ADRT Mechanical-Bearing Direct-Drive Rotary Stage

Description

Design Features

  • High torque output, direct-drive brushless servomotor
  • Cog-free design for outstanding velocity stability
  • Outstanding wobble and runout
  • Direct coupled, high-accuracy rotary encoder
  • Large diameter clear aperture

Aerotech’s ADRT series direct-drive rotary stages provide superior angular positioning and velocity control. Applications range from indexing to high-speed laser machining to precision wafer inspection.

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

To maximize positioning performance, the ADRT series utilizes Aerotech’s S-series brushless, slotless motor. 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 that there is absolutely no torque ripple.

With its low inherent inertia and optimized motor design, the ADRT is capable of speeds and accelerations that are significantly higher than other competing products. These stages have a lower height profile compared to competing products within given torque ranges.

The low inertia and zero backlash make the ADRT the ideal solution for applications requiring frequent directional changes.

Accurate Positioning

Line counts range from 3600 to 5400 lines per revolution. When coupled with Aerotech’s MXH series resolution multipliers, resolutions can be as fine as 0.12 arc sec.

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.

Flexible Configurations

Options include a high-precision bearing for improved accuracy, smoothness and run-out performance. Slip rings and rotary unions are available to ease integration of custom tooling, and a holding brake is available to limit movement of the stage during large impulse loads or when power is removed from the motor.

The ADRT is the only rotary table available with integrated “T-slots.” These slots can be used to mount the table horizontally or to attach custom application specific fixtures.

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

Specifications

ADRT Series Specifications

ModelADRT-100-85 ADRT-100-135 ADRT-150-115 ADRT-150-135 ADRT-150-180
Bearing Option -P (Precision)/-S (Standard)
Continuous Current, Stall Apk 2.0 3.7 3.8 3.4 3.1
Arms 1.43 2.6 2.7 2.4 2.2
Motor Type S-76-35-A S-76-85-A S-130-39-A S-130-60-A S-130-102-A
Bus Voltage Up to 320 VDC
Accuracy(1) 5 arc sec (-P); 60 arc sec (-S)
Repeatability 3 arc sec
Axial Error Motion 5 µm (-P); 10 µm (-S)
Radial Error Motion(2) 5 µm (-P); 10 µm (-S)
Tilt Error Motion 10 arc sec
Height 85 mm 135 mm 115 mm 135 mm 180 mm
Aperture 13 mm 50 mm
Resolution 8.73-87.3 µrad (1.8-18 arc sec)
Radial Load(3) 10 kg 25 kg
Axial Load 15 kg 30 kg
Rated Speed 1000 rpm (-S); 1500 rpm (-P) 600 rpm
Inertia 0.00028 kg·m2 0.00067 kg·m2 0.003379 kg·m2 0.004958 kg·m2 0.008118 kg·m2
Mass 2.3 kg 2.9 kg 5.3 kg 6.9 kg 10.2 kg
Finish Table Hardcoat
Stage Black Anodize
  1. -P accuracy requires calibration and Aerotech controls.
  2. Specifications are for single-axis systems. Performance of multi-axis systems is payload and workpoint dependent. Consult factory for multi-axis or non-standard applications.
  3. Moment load based on 5 year continuous rotation at 250 rpm with maximum axial load applied. Larger moment loads possible for low speed and/or low duty cycle applications. Consult Aerotech for additional information.

ADRT Series Specifications

ModelADRT-200-155 ADRT-200-185 ADRT-260-160 ADRT-260-180
Bearing Option -P (Precision)/-S (Standard)
Continuous Current, Stall Apk 5.1 4.9 5.9 5.8
Arms 3.6 3.5 4.2 4.1
Motor Type S-180-69-A S-180-94-A S-240-63-A S-240-83-A
Bus Voltage Up to 320 VDC
Accuracy(1) 5 arc sec (-P); 60 arc sec (-S)
Repeatability 3 arc sec
Axial Error Motion 5 µm (-P); 10 µm (-S)
Radial Error Motion(2) 5 µm (-P); 10 µm (-S)
Tilt Error Motion 10 arc sec
Height 155 mm 160 mm
Aperture 75 mm 100 mm
Resolution 0.582-58.2 µrad (0.12-12 arc sec)
Radial Load(3) 80 kg 110 kg
Axial Load 140 kg 170 kg
Rated Speed 500 rpm 375 rpm
Inertia 0.020991 kg·m2 0.027666 kg·m2 0.066488 kg·m2 0.08566 kg·m2
Mass 13.4 kg 16.7 kg 25.4 kg 30.6 kg
Finish Table Hardcoat
Stage Black Anodize
  1. -P accuracy requires calibration and Aerotech controls.
  2. Specifications are for single-axis systems. Performance of multi-axis systems is payload and workpoint dependent. Consult factory for multi-axis or non-standard applications.
  3. Moment load based on 5 year continuous rotation at 250 rpm with maximum axial load applied. Larger moment loads possible for low speed and/or low duty cycle applications. Consult Aerotech for additional information.
  • ADRT Axial & Radial Cantilevered Load Capabilities

