APR Mechanical-Bearing Direct-Drive Rotary Stage

Description

Design Features

  • Accuracies up to 1.5 arc second
  • Axial load capacity up to 250 kg
  • Incremental or absolute encoders
  • Large bearings provide high payload and moment load capacity
  • 375-800 rpm continuous rotation speed
  • Seven models are available, each with either 50, 75 or 100 mm clear aperture

Aerotech’s APR series direct-drive rotary stage is excellent for high-accuracy rotary positioning. The precision-machined and ground stage parts coupled with high-precision angular contact bearings result in exceptionally low error motions, accuracy errors and repeatability errors. In addition, high resolution optical encoders provide excellent pointing capability with low-jitter velocity tracking.

Applications

The APR stages are perfect for rotary testing, pointing, optical calibration systems and metrology systems. Several more specific applications include single and multi-axis electro-optic sensor testing, resolver or optical encoder accuracy testing, missile seeker testing, antenna testing, inertial navigation device testing, photonic component alignment, high-accuracy laser machining and precision wafer inspection. Multiple APR stages can be combined for high-accuracy azimuth/elevation or azimuth/roll systems. Vacuum-prepared and other customized versions are also available for specialized applications.

Accurate Positioning with Incremental or Absolute Encoders

The APR provides the flexibility of using high-resolution absolute or incremental optical encoders. The absolute encoder option allows instant initialization at the time of power up and eliminates the need for a home cycle. Incremental encoders are available for a cost-effective, accurate, high resolution, high dynamic performance stage. Both incremental and absolute encoders provide exceptional accuracy and fine stepping capability. The APR stages are available with high-accuracy encoder options. In addition, calibration can be employed to further improve the accuracy of all APR stages.

Low Total Indicator Runout (TIR) Mounting Surfaces

On standard APR stages, the payload is mounted directly to the precision-ground stage shaft via an eight-bolt hole pattern on the top of the shaft. The top surface and the aperture of the shaft are precision–machined for minimal surface runout with respect to stage motion. Precision-ground tabletop options provide more traditional metric or English hole-patterns while maintaining low surface runout of the tabletop mounting surface and aperture.

High Speed, High Bandwidth

Rapid acceleration and high velocity are key features of the APR stages. Customers can command rapid incremental or continuous rotary motion with the high-torque brushless motors in the APRs. Due to the direct-drive motor and the stage’s high stiffness, the APR can provide high-bandwidth motion for oscillations, motion profiling and rapid position or velocity tracking.

Brushless Direct-Drive

To maximize positioning performance, the APR series utilizes Aerotech’s brushless, slotless motors. Various winding options and motor stack heights are available for applications ranging from high-speed at a low input voltage or low current to high torque at a higher voltage. The motors are noncontact, so there are no brushes or gears to maintain. This allows the APR stages to provide many years of high performance operation with low cost of ownership. The motor’s slotless, ironless construction features almost zero cogging (torque ripple). This makes the APR ideal for applications requiring outstanding contoured motion, smooth scan velocity and precision motion profiling.

High Load Capacity and Large Moment Stiffness

Sturdy stage construction and separated angular contact bearings result in large load capacity and high moment stiffness for the APR stages. The APRs can excel in applications where the rotation axis is parallel or perpendicular to gravity and the payload center of gravity is cantilevered away from the stage.

Flexible Controller Configurations

Aerotech designs and manufactures a wide range of servo amplifiers and advanced controllers to provide a complete, integrated electro-mechanical package. Aerotech linear amplifiers provide the most precise positioning for demanding accuracy and in-position stability. Aerotech PWM digital drives provide high power for rapid acceleration and high torque applications. Whatever your application, Aerotech can provide a complete motion system solution to perfectly match your requirements.

Specifications

APR Series Specifications

ModelAPR150DR-115APR150DR-135APR150DR-180
Travel Continuous (Optional 270° Max Limited)
Accuracy Standard Uncalibrated 45 arc sec
Calibrated 4 arc sec
High Accuracy Uncalibrated N/A 4 arc sec
Calibrated N/A 2 arc sec
Resolution (Min. Mechanical Step) 0.08 arc sec
Bidirectional Repeatability(1) 1.50 arc sec
Unidirectional Repeatability 0.75 arc sec
Total Tilt Error Motion(1) 2.00 arc sec
Total Axial Error Motion(1) 1.50 µm
Total Radial Error Motion(1) 1.50 µm
Maximum Speed(3) -A 600 rpm
-B 800 rpm
Maximum Acceleration 450 rad/s2 625 rad/s2/td> 805 rad/s2
Aperture 50 mm
Maximum Torque (Continuous) 2.36 N·m 4.18 N·m 7.69 N·m
Load Capacity Axial 45 kg
Radial 32 kg
Rotor Inertia (Unloaded) 0.0047 kg·m2 0.0060 kg·m2 0.0086 kg·m2
Stage Mass(4) 6.5 kg 8.5 kg 12.3 kg
Material Aluminum; Hardcoat/Anodize Finish
MTBF (Mean Time Between Failure) 20,000 hours
  1. Certified with each stage.
  2. All error motion specifications are measured at 60 rpm.
  3. Maximum speed listed is stage and motor dependent (assuming a 340 V bus). Actual speed may be lower due to motor back emf or encoder bandwidth (see Encoder Bandwidth table). Consult an Aerotech Applications Engineer for more details.
  4. Mass listed is for the standard stage option (no brake and no tabletop). Consult Aerotech if brake and tabletop masses are desired.

