ARMS Series Rotary Motion Simulators
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- Mavis Carpenter
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1 ARMS Series Rotary Motion Simulators Designed for highly accurate motion generation Velocity stability of % over 360 Position resolution to 0.02 arc sec Payloads to 230 kg Integrated slip rings and optional rotary unions Direct-drive brushless motor options for high speed or high torque Aerotech s ARMS series direct-drive rotary motion simulators provide superior angular rates, accelerations, and positioning for the testing of inertial components and systems such as MEMS, gyroscopes, inertial measurement units, avionics, and accelerometers. Accurate Velocity and Positioning The ARMS family of stages provides excellent velocity and positioning control. When coupled with Aerotech s advanced controls, resolution can be as fine as 0.02 arc second, with accuracy to ±2.5 arc second and repeatability to ±0.5 arc second. 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. The ARMS has rate resolution down to deg/s and rate stability to %. 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 The ARMS series utilizes Aerotech s S-series brushless, slotless motor to maximize positioning performance. The S-series motor provides 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. The slotless, ironless design eliminates cogging and, therefore, produces absolutely no torque ripple. With its low inherent inertia and optimized motor design, the ARMS is capable of speeds and accelerations that are significantly higher than competing products. Low inertia and zero backlash make the ARMS the ideal solution for applications requiring frequent directional changes. Flexible Configurations Slip rings and rotary unions are standard options available to ease integration of customer devices. With various tabletop styles as well as optional HDP pedestals, customers can also tailor the mechanical interface of the ARMS stages to suit many different needs. Advanced User-Friendly Controls Aerotech rate tables are controlled with state-of-the-art Aerotech controls and drives. Our software packages are available as stand-alone applications, where no other language or compiler is needed, as well as LabVIEW, C, and.net software interfaces. Users can graphically generate their own motion profiles and execute them automatically with Aerotech s GUI Motion Designer software. Or, for users who already have their own motion simulation software, our software can easily accept files with arrays of velocity, position, and acceleration versus time profiles. This is then downloaded and run on the ARMS by our motion control software. 1
2 ARMS Series SPECIFICATIONS ARMS Series Rotary Stages ARMS Series ARMS150-M1 ARMS150-M2 ARMS200-M1 ARMS200-M2 ARMS260-M1 ARMS260-M2 Width 146 mm 196 mm 260 mm Height(1) 183 mm 246 mm 224 mm 249 mm 229 mm 250 mm Aperture(2) 8 mm 25 mm Total Travel Bus Voltage ±360 Continuous Up to 340 VDC Maximum Torque (Continuous) 2.36 N m 7.69 N m N m N m N m N m Fundamental Encoder Resolution Accuracy(3) Repeatability 16,200 lines/rev 23,600 lines/rev 32,400 lines/rev ±2.5 arc sec ±0.5 arc sec Max Load(4) Axial 30 kg 140 kg 230 kg Max Load(4) Moment 175 N m 425 N m 650 N m Tilt Error Motion Maximum Rate(5) ±1 arc sec 1500º/s Minimum Rate(6) /s /s Rate Resolution(6) /s /s Rate Stability (6) Over % Over % Over % Peak Acceleration(7) >20,000 /s2 Inertia (unloaded)(7) 6,600 kg mm2 9,700 kg mm2 33,600 kg mm2 39,800 kg mm2 115,200 kg mm2 139,000 kg mm2 Total Mass(7) 9 kg 15 kg 22 kg 26 kg 39 kg 44 kg Servo Bandwidth(8) Material Stage Finish Tabletop Finish >70 Hz (-3 db) Aluminum Black Anodize Hard Coating (62 Rockwell Hardness) Notes: 1. Height may vary with certain slip ring and rotary union options. See product dimensional drawings for more details. 2. Aperture not available with all slip ring and rotary union options. See ordering information for more details. 3. Certified with each stage. Requires the use of an Aerotech controller. 4. Maximum loads are mutually exclusive. 5. Maximum rate is based on stage capability. Actual rate may depend on encoder resolution, load, amplifier bus voltage and motor. See the S-series rotary motor for more information. 6. Minimum rate, rate resolution and rate accuracy are based on stage capability. Actual rate, resolution and accuracy may depend on encoder resolution. 7. Peak acceleration, inertia and total mass based on unloaded stage with standard diameter tabletop. 8. Servo bandwidth is based on unloaded stage with standard diameter tabletop. Actual bandwidth may depend on mass and inertia of stage payload. 2
3 ARMS Series DIMENSIONS ARMS
4 ARMS Series DIMENSIONS ARMS Series Rotary Stages ARMS150-LD 4
5 HPD150 DIMENSIONS HPD BC LEVELING FOOT EQUALLY SPACED ON BC (3) PLACES 400 SQ M12x FOR LIFTING (3) PLACES /2-13UNC SHCS FOR HARD-MOUNTING LEVELING FOOT RANGE C L C L 15 FOOT BASE THICKNESS REMOVE FOR HARD-MOUNTING NOTES: 1. SEE ARMS150 DRAWING FOR STAGE DETAILS. 2. HDP150 AS SHOWN IS CONFIGURED FOR -M1 MOTOR. CONSULT FACTORY FOR ALTERNATE CONFIGURATIONS. 3. ALL SLIP RING OPTIONS AVAILABLE. 4. ALL MOUNTING AND GRID PATTERNS AVAILABLE. 5. ALL ROTARY UNIONS OPTIONS AVAILABLE. DIMENSIONS: MILLIMETERS 5
