ±0.5 arc sec
Max Load(4) Axial 30 kg 140 kg 230 kg
Max Load(4) Moment 175 N·m 425 N·m 650 N·m
Tilt Error Motion ±1 arc sec
Maximum Rate(5) 1500°/s
Minimum Rate(6) 0.002°/s 0.001°/s
Rate Resolution(6) 0.002°/s 0.001°/s
Rate Stability(6) Over 360° 0.0001%
Over 10° 0.005%
Over 1° 0.05%
Peak Acceleration(7) >20,000°/s2
Inertia (unloaded)(7) 6,600 kg·mm2 9,700 kg·mm2 33,600 kg·mm2 39,800 kg·mm2 115,200 kg·mm2 139,000 kg·mm2
Total Mass(7) 9 kg 15 kg 22 kg 26 kg 39 kg 44 kg
Servo Bandwidth(8) >70 Hz (3 dB)
Material Aluminum
Stage Finish Black Anodize
Tabletop Finish Hard Coating (62 Rockwell Hardness)
  1. Height may vary with certain slip ring and rotary union options. See product dimensional drawings for more details.
  2. Aperture not available with all slip ring and rotary union options. See ordering information for more details.
  3. Certified with each stage. Requires the use of an Aerotech controller.
  4. Maximum loads are mutually exclusive.
  5. Maximum rate is based on stage capability. Actual rate may depend on encoder resolution, load, amplifier bus voltage, and motor. See the S-series rotary motor for more information.
  6. Minimum rate, rate resolution and rate accuracy are based on stage capability. Actual rate, resolution and accuracy may depend on encoder resolution.
  7. Peak acceleration, inertia and total mass based on unloaded stage with standard diameter tabletop.
  8. Servo bandwidth is based on unloaded stage with standard diameter tabletop. Actual bandwidth may depend on mass and inertia of stage payload.

Dimensions

  • ARMS150
  • ARMS150-LD
  • HDP150
  • ARMS200
  • ARMS200-LD
  • HDP200
  • ARMS260
  • ARMS260-LD
  • HDP260

Ordering Information

ARMS Rotary Motion Simulator

Option Description
ARMS150 Rotary motion simulator
ARMS200 Rotary motion simulator
ARMS260 Rotary motion simulator

Tabletop (Required)

Option Description
-TT1 Tabletop, metric dimension mounting, engraved scale
-TT2 Tabletop, English dimension mounting, engraved scale
-TT3 Tabletop, aperture, metric dimension mounting, engraved scale
-TT4 Tabletop, aperture, English dimension mounting, engraved scale
-TT5 Large diameter tabletop, metric dimension mounting
-TT6 Large diameter tabletop with English dimension mounting
-TT7 Large diameter tabletop, aperture, metric dimension mounting
-TT8 Large diameter tabletop, aperture, English dimension mounting

Motor (Required)

Option Description
-M1 Direct-drive brushless, slotless motor, standard torque
-M2 Direct-drive brushless, slotless motor, high torque

Slip-Ring (Required)

Option Description
-SR01 Integrated slip ring, 12 lines, 2A max current (ARMS150 and ARMS200 only)
-SR02 Integrated slip ring, 24 lines, 2A max current
-SR03 Integrated slip ring, 36 lines, 2A max current (ARMS200 only)
-SR04 Integrated slip ring, 48 lines, 2A max current (ARMS260 only)
-SR05 Integrated slip ring, 56 lines, 2A max current (ARMS200 only)
-SR06 Integrated slip ring, 72 lines, 2A max current (ARMS260 only)
-SR07 Integrated slip ring, 96 lines, 2A max current (ARMS260 only)
-SR08 Integrated slip ring, low-noise, 12 lines, 1A max current (ARMS150 and ARMS200 only)
-SR09 Integrated slip ring, low-noise, 24 lines, 1A max current with ARMS150 and ARMS200; 2A max current with ARMS260
-SR10 Integrated slip ring, low-noise, 30 lines, 1A max current (ARMS200 only)
-SR11 Integrated slip ring, low-noise, 48 lines, 2A max current (ARMS260 only)
-SR12 Integrated slip ring, low-noise, 70 lines, 2A max current (ARMS260 only)
-SR13 Integrated slip ring, low-noise, 90 lines, 2A max current (ARMS260 only)
    Note: Slip ring options -SR03, -SR05, and -SR08 thru -SR13 are incompatible with all aperture tabletop options (-TT3, -TT4, -TT7, -TT8).

Rotary Union (Optional)

Option Description
-RU1 One (1) rotary union line for air, vacuum or fluid, 250 psi max
-RU2 Two (2) rotary union lines for air, vacuum or fluid, 250 psi max
    Note: Rotary union options are incompatible with all aperture tabletop options (-TT3, -TT4, -TT7, -TT8).

Mounting Pedestal (Optional)

Option Description
-HDP Mounting pedestal with adjustable, hard-mount capable leveling feet

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.

Accessories (to be ordered as separate line item)

Option Description
MC-D15-F Connector mate, 15-Pin D-sub female
MC-D15-M Connector mate, 15-Pin D-sub male
MC-D25-F Connector mate, 25-Pin D-sub female
MC-D25-M Connector mate, 25-Pin D-sub male