APR Series Specifications

ModelAPR200DR-155 APR200DR-185 APR260DR-160 APR260DR-180
Travel Continuous (Optional 270° Max Limited)
Accuracy Standard Uncalibrated 33 arc sec 25 arc sec
Calibrated 3 arc sec 2 arc sec
High Accuracy Uncalibrated 3 arc sec 2 arc sec
Calibrated 1.75 arc sec 1.50 arc sec
Resolution (Min. Mechanical Step) 0.06 arc sec 0.04 arc sec
Bidirectional Repeatability(1) 1.00 arc sec 0.75 arc sec
Unidirectional Repeatability 0.50 arc sec 0.50 arc sec
Total Tilt Error Motion(1) 2.00 arc sec
Total Axial Error Motion(1) 1.50 µm
Total Radial Error Motion(1) 1.50 µm
Maximum Speed(3) -A 500 rpm 375 rpm
-B 700 rpm N/A
Maximum Acceleration 380 rad/s2 440 rad/s2 175 rad/s2 215 rad/s2
Aperture 75 mm 100 mm
Maximum Torque (Continuous) 11.12 N·m 15.93 N·m 19.71 N·m 29.09 N·m
Load Capacity Axial 205 kg 250 kg
Radial 100 kg 135 kg
Rotor Inertia (Unloaded) 0.026 kg·m2 0.032 kg·m2 0.10 kg·m2 0.12 kg·m2
Stage Mass(4) 17.8 kg 22 kg 29.8 kg 35.4 kg
Material Aluminum; Hardcoat/Anodize Finish
MTBF (Mean Time Between Failure) 20,000 hours
  1. Certified with each stage.
  2. All error motion specifications are measured at 60 rpm.
  3. Maximum speed listed is stage and motor dependent (assuming a 340 V bus). Actual speed may be lower due to motor back emf or encoder bandwidth (see Encoder Bandwidth table). Consult an Aerotech Applications Engineer for more details.
  4. Mass listed is for the standard stage option (no brake and no tabletop). Consult Aerotech if brake and tabletop masses are desired.

Recommended Controller

Multi-Axis A3200 Ndrive HLe/Ndrive HPe/Ndrive MP10/Ndrive CP10/Npaq
Ensemble Ensemble HLe/Ensemble HPe/Ensemble MP10/Ensemble CP10/Epaq
Single Axis Soloist Soloist HLe/Soloist HPe/Soloist MP10/Soloist CP10

Max Speed (rpm) Per Encoder Bandwidth

ModelRE-ASRE-ABSREH-X1000
RE-X1000
REH-X10000
RE-X10000
APR150DR Motor Limited Motor Limited 29.8 3.0
APR200DR Motor Limited Motor Limited 20.7 2.1
APR260DR 375 375 14.9 1.5

Motor & Resolution Specifications

Model APR150DR-115 APR150DR-135 APR150DR-180
Drive System
Slotless, brushless, direct-drive rotary motor
Fundamental Resolution (Lines/Rev) 16384
-RE-AS Resolution
0.020/0.005 arc seconds
-RE-ABS (232) Resolution
0.000301 arc seconds
-RE-REH-X1000 Resolution
0.079 arc seconds
-RE-REH-X10000 Resolution
0.0079 arc seconds
Maximum Bus Voltage 340 VDC
Limit Switches Optional – specified at time of order; 5 VDC Normally Closed
Home Switch 5 VDC Normally Closed
  1. RE-AS shows 4000MXU/16000MXH total multiplication (including quadrature).
  2. REH not available with APR150DR-115.

