AXR Two-Axis Rotary Assembly

Description

Design Features

  • Multiple configurations support a range of load and accuracy requirements
  • Integral rotary union for vacuum- or air-activated tooling
  • High-speed yaw axis provides up to 1000 rpm
  • High-load gear-drive or high-speed, direct-drive tilt-axis configurations
  • Optional sealing protects the system from airborne particulates
  • Brake available to limit stage motion in the unpowered state

Aerotech’s AXR integrated two-axis rotary assembly provides high-speed machining capabilities for complex 3D part geometries. The precision-aligned system allows accurate positioning on a hemispherical surface. Multiple frame sizes with direct- or gear-driven options provide a wide range of load carrying capability.

Direct-Drive Yaw Axis

All AXR series rotary combinations feature a direct-drive yaw (B) axis. Direct-drive motors exhibit significantly higher throughput and maintenance-free operation when compared to gear- and screw-driven technology. With peak rotation speeds of up to 1000 rpm, the AXR is capable of supporting high-speed machining processes. A high-resolution encoder enables the axis to run at extremely slow speeds while maintaining excellent velocity regulation and positioning accuracy.

High-Capacity Tilt Axis

The AXR has both direct-drive and gear-driven tilt (A) axis configurations to meet the performance requirements of your specific application. The direct-drive version provides the highest possible operating speed and accuracy for demanding applications. A modular counterbalance system and different yaw mounting heights are available to balance offset loads. The tilt axis can be equipped with a brake to hold axis position when power is removed. For large load applications, the gear-drive units provide significantly higher continuous torque output while the drive mechanism limits motion in the power-off state. The precision anti-backlash gearing enables this higher torque output while still maintaining excellent accuracy and repeatability performance.

Material Handling

The AXR comes standard with an integral rotary union that provides a single pneumatic control signal to the yaw-axis tabletop for customer supplied air- or vacuum-actuated tooling. The AXR can also be outfitted with a 3-jaw manual chuck for maximum part-holding flexibility.

Scalable Product Solutions

With both direct-drive and gear-driven platforms, various yaw table locations, a scalable counterbalance, standard pneumatic feed-through, and an optional 3-jaw chuck, the AXR can be configured to meet the requirements of most two-axis rotary assemblies.

AXR Two-Axis Rotary Assembly

Specifications

AXR Specifications

Basic ModelAXR100AXR150
  Tilt (A) Axis
Direct Drive
Yaw (B) Axis Direct Drive Tilt (A) Axis
Direct Drive
Tilt (A) Axis
Gear Drive
Yaw (B) Axis
Direct Drive
Travel +10° to -100° Unlimited +10° to -100° +10° to -100° Unlimited
Accuracy(1) Uncalibrated ±145 µrad
(±30 arc sec)
±145 µrad
(±30 arc sec)
±242 µrad
(±50 arc sec)
±145 µrad
(±30 arc sec)
Calibrated ±14.5 µrad
(±3 arc sec)
±14.5 µrad
(±3 arc sec)
±24.2 µrad
(±5 arc sec)
±14.5 µrad
(±3 arc sec)
Resolution 0.05 arc sec 0.08 arc sec 0.04 arc sec 0.04 arc sec 0.05 arc sec
Repeatability
(Bi-Directional)(1)
1 arc sec 1 arc sec 5 arc sec 1 arc sec
Tilt Error Motion N/A 5 arc sec N/A N/A 3 arc sec
Axial Error Motion N/A 1.5 µm N/A N/A 1 µm
Radial Error Motion N/A 3 µm N/A N/A 2 µm
Orthogonality 50 µrad (10 arc sec) 50 µrad (10 arc sec)
Axis Intersection ±10 µm (0.00039 in) ±10 µm (0.00039 in)
Gear Ratio N/A N/A 51:1
101:1
161:1
N/A
Maximum Speed(5) 720°/s 1000 rpm 720°/s 60°/s
30°/s
18°/s
600 rpm
Maximum Torque (Continuous) 5.06 N·m 0.48 N·m 11.12 N·m 305 N·m
605 N·m
964 N·m
2.85 N·m
System Load Capacity 15 kg 30 kg
Rotor Inertia (Unloaded) No Offset 0.070 kg·m2 0.00107 kg·m2 0.216 kg·m2 0.211 kg·m2 0.00686 kg·m2
Offset 0.178 kg·m2 0.174 kg·m2
Chuck Option 0.212 kg·m2 0.207 kg·m2
Stage Mass(6) No Offset 24 kg N/A 45.5 kg 44 kg N/A
Offset 24.4 kg N/A 46.8 kg 45.5 kg N/A
Chuck Option 24.9 kg N/A 50.7 kg 49.4 kg N/A
Material Aluminum Aluminum
MTBF 20,000 Hours 20,000 Hours 15,000 Hours 20,000 Hours
  1. Certified with each stage.
  2. On-axis loading is listed.
  3. All error motion specifications are measured at 60 rpm.
  4. For high speed operation, customer payload must be balanced to G1.0 per ISO 1940.
  5. Max speed is listed for unloaded stages. Max speed of gear-drive unit is a function of gear ratio. Speeds are 10 rpm, 5 rpm, and 3 rpm.
  6. Mass listed is the combined mass of both A and B axes.

