APR Series Rotary Stages APR Series Direct-Drive Rotary Stage Accuracies to 1.5 arc second load capacity up to 2 kg Incremental or absolute encoders Large bearings provide high payload and moment load capacity 375-8 rpm continuous rotation speed Seven models are available, each with either, 75, or 1 mm clear aperture APR stages are perfect for rotary testing, pointing, optical calibration systems and metrology systems. Aerotech s APR series direct-drive rotary stage is excellent for high-accuracy rotary positioning. The precisionmachined and ground stage parts coupled with highprecision 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. Superior Mechanical Design The motor and high-performance encoder are directly coupled to a common shaft, and the absence of gears, belts, or other drive-train mechanisms results in elimination of position error caused by hysteresis, windup, or backlash. Precision machining and grinding techniques used on the stage parts, along with precision angular contact bearings, ensure that tilt (wobble), axial, and radial error motions are minimized. An optional tabletop provides a larger surface area and an expanded hole pattern for payload mounting and allows for configurable limited travel options up to 27. The tabletop options also include angular graduation marks for easy visual recognition of the stage position. 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. Precisionground 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 33 www.aerotech.com
APR Series DESCRIPTION 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. Rotary Stages APR Series APR Series SPECIFICATIONS Model APR1DR-115 APR1DR-135 APR1DR-18 Drive System Slotless, brushless, direct-drive rotary motor Fundamental Resolution (Lines/Rev) 16384 -RE-AS Resolution.2/.5 arc seconds -RE-ABS (2 32 ) Resolution.31 arc seconds -RE-REH-X1 Resolution.79 arc seconds -RE-REH-X1 Resolution.79 arc seconds Maximum Bus Voltage 34 VDC Limit Switches Optional specifi ed at time of order; 5 VDC, Normally Closed Home Switch 5 VDC, Normally Closed Notes: 1. RE-AS shows 4MXU/16MXH total multiplication (including quadrature). 2. REH not available with APR1DR-115. Model APR2DR-155 APR2DR-185 APR26DR-16 APR26DR-18 Drive System Slotless, brushless, direct-drive rotary motor Fundamental Resolution (Lines/Rev) 236 32768 -RE-AS Resolution.14/.34 arc seconds.1/.25 arc seconds -RE-ABS (2 32 ) Resolution.31 arc seconds.31 arc seconds -RE-REH-X1 Resolution.55 arc seconds.4 arc seconds -RE-REH-X1 Resolution.55 arc seconds.4 arc seconds Maximum Bus Voltage 34 VDC Limit Switches Optional specifi ed at time of order; 5 VDC, Normally Closed Home Switch 5 VDC, Normally Closed Notes: 1. RE-AS shows 4MXU/16MXH total multiplication (including quadrature). 2. REH not available with APR1DR-115. www.aerotech.com 34
APR Series SPECIFICATIONS APR Series Rotary Stages APR Series APR1DR-115 APR1DR-135 APR1DR-18 Travel Accuracy Standard High Accuracy Resolution (Min. Mechanical Step) Repeatability (Bi-Directional) (1) Repeatability (Uni-Directional) Total Tilt Error Motion (1) Total Error Motion (1) Total Error Motion (1) Uncalibrated Calibrated Continuous (Optional 27 Max Limited) 45 arc sec 4 arc sec Uncalibrated N/A 4 arc sec Calibrated N/A 2 arc sec.8 arc sec 1. arc sec.75 arc sec 2. arc sec 1. μm 1. μm Maximum Speed (3) -A 6 rpm -B 8 rpm Maximum Acceleration 4 rad/s 2 625 rad/s 2 85 rad/s 2 Aperture mm Maximum Torque (Continuous) 2.85 Nm 5.6 Nm 9.29 Nm 45 kg Load Capacity 32 kg Rotor Inertia (Unloaded).47 kg-m 2.6 kg-m 2.86 kg-m 2 Stage Mass (4) 6.5 kg 8.5 kg 12.3 kg Material Aluminum; Hardcoat/Anodize Finish MTBF (Mean Time Between Failure) 2, hours Notes: 1. Certifi ed with each stage. 