6 ARMS Series DIMENSIONS ARMS Series Rotary Stages ARMS
7 ARMS Series DIMENSIONS ARMS200-LD 7
8 HPD200 DIMENSIONS ARMS Series Rotary Stages HPD BC LEVELING FOOT EQUALLY SPACED ON BC (3) PLACES 400 SQ M12x FOR LIFTING (3) PLACES /2-13UNC SHCS FOR HARD-MOUNTING LEVELING FOOT RANGE C L C L 15 FOOT BASE THICKNESS REMOVE FOR HARD-MOUNTING NOTES: 1. SEE ARMS200 DRAWING FOR STAGE DETAILS. 2. HDP200 AS SHOWN IS CONFIGURED FOR -M1 MOTOR. CONSULT FACTORY FOR ALTERNATE CONFIGURATIONS. 3. ALL SLIP RING OPTIONS AVAILABLE 4. ALL MOUNTING AND GRID PATTERNS AVAILABLE 5. ALL ROTARY UNION OPTIONS AVAILABLE DIMENSIONS: MILLIMETERS 8
9 ARMS Series DIMENSIONS ARMS
10 ARMS Series DIMENSIONS ARMS Series Rotary Stages ARMS260-LD 10
11 HPD260 DIMENSIONS HPD BC 500 SQ 7 LEVELING FOOT EQUALLY SPACED ON BC (3) PLACES M10x FOR LIFTING (3) PLACES /2-13UNC SHCS FOR HARD-MOUTNING LEVELING FOOT RANGE C L C L 15 FOOT BASE THICKNESS REMOVE FOR HARD-MOUNTING NOTES: 1. SEE ARMS260 DRAWING FOR STAGE DETAILS 2. HDP260 AS SHOWN IS CONFIGURED FOR -M1 MOTOR AND -SR1, -SR2, -SR5, -SR6 SLIP RING OPTIONS. CONSULT FACTORY FOR ALTERNATE CONFIGURATIONS. 3. ALL MOUNTING AND GRID PATTERNS AVAILABLE. 4. ALL ROTARY UNION OPTIONS AVAILABLE. DIMENSIONS: MILLIMETERS 11
12 ARMS Series ORDERING INFORMATION ARMS Series Rotary Stages ARMS Rotary Motion Simulator ARMS150 ARMS200 ARMS260 Tabletop (Required) -TT1 -TT2 -TT3 -TT4 -TT5 -TT6 -TT7 -TT8 Rotary motion simulator Rotary motion simulator Rotary motion simulator Tabletop, metric dimension mounting, engraved scale Tabletop, English dimension mounting, engraved scale Tabletop, aperture, metric dimension mounting, engraved scale Tabletop, aperture, English dimension mounting, engraved scale Large diameter tabletop, metric dimension mounting Large diameter tabletop with English dimension mounting Large diameter tabletop, aperture, metric dimension mounting Large diameter tabletop, aperture, English dimension mounting Motor (Required) -M1 Direct-drive brushless, slotless motor, standard torque -M2 Direct-drive brushless, slotless motor, high torque Slip-Ring (Required) -SR01 -SR02 -SR03 -SR04 -SR05 -SR06 -SR07 -SR08 -SR09 -SR10 -SR11 -SR12 -SR13 Integrated slip ring, 12 lines, 2A max current (ARMS150 and ARMS200 only) Integrated slip ring, 24 lines, 2A max current Integrated slip ring, 36 lines, 2A max current (ARMS200 only) Integrated slip ring, 48 lines, 2A max current (ARMS260 only) Integrated slip ring, 56 lines, 2A max current (ARMS200 only) Integrated slip ring, 72 lines, 2A max current (ARMS260 only) Integrated slip ring, 96 lines, 2A max current (ARMS260 only) Integrated slip ring, low-noise, 12 lines, 1A max current (ARMS150 and ARMS200 only) Integrated slip ring, low-noise, 24 lines, 1A max current with ARMS150 and ARMS200; 2A max current with ARMS260 Integrated slip ring, low-noise, 30 lines, 1A max current (ARMS200 only) Integrated slip ring, low-noise, 48 lines, 2A max current (ARMS260 only) Integrated slip ring, low-noise, 70 lines, 2A max current (ARMS260 only) Integrated slip ring, low-noise, 90 lines, 2A max current (ARMS260 only) Note: Slip ring options -SR03, -SR05, and -SR08 thru -SR13 are incompatible with all aperture tabletop options (-TT3, -TT4, -TT7, -TT8). Rotary Union (Optional) -RU1 -RU2 One (1) rotary union line for air, vacuum, or non-corrosive gas, 120 psi max Two (2) rotary union lines for air, vacuum, or non-corrosive gas, 120 psi max Note: Rotary union options are incompatible with all aperture tabletop options (-TT3, -TT4, -TT7, -TT8). Rotary unions for carrying liquids will require customized design, potentially resulting in dimensional changes to the ARMS product. Contact Aerotech to inquire. Mounting Pedestal (Optional) -HDP Mounting pedestal with adjustable, hard-mount capable leveling feet Integration (Required) Aerotech offers both standard and custom integration services to help you get your system fully operational as quickly as possible. The following standard integration options are available for this system. Please consult Aerotech if you are unsure what level of integration is required, or if you desire custom integration support with your system. -TAS -TAC Integration - Test as system Testing, integration, and documentation of a group of components as a complete system that will be used together (ex: drive, controller, and stage). This includes parameter file generation, system tuning, and documentation of the system configuration. Integration - Test as components Testing and integration of individual items as discrete components that ship together. This is typically used for spare parts, replacement parts, or items that will not be used together. These components may or may not be part of a larger system. 12
13 ARMS Series ORDERING INFORMATION Accessories (to be ordered as separate line item) MC-D15-F Connector mate, 15-Pin D-sub female MC-D15-M Connector mate, 15-Pin D-sub male MC-D25-F Connector mate, 25-Pin D-sub female MC-D25-M Connector mate, 25-Pin D-sub male 13
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