AGR Mechanical-Bearing Gear-Drive Rotary Stage

Description

Design Features

  • Enhanced speed and load capacity
  • Large aperture addresses a wide range of applications
  • Continuous 360 degree rotary positioning
  • Direct encoder options available

AGR series motorized rotary stages provide significant improvements in speed, load capacity, and long-term positioning performance over previous generations of worm-gear-drive stages. AGR series stages address a wide range of applications for general purpose positioning in laboratory and industrial uses.

Construction Features

The addition of a larger clear aperture is a key enhancement over previous generations of worm-gear-driven stages. This feature allows the AGR series to address applications requiring a through-hole or accommodations to mount an optic, including articulation of beam polarizing lenses, through-holes for cabling and/or air lines, or vision/camera/inspection applications.

The AGR stage base is fabricated from an aluminum alloy that offers significant weight savings in multi-axis arrangements and other weight critical applications, while providing high structural stiffness and long-term stability.

Each stage is designed with two high-precision angular contact bearings with optimal spacing to provide excellent error motions coupled with high load capacities in a small, compact package.

Flexible Options

Options include flexible motor selections as well as a direct encoder mounted to the stage shaft for outstanding repeatability and to virtually eliminate hysteresis and backlash. Vacuum-compatible versions (for use in pressures as low as 10-6 torr) are also available.

Motor and Drives

Standard AGR stage configurations feature Aerotech’s brushless servomotors. However, all AGR stages can be outfitted with stepper or DC brush motors. A full range of matching drives and controls are available for a complete single-source solution.

Specifications

AGR Specifications

Mechanical SpecificationsAGR50AGR75AGR100AGR150AGR200
Travel 360° (Limited Travel Versions Available)
Accuracy(1) Standard 180 arc sec 120 arc sec
Direct Encoder 20 arc sec
Repeatability (Unidirectional)(1) Standard 10 arc sec
Direct Encoder 5 arc sec
Repeatability (Bi-directional)(1) Standard 45 arc sec
Direct Encoder 8 arc sec
Tilt Error Motion 10 arc sec
Axial Error Motion 5 µm
Radial Error Motion 10 µm
Gear Ratio 51:1 67:1 85:1 117:1 126:1
Maximum Speed(2) BM/BMS 180°/s 120°/s
SM 60°/s 40°/s
Maximum Acceleration(3) 720°/s2 480°/s2
Aperture 50 mm 75 mm 100 mm 150 mm 200 mm
Load Capacity Axial 40 kg 100 kg 200 kg 300 kg 425 kg
Radial 20 kg 50 kg 100 kg 125 kg 200 kg
Moment See Moment Load Curves
Maximum Torque Load to Stage Shaft 2.5 N·m 3.5 N·m 12 N·m 20 N·m 80 N·m
Rotor Inertia (Unloaded) 0.00052 kg·m2 0.0013 kg·m2 0.0035 kg·m2 0.011 kg·m2 0.076 kg·m2

Stage Mass
(No Motor)

Standard 1.9 kg 2.4 kg 4.5 kg 6.1 kg 18.6 kg
Direct Encoder 2.5 kg 3.1 kg 5.6 kg 7.6 kg 21.7 kg
Material Aluminum
  1. Certified with each stage.
  2. Maximum speed is load dependent. Contact an Aerotech Application Engineer if imbalanced loads are present.
  3. Unloaded acceleration.
  4. On-axis loading is listed.
  5. Specifications are for single-axis systems measured 25 mm above the tabletop. Performance of multi-axis systems is payload and workpoint dependent. Consult factory for multi-axis or non-standard applications.

 

Electrical Specifications

ModelAGR50AGR75AGR100AGR150AGR200
Drive System Precision Worm-Gear with Brushless or Stepping Motor
Feedback Standard Rotary Motor Feedback: 2000 Lines/Rev Square Wave (BM Motor); 2000 Lines/Rev Square Wave and 1000 Lines/Rev Amplified Sine (BMS Motor) Rotary Motor Feedback: 2500 Lines/Rev Square Wave and 1000 Lines/Rev Amplified Sine
Direct Encoder Noncontact Rotary Encoder Directly Mounted to AGR Stage Shaft
15744 Lines/Rev 18000 Lines/Rev 23600 Lines/Rev 31488 Lines/Rev 40000 Lines/Rev
Maximum Bus Voltage BM 80 VDC 320 VDC
BMS 320 VDC
SM(1) 40 VDC 80 VDC
Limit Switches 5 V, Normally Closed or Normally Open
Home Switch Near Limit (for Limited Travel Stage Version)
  1. For SM motors with Aerotech controllers, amplifier bus voltages are 2X values listed.