Motor & Resolution Specifications

Model APR200DR-155 APR200DR-185 APR260DR-160 APR260DR-180
Drive System
Slotless, brushless, direct-drive rotary motor
Fundamental Resolution (Lines/Rev) 23600 32768
-RE-AS Resolution
0.014/0.0034 arc seconds 0.010/0.0025 arc seconds
-RE-ABS (232) Resolution
0.000301 arc seconds 0.000301 arc seconds
-RE-REH-X1000 Resolution
0.055 arc seconds 0.04 arc seconds
-RE-REH-X10000 Resolution
0.0055 arc seconds 0.004 arc seconds
Maximum Bus Voltage 340 VDC
Limit Switches Optional – specified at time of order; 5 VDC Normally Closed
Home Switch 5 VDC Normally Closed
  1. RE-AS shows 4000MXU/16000MXH total multiplication (including quadrature).
  2. REH not available with APR150DR-115.
  • Load Plots 150
  • Load Plots 200/260

Dimensions

  • APR-150
  • APR-200
  • APR-260

Ordering Information

Ordering Example

APR 260DR -160 -RE-AS -A -HS -TTM -LIBRK -100

Ordering Options

SeriesWidthHeight (mm)FeedbackMotor TypeHard StopTabletopBrakeLimited Travel in Degrees
APR 150DR
200DR
260DR
-115
-135
-180
-155
-185
-160
-180
-RE-AS
‑RE‑X1000
-RE-X10000
-RE-ABS
-REH-X1000
‑REH‑X10000
-A
-B
-HS -NOTT
-TTM
-TTU
-CTBRK
-LIBRK
-NOBRK
‑CTBRKH
-LIBRKH
-NOBRKH
‑10 (±5 deg travel)
-20 (±10 deg travel)
-40 (±20 deg travel)
-60 (±30 deg travel)
-80 (±40 deg travel)
-100 (±50 deg travel)
-120 (±60 deg travel)
-140 (±70 deg travel)
-160 (±80 deg travel)
-180 (±90 deg travel)
-200 (±100 deg travel)
-220 (±110 deg travel)
-240 (±120 deg travel)
-270 (±135 deg travel)

APR Series Rotary Stage

OptionDescription
APR150DR‑115 Direct-drive rotary table with 50 mm clear aperture and 2.36 Nm continuous torque
APR150DR-135 Direct-drive rotary table with 50 mm clear aperture and 4.18 Nm continuous torque
APR150DR-180 Direct-drive rotary table with 50 mm clear aperture and 7.69 Nm continuous torque
APR200DR-155 Direct-drive rotary table with 75 mm clear aperture and 11.12 Nm continuous torque
APR200DR-185 Direct-drive rotary table with 75 mm clear aperture and 15.93 Nm continuous torque
APR260DR-160 Direct-drive rotary table with 100 mm clear aperture and 19.71 Nm continuous torque
APR260DR-180 Direct-drive rotary table with 100 mm clear aperture and 29.09 Nm continuous torque

Feedback

OptionDescription
-RE-AS Rotary encoder, amplified sine
-RE-X1000 Rotary encoder, X1000 digital
-RE-X10000 Rotary encoder, X10000 digital
-RE-ABS Rotary encoder, absolute (compatible with HPe, HLe, CP, CL drives only)
-REH-X1000 Rotary encoder, high accuracy, X1000 digital (not available for APR150DR-115)
‑REH‑X10000 Rotary encoder, high accuracy, X10000 digital (not available for APR150DR-115)

Motor Type

OptionDescription
-A Motor winding: low current
-B Motor winding: high speed, low voltage (not available for APR260DR)

Hardstop

OptionDescription
-HS Hardstop-to-hardstop distance is discretely adjustable from 14 deg up to 290 deg in increments of 11.25 deg
    Note: Tabletop option (-TTM or -TTU) and Limited Travel (-10, -20, etc.) must be selected for the hardstop option.

Tabletop

OptionDescription
-NOTT No tabletop option
-TTM Metric graduated tabletop
-TTU English graduated tabletop

Brake – Not applicable for APR260DR

OptionDescription
-CTBRK Brake option for continuous travel
-LIBRK Brake option for limited travel
-NOBRK No brake option
-CTBRKH Brake option for continuous travel with high accuracy feedback (not available for APR150DR-115)
-LIBRKH Brake option for limited travel with high accuracy feedback (not available for APR150DR-115)
‑NOBRKH No brake option with high accuracy feedback (not available for APR150DR-115)

Limited Travel (Option)

Description
-10/20/40/60/80/100/120/140/160/180/200/220/240/270 (±5, ±10, ±20...±135 deg nominal travel)
    Note: 360 deg continuous travel does not require selection. Travels contain an extra 1.5 deg per side limit-limit travel (Ex: -270: ±135 deg nominal travel, ±136.5 deg limit-limit travel).