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| Aperture |
100 mm (3.94 in) |
100 mm (3.94 in) |
150 mm (5.91 in) |
150 mm (5.91 in) |
| Motor |
S-180-44-A |
Brushless Slotless |
S-240-43-A |
Brushless Slotless |
|
Continuous Current |
Apk |
2.7 A |
5.76 A |
6.2 A |
5.41 A |
| Arms |
1.9 A |
4.1 A |
4.4 A |
4.1 A |
| Bus Voltage |
Up to 320 VDC |
| Length |
250 mm (9.84 in) |
250 mm (9.84 in) |
300 mm (11.81 in) |
300 mm (11.81 in) |
| Width |
250 mm (9.84 in) |
250 mm (9.84 in) |
300 mm (11.81 in) |
300 mm (11.81 in) |
| Height |
100 mm (3.94 in) |
65 mm (2.56 in) |
100 mm (3.94 in) |
65 mm (2.56 in) |
| Unlimited
Travel |
Yes |
| Maximum
Limited Travel |
±170° |
±170° |
±170° |
±170° |
| Maximum
Velocity @ 160 V Bus |
300 rpm |
50 rpm |
250 rpm |
45 rpm |
| Maximum
Acceleration |
1364 rad/s2 |
1009 rad/s2 |
1330 rad/s2 |
829 rad/s2 |
| Resolution(1) |
0.1 µrad (0.02 arc-sec) |
0.1 µrad (0.02 arc-sec) |
0.08 µrad (0.016 arc-sec) |
0.09 µrad (0.018 arc-sec) |
| Maximum
Torque |
23.9 N-m (211.5 lb-in) |
11.9 N-m (105.3 lb-in) |
42.9 N-m (379.7 lb-in) |
14.5 N-m (128.3 lb-in) |
| Continuous
Torque |
6.0 N-m (53.1 lb-in) |
2.0 N-m (17.7 lb-in) |
10.7 N-m (94.7 lb-in) |
2.5 N-m (22.1 lb-in) |
| Weight |
160 N (36 lb) |
81 N (18.1 lb) |
182 N (41 lb) |
96 N (21.6 lb) |
| Weight
with Limits |
167 N (37.5 lb) |
87 N (19.6 lb) |
192 N (43.2 lb) |
106 N (23.8 lb) |
| Shaft Inertia |
0.022
kg-m2 |
0.022
kg-m2 |
0.040
kg-m2 |
0.031
kg-m2 |
| Shaft Inertia
with Limits |
0.026
kg-m2 |
0.026
kg-m2 |
0.051
kg-m2 |
0.042
kg-m2 |
| Axial
Load |
1550 N (348 lb) |
1175 N (264 lb) |
1950 N (438 lb) |
1325 N (298 lb) |
| Radial
Load |
1350 N (303 lb) |
950 N (214 lb) |
1925 N (433 lb) |
1275 N (287 lb) |
| Moment
Load |
250 N-m |
150(2) N-m |
450 N-m |
225(2) N-m |
| Repeatability |
±2.4 µrad (±0.5 arc sec) |
| Accuracy(3) |
±18.9 µrad (±3.9 arc sec) |
| Tilt-Error Motion |
9.7 µrad (2.0 arc sec) |
Note:
1. Resolution assumes -AS encoder with 2000X controller multiplication.
2. The ALAR-LP base must be fully supported by a rigid mounting
plate to achieve this moment load.