Electrical Specifications

SpecificationsAXR100AXR150
  Tilt (A) Axis
Direct Drive
Yaw (B) Axis
Direct Drive
Tilt (A) Axis
Direct Drive
Tilt (A) Axis
Gear Drive
Yaw (B) Axis
Direct Drive
Drive System Slotless, brushless
direct-drive torque motor
Slotless, brushless direct-drive
torque motor
Slotless, brushless torque motor with harmonic gear drive Slotless, brushless direct-drive torque motor
Feedback Noncontact rotary encoder
(see counts per revolution options on Order Information page)
Noncontact rotary encoder
(see counts per revolution options on Order Information page)
Maximum Bus Voltage 340 VDC 340 VDC
Limit Switches 5 V, Normally Open N/A 5 V, Normally Open 5 V, Normally Open N/A
Home Switch At Limit N/A At Limit At Limit N/A

Recommended Controller

AxisControllerAXR100/AXR150
Multi-Axis A3200 Ndrive MP10/Ndrive CP10/Npaq
Ensemble Ensemble MP10/Ensemble CP10/Epaq
Single Axis Soloist Soloist MP10/Soloist CP10

Dimensions

  • AXR100
  • AXR150

Ordering Information

Ordering Example

AXR 100D -0 -B -S -CW4

Ordering Options

Series Axis ConfigurationYaw Axis Configuration Brake Option Seal Option Counterweight Kits
AXR 100D
150D
150G
-0
-0E
-100
-100C
-125
-125C
-B -S -CW1 to CW8

AXR Series (Required)

Option Description
AXR Two-axis tilt/yaw rotary assembly

Axis Configuration (Required)

Option Description
100D Direct-drive tilt (A) axis and yaw (B) axis rated for 15 kg maximum load
150D Direct-drive tilt (A) axis and yaw (B) axis rated for 30 kg maximum load
150G Gear-drive tilt (A) axis with direct-drive yaw (B) axis; rated for 30 kg maximum load

Yaw Axis Configuration (Required)

Option Description
-0 Yaw (B) axis tabletop height of AXR100D and AXR150x located at the center of rotation of the tilt (A) axis; no counterweight attachment supported
-0E Yaw (B) axis tabletop height of AXR100D and AXR150D located at the center of rotation of the tilt (A) axis; includes attachment features for counterweights to balance offset loads
-100 Yaw (B) axis tabletop height for AXR100D is located 100 mm above the center of rotation of the tilt (A) axis; includes attachment features for counterweights to balance offset loads
-100C Yaw (B) axis with 3-jaw 3.25-inch (82.6 mm) diameter manual scroll chuck; chuck jaws of AXR100D are located 100 mm above the center of rotation of the tilt (A) axis; includes attachment features for counterweights to balance offset loads and 3-jaw manual chuck
-125 Yaw (B) axis tabletop height for AXR150x is located 125 mm above the center of rotation of the tilt (A) axis; includes attachment features for counterweights to balance offset loads
-125C Yaw (B) axis with 3-jaw 5-inch (127 mm) diameter manual scroll chuck; chuck jaws of AXR150x are located 125 mm above the center of rotation of the tilt (A) axis; includes attachment features for counterweights to balance offset loads and 3-jaw manual chuck

Note: 0E option not available on gear-driven AXRs (150G). Gearbox has sufficient holding torque to balance maximum moment load.

Brake Configuration (Optional)

Option Description
-B Holding brake for tilt (A) axis; only available on 100D and 150D configurations

Sealing Configuration (Optional)

Option Description
-S Seals on the tilt (A) and yaw (B) axes to prevent ingress of airborne particulates into the stage; the seal does not protect the AXR system from contact with fluids

Counterweight Configuration (Optional)

Option Description
-CW1 Counterweight kit for AXR100 (-100, -100C) for offset loads ranging from:
-100: 23.5 Nm to 338 Nm
-100c: 48 Nm to 242 Nm
-CW2 Counterweight kit for AXR100 (-100, -100C) for offset loads ranging from:
-100: 1.4 Nm to 48 Nm
-100c: 6 Nm to 36 Nm
-CW3 Counterweight kit for AXR100 (-100) for offset loads of 41.3 Nm
-CW4 Counterweight kit for AXR100 (-100C) for offset loads of 23.4 Nm
-CW5 Counterweight kit for AXR100 (-0E) for offset loads ranging from 10.8 Nm to 54.2 Nm
-CW6 Counterweight kit for AXR100 (-0E) for offset loads ranging from 31.1 Nm to 124.4 Nm
-CW7 Counterweight kit for AXR100 (-0E) for offset loads of 15.7 Nm
-CW8 Counterweight kit for AXR100 (-0E) for offset loads of 13.1 Nm
  1. Offset loads include both the payload and stage unbalance.
  2. A linear combination of counterweight kits can be employed to achieve balance. See counterbalance chart to determine if application falls within balance limits.