2. All error motion specifi cations are measured at 6 rpm. 3. Maximum speed listed is stage and motor dependent (assuming a 34 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 APR2DR-155 APR2DR-185 APR26DR-16 APR26DR-18 Travel Continuous (Optional 27 Max Limited) Uncalibrated 33 arc sec 25 arc sec Standard Calibrated 3 arc sec 2 arc sec Accuracy Uncalibrated 3 arc sec 2 arc sec High Accuracy Calibrated 1.75 arc sec 1. arc sec Resolution (Min. Mechanical Step).6 arc sec.4 arc sec Repeatability (Bi-Directional) (1) 1. arc sec.75 arc sec Repeatability (Uni-Directional). arc sec. arc sec Total Tilt Error Motion (1) 2. arc sec Total Error Motion (1) 1. μm Total Error Motion (1) 1. μm Maximum -A rpm 375 rmp Speed (3) -B 7 rpm N/A Maximum Acceleration 38 rad/s 2 44 rad/s 2 175 rad/s 2 215 rad/s 2 Aperture 75 mm 1 mm Maximum Torque (Continuous) 11.12 Nm 15.93 Nm 19.71 Nm 29.9 Nm 25 kg 2 kg Load Capacity 1 kg 135 kg Rotor Inertia (Unloaded).26 kg-m 2.32 kg-m 2.1 kg-m 2.12 kg-m 2 Stage Mass (4) 17.8 kg 22 kg 29.8 kg 35.4 kg Material Aluminum; Hardcoat/Anodize Finish MTBF (Mean Time Between Failure) 2, hours Notes: 1. Certifi ed with each stage. 2. All error motion specifi cations are measured at 6 rpm. 3. Maximum speed listed is stage and motor dependent (assuming a 34 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. 35 www.aerotech.com
APR Series SPECIFICATIONS Recommended Controller Multi-Axis A32 Ensemble APR1DR-115 APR1DR-135 APR1DR-18 APR2DR-155 APR2DR-185 Ndrive HLe/Ndrive HPe/Ndrive MP1/Ndrive CP1/Npaq Ensemble HLe/Ensemble HPe/Ensemble MP1/Ensemble CP1/Epaq Single Axis Soloist Soloist HLe/Soloist HPe/Soloist MP1/Soloist CP1 Model RE-AS Max Speed (rpm) Per Encoder Bandwidth RE-ABS REH-X1 RE-X1 APR26DR-16 APR26DR-18 REH-X1 RE-X1 APR1DR Motor Limited Motor Limited 29.8 3. APR2DR Motor Limited Motor Limited 2.7 2.1 APR26DR 375 375 14.9 1.5 Rotary Stages APR Series 45 4 35 3 25 2 15 1 5 1 1 2 2 3 Distance (mm) from Axis of Rotation () Distance (mm) from Tabletop/Shaft () 45 4 35 3 25 2 15 1 5 1 1 2 2 3 Distance (mm) from Axis of Rotation () Distance (mm) from Tabletop/Shaft () and Cantilevered Load Capability (APR1DR-115) and Cantilevered Load Capability (APR1DR-135) 45 4 35 3 25 2 15 1 5 1 1 2 2 3 Distance (mm) from Axis of Rotation () Distance (mm) from Tabletop/Shaft () and Cantilevered Load Capability (APR1DR-18) www.aerotech.com 36
APR Series SPECIFICATIONS APR Series Rotary Stages 2 2 1 1 1 1 2 2 3 Distance (mm) from Axis of Rotation () Distance (mm) from Tabletop/Shaft () 2 2 1 1 1 1 2 2 3 Distance (mm) from Axis of Rotation () Distance (mm) from Tabletop/Shaft () and Cantilevered Load Capability (APR2DR-155) and Cantilevered Load Capability (APR2DR-185) 3 3 2 2 2 1 1 2 1 1 1 1 2 2 3 1 1 2 2 3 Distance (mm) from Axis of Rotation () Distance (mm) from Tabletop/Shaft () Distance (mm) from Axis of Rotation () Distance (mm) from Tabletop/Shaft () and Cantilevered Load Capability (APR26DR-16) and Cantilevered Load Capability (APR26DR-18) 37 www.aerotech.com
APR Series DIMENSIONS APR-1 4X 7 THRU ALL 11 6 APERTURE 145.8 SQ 8X M6X1. 7 EQUALLY SPACED ON B.C. AS SHOWN Rotary Stages APR Series 125 SQ 'C' +.8 51 1 PILOT.1 E 65 B.C. FEEDBACK CONNECTOR(S) QTY : 'D' 65 78 25.4 TABLETOP OPTION MOTOR CONNECTOR.1 E 1.8 34.8 'A' 'B' 13.5 M6X1. 4.4 TYP - 3 SIDES -E- 3.9 BRAKE OPTION DIMENSIONS BASIC MODEL 'A' 'B' 'C' 'D' APR1DR-115-RE 115.1 6 177 1 APR1DR-135-RE 136.1 8 177 1 APR1DR-135-REH 136.1 8 193 2 APR1DR-18-RE 178.1 12 177 1 APR1DR-18-REH 178.1 12 193 2 12X M6X1. 7 [1/4-2.27] 4.5.1 E 142.3 123 +.8.5 E 25 TYP [1] 75 SQ [3] 25.4 PILOT DIMENSIONS: MILLIMETERS [INCHES] OPTIONAL TABLETOP W/ SCALE SCALE 1:6 www.aerotech.com 38
APR Series DIMENSIONS APR Series Rotary Stages APR-2 4X 7 THRU ALL 