3. Accuracy assumes calibration.
| Aperture |
200 mm (7.87 in) |
200 mm (7.87 in) |
250 mm (9.84 in) |
250 mm (9.84 in) |
| Motor |
Brushless Slotless |
|
Continuous Current |
Apk |
5.3 |
5.3 |
7.95 |
5.3 |
|
Arms |
3.76 |
3.76 |
5.62 |
3.74 |
| Bus Voltage |
Up to 320 VDC |
| Length |
400 mm (15.75 in) |
400 mm (15.75 in) |
450 mm (17.72 in) |
450 mm (16.73 in) |
| Width |
400 mm (15.75 in) |
400 mm (15.75 in) |
450 mm (17.72 in) |
450 mm (17.72 in) |
| Height |
150 mm (5.91 in) |
100 mm (3.94 in) |
150 mm (5.91 in) |
100 mm (3.94 in) |
| Unlimited
Travel |
Yes |
| Maximum
Limited Travel |
±170° |
±170° |
±170° |
±170° |
| Maximum
Velocity |
90 rpm |
90 rpm |
140 rpm |
90 rpm |
| Maximum
Acceleration |
361 rad/s2 |
570 rad/s2 |
287 rad/s2 |
407 rad/s2 |
| Resolution(1) |
0.06 µrad (0.012 arc-sec) |
0.07 µrad (0.014 arc-sec) |
0.05 µrad (0.01 arc-sec) |
0.05 µrad (0.01 arc-sec) |
| Maximum
Torque |
86 N-m (761.2 lb-in) |
86 N-m (761.2 lb-in) |
140 N-m (1239.1 lb-in) |
100 N-m (885.1 lb-in) |
| Continuous
Torque |
13.1 N-m (115.9 lb-in) |
13.1 N-m (115.9 lb-in) |
21.4 N-m (189.4 lb-in) |
15.3 N-m (135.4 lb-in) |
| Weight |
395.9 N (89 lb) |
277 N (62.3 lb) |
502.6 N (113 lb) |
343 N (77.1 lb) |
| Weight with
Limits |
422.6 N (95 lb) |
295 N (66.4 lb) |
533.8 N (120 lb) |
367 N (82.6 lb) |
| Shaft Inertia |
0.320 kg-m2 |
0.190 kg-m2 |
0.500 kg-m2 |
0.310 kg-m2 |
| Shaft Inertia
with Limits |
0.359 kg-m2 |
0.229 kg-m2 |
0.573 kg-m2 |
0.383 kg-m2 |
| Axial Load |
4675 N (1051 lb) |
4350 N (978 lb) |
4950 N (1113 lb) |
4950 N (1113 lb) |
| Radial Load |
4775 N (1073 lb) |
4125 N (927 lb) |
5200 N (1169 lb) |
5050 N (1135 lb) |
| Moment Load |
1600 N-m |
1075(2) N-m |
1825 N-m |
1475(2) N-m |
| Repeatability |
±2.4 µrad (±0.5 arc sec) |
| Accuracy(3) |
±18.9 µrad (±3.9 arc sec) |
| Tilt-Error Motion |
9.7 µrad (2.0 arc sec) |
Note:
1. Resolution assumes -AS encoder with 2000X controller multiplication.
2. The ALAR-LP base must be fully supported by a rigid mounting
plate to achieve this moment load.
3. Accuracy assumes calibration.
| Aperture |
325 mm (12.80 in) |
325 mm (12.80 in) |
| Motor |
Brushless Slotless |
|
Continuous Current |
Apk |
7.7 A |
5.1 A |
|
Arms |
5.48 A |
3.63 A |
| Bus Voltage |
Up to 320 VDC |
| Length |
525 mm (20.67 in) |
525 mm (20.67 in) |
| Width |
525 mm (20.67 in) |
525 mm (20.67 in) |
| Height |
150 mm (5.91 in) |
100 mm (3.94 in) |
| Unlimited
Travel |
Yes |
| Maximum
Limited Travel |
±170° |
±170° |
| Maximum
Velocity |
150 rpm |
120 rpm |
| Maximum
Acceleration |
185 rad/s2 |
339 rad/s2 |
| Resolution(1) |
0.04 µrad (0.009 arc-sec) |
0.04 µrad (0.009 arc-sec) |
| Maximum
Torque |
217 N-m (1920.6 lb-in) |
145.1 N-m (1284.2 lb-in) |
| Continuous
Torque |
35.6 N-m (315.1 lb-in) |
23.7 N-m (209.8 lb-in) |
| Weight |
600 N (135 lb) |
435.9 N (98 lb) |
| Weight with
Limits |
636.1 N (143 lb) |
489.3 N (110 lb) |
Shaft Inertia |
1.01 kg-m2 |
0.55 kg-m2 |
Shaft Inertia with Limits |
1.2 kg-m2 |
0.675 kg-m2 |
| Axial Load |
5825 N (1310 lb) |
5825 N (1310 lb) |
| Radial Load |
6650 N (1495 lb) |
6450 N (1450 lb) |
| Moment Load |
2650 N-m |
2200(2) N-m |
| Repeatability |
±2.4 µrad (±0.5 arc sec) |
| Accuracy(3) |
±18.9 µrad (±3.9 arc sec)) |
| Tilt-Error Motion |
9.7 µrad (2.0 arc sec) |
Note:
1. Resolution assumes -AS encoder with 2000X controller multiplication.
2. The ALAR-LP base must be fully supported by a rigid mounting
plate to achieve this moment load.
3. Accuracy assumes calibration.
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