Dimensions

  • ADRT-100
  • ADRT-150
  • ADRT-150 Limits/Hardstops
  • ADRT-200
  • ADRT-200 Limits/Hardstops
  • ADRT-260
  • ADRT-260 Limits/Hardstops

Ordering Information

Ordering Example

ADRT -200 -155 -S -50mm -AS -NO -LI±10 -PLOTS

Ordering Options

SeriesWidth (mm)
Height Bearing Type Shaft Configuration Position Transducer Brake Options Limits Options
ADRT -100
-150
-200
-260
-85/-135
-115/-135/-180
-155/-185
-160/-180
-S
-P
-50mm
-AS
-XX
-NO
-BK
-UNLIMITED
-LI
-HS
-SRCE
-HCW
-NOP
-24V
-PLOTS
-HPD
-25D
-RS
-AP

ADRT Series Rotary Stage

OptionDescription
ADRT-100-85 Direct-drive rotary table with 13 mm clear aperture and 0.53 N-m continuous torque
ADRT-100-135 Direct-drive rotary table with 13 mm clear aperture and 1.6 N-m continuous torque
ADRT-150-115 Direct-drive rotary table with 50 mm clear aperture and 2.36 N-m continuous torque
ADRT-150-135 Direct-drive rotary table with 50 mm clear aperture and 4.18 N-m continuous torque
ADRT-150-180 Direct-drive rotary table with 50 mm clear aperture and 7.69 N-m continuous torque
ADRT-200-155 Direct-drive rotary table with 75 mm clear aperture and 11.12 N-m continuous torque
ADRT-200-185 Direct-drive rotary table with 75 mm clear aperture and 15.93 N-m continuous torque
ADRT-260-160 Direct-drive rotary table with 100 mm clear aperture and 19.71 N-m continuous torque
ADRT-260-180 Direct-drive rotary table with 100 mm clear aperture and 29.09 N-m continuous torque

Stage Bearing Options

OptionDescription
-S Dual standard-grade bearings
-P Dual precision-grade bearings

Shaft Configuration*

OptionDescription
-50mm 50 mm clear aperture
    *Note: Required for ADRT-150-xxx only

Position Transducer

OptionDescription
-AS Standard feedback device; 1 Vpp sine wave output; 240 arc sec resolution on ADRT-200/260; 360 arc sec resolution on ADRT-150; final resolution multiplier dependent
-X5 Square wave digital output; 12 arc sec resolution on ADRT-200/260 and 18 arc sec resolution on ADRT-100/150
-X50 Square wave digital output; 1.2 arc sec resolution on ADRT-200/260 and 1.8 arc sec resolution on ADRT-100/150
    Note: Digital output encoder signals are synthesized with a 16 MHz clock. Care must be taken to ensure that the encoder sample rate on the controller is at least 16 MHz or higher. Slower clock rates are available on request.

Brake Options*

OptionDescription
-NO No brake
-BK Holding brake
    *Note: Not available on ADRT-100. Not available with limits.

Limits*

OptionDescription
-UNLIMITED Continuous rotation
-LI±x Normally-closed limits at ±x degrees, where x=5/10/20/30/40/45/50/60/70/80/90/100/110/120/130 (/135/140/150 on ADRT-200 and ADRT-260)
-HS±x Hardstop end of travel at ±x degrees, where x=10/15/25/35/45/50/55/65/75/85/95/105/115/125/135 (/140/145/155 on ADRT-200 and ADRT-260)
-SRCE Current sourcing limits
-HCW Home limit uses clockwise limit (counter clockwise default)
-NOP Normally open limit (normally closed default)
-24V 24 VDC rated limits
    *Note: Not available with brake. No limits or hardstops on ADRT-100.

Options

OptionDescription
-PLOTS Stage accuracy and repeatability documentation; included with -P; optional with -S
-HPD 4-pin D-style motor power connector with 25-pin D-style feedback connector; stage-mounted connectors on ADRT-150-xxx, ADRT-200-xxx and ADRT-260-xxx; strain-relieved 300 mm pigtail cable connection on ADRT-100-xxx
-25D 25-pin D-style motor power connector with 25-pin D-style feedback connector; available on ADRT-100-135 only; strain-relieved 300 mm pigtail cable connection
-RS Rear shaft seal on ADRT-100-xxx
-AP Air-purge fitting (ADRT-100-xxx only)