 

Recommended Controller

Multi-Axis A3200 Ndrive MP10/Ndrive CP10/Npaq
Ensemble Ensemble MP10/Ensemble CP10/Epaq
Single Axis Soloist Soloist MP10/Soloist CP10
  • AGR Specifications Graph

Dimensions

  • AGR50
  • AGR50 Accessories
  • AGR75
  • AGR75 Accessories
  • AGR100
  • AGR100 Accessories
  • AGR150
  • AGR150 Accessories
  • AGR200
  • AGR200 Accessories

Ordering Information

Ordering Example

AGR100 -LI5 -NO-9DU -BMS -R -3 -SL -TTM -PLOTS

Ordering Options

Stage/ApertureLimited Travel (Optional)LimitsMotor*Motor LocationMotor OrientationSeals (Optional)Accessories (Optional)Metrology (Optional)
AGR50
AGR75
AGR100
AGR150
AGR200
-LIXXX

-NC-9DU
-NO-9DU
-NC-FLY
-NO-FLY

-NM
-SM
-BMS
-BMS-BK
-BM
-BM-BK
-BMS-AS
-BMS-AS-BK
-BM-AS
-BM-AS-BK
-R
-L
-0
-2
-3
-4
-5
-SL -TTM
-TTU
-MP
-PLOTS
    *NOTE: Motor mounting on right side of stage is standard. See CAD drawings.

Stage/Aperture

OptionDescription
AGR50 50 mm diameter clear aperture
AGR75 75 mm diameter clear aperture
AGR100 100 mm diameter clear aperture
AGR150 150 mm diameter clear aperture
AGR200 200 mm diameter clear aperture

Limited Travel Options

OptionDescription
-LIXXX XXX degrees of nominal limit travel (plus 2 degrees of overtravel per side) where XXX = 015 to 270 in 15 deg increments and 315 degrees
    Note: Standard options include unlimited travel as well as limited travels listed above.

Limit Options

OptionDescription
-NC-9DU Normally-closed end of travel limit switches w/9-pin connector
-NO-9DU Normally-open end of travel limit switches w/9-pin connector
-NC-FLY Normally-closed end of travel limit switches w/flying leads
-NO-FLY Normally-open end of travel limit switches w/flying leads

Motor

OptionDescription
-NM No motor or encoder
-SM Stepping motor; AGR50/75 (NEMA17 stepping motor); AGR100/150 (50SMB2-HM); AGR200 (310SMB3-HM)
-BMS Brushless, slotless servomotor with connectors and TTL encoder (requires motor-to-controller cable); AGR50/75 (BMS35-A-D25-E2000H); AGR100/150 (BMS60-A-D25-E2500H); AGR200 (BMS280-A-MS-E2500H)
-BMS-BK Brushless, slotless servomotor with connectors, TTL encoder, and fail-safe brake (requires motor-to-controller cable); AGR50/75 (BMS35-A-D25-E2000H-BK); AGR100/150 (BMS60-A-D25-E2500H-BK1); and AGR200 (BMS280-A-MS-E2500H-BK2)
-BM Brushless servomotor with connectors and TTL encoder (requires motor-to-controller cable); AGR50/75 (BM22-D25-E2000H); AGR100/150 (BM75-D25-E2500H); AGR200 (BM250-MS-E2500H)
-BM-BK Brushless servomotor with connectors, TTL encoder, and fail-safe brake (requires motor-to-controller cable); AGR50/75 (BM22-D25-E2000H-BK); AGR100/150 (BM75-D25-E2500H-BK1); AGR200 (BM250-MS-E2500H-BK2)
-BMS-AS Brushless, slotless servomotor with 1000-line amplified sine encoder; AGR50/75 (BMS35-A-D25-E1000ASH); AGR100/150 (BMS60-A-D25-E1000ASH); AGR200 (BMS280-AH-MS-E1000ASH)
-BMS-AS-BK Brushless, slotless servomotor with fail-safe brake and 1000-line amplified sine encoder; AGR50/75 (BMS35-A-D25-E1000ASH-BK); AGR100/150 (BMS60-A-D25-E1000ASH-BK1); AGR200 (BMS280-AH-MS-E1000ASH-BK2)
-BM-AS Brushless servomotor with 1000-line amplified sine encoder; AGR50/75 option not available; AGR100/150 (BM75-D25-E1000ASH); AGR200 (BM250-MS-E1000ASH)
-BM-AS-BK Brushless servomotor with fail-safe brake and 1000-line amplified sine encoder; AGR50/75 option not available; AGR100/150 (BM75-D25-E1000ASH-BK1); AGR200 (BM250-MS-E1000ASH-BK2)

Motor Location (Note: Motor mounting on right side [-R] is standard)

OptionDescription
-R Motor located on right side of stage housing (standard)
-L Motor located on left side of stage housing (optional)

Motor Orientation

OptionDescription
-0 No motor
-2 Bottom cable exit
-3 Left side cable exit (standard orientation)
-4 Top cable exit
-5 Right side cable exit

Seals (Optional)

OptionDescription
-SL Labyrinth seal kit

Direct Encoder Option (Optional)

OptionDescription
-AS Amplfied sine output encoder (see Electrical Specifications for fundamental resolution)
-X5 Square wave TTL output; X5 multiplication
-X50 Square wave TTL output; X50 multiplication

Accessories (Optional)

OptionDescription
-TTM Metric tabletop
-TTU English tabletop
-MP Universal English/Metric mounting plate

Metrology (Optional)

OptionDescription
-PLOTS Accuracy and repeatability performance plots