AXR Mechanical-Bearing 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.
Specifications
Mechanical Specifications
| Model | AXR-100 | AXR-150 | ||||
|---|---|---|---|---|---|---|
| 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 | |
| Bidirectional Repeatability(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 | ±10 µm | ||||
| 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) | 4.18 N-m | 0.2 N-m | 11.12 N-m | 305 N-m 605 N-m 964 N-m |
2.36 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 | ||
- Certified with each stage.
- On-axis loading is listed.
- All error motion specifications are measured at 60 rpm.
- For high speed operation, customer payload must be balanced to G1.0 per ISO 1940.
- 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.
- Mass listed is the combined mass of both A and B axes.
Electrical Specifications
| Model | AXR-100 | AXR-150 | |||
|---|---|---|---|---|---|
| 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 | 320 VDC | 320 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
| Multi-Axis | A3200 | Ndrive MP10/Ndrive CP10/Npaq |
| Ensemble | Ensemble MP10/Ensemble CP10/Epaq | |
| Single Axis | Soloist | Soloist MP10/Soloist CP10 |
Dimensions
-
AXR-100 
-
AXR-150 
Ordering Information
Ordering Example
| AXR | -100D | -0 | -B | -S | -CW4 |
Ordering Options
| Series | Axis Configuration | Yaw 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 AXR-100D and AXR-150x located at the center of rotation of the tilt (A) axis; no counterweight attachment supported |
| -0E | Yaw (B) axis tabletop height of AXR-100D and AXR-150D located at the center of rotation of the tilt (A) axis; includes attachment features for counterweights to balance offset loads |
| Note: 0E option not available on gear-driven AXRs (-150G). Gearbox has sufficient holding torque to balance maximum moment load. | |
| -100 | Yaw (B) axis tabletop height for AXR-100D 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 (209.5 mm) diameter manual scroll chuck; chuck jaws of AXR-100D 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 AXR-150x 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 AXR-150x 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 |
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 |
|---|---|
| CCW1 | Counterweight kit for AXR-100 (-100, -100C) for offset loads ranging from: -100: 23.5 N-m to 338 N-m -100c: 48 N-m to 242 N-m |
| CCW2 | Counterweight kit for AXR-100 (-100, -100C) for offset loads ranging from: -100: 1.4 N-m to 48 N-m -100c: 6 N-m to 36 N-m |
| CCW3 | Counterweight kit for AXR-100 (-100) for offset loads of 41.3 N-m |
| CCW4 | Counterweight kit for AXR-100 (-100C) for offset loads of 23.4 N-m |
| CCW5 | Counterweight kit for AXR-100 (-0E) for offset loads ranging from 10.8 N-m to 54.2 N-m |
| CCW6 | Counterweight kit for AXR-100 (-0E) for offset loads ranging from 31.1 N-m to 124.4 N-m |
| CCW7 | Counterweight kit for AXR-100 (-0E) for offset loads of 15.7 N-m |
| CCW8 | Counterweight kit for AXR-100 (-0E) for offset loads of 13.1 N-m |
- Offset loads include both the payload and stage unbalance.
- A linear combination of counterweight kits can be employed to achieve balance. See counterbalance chart to determine if application falls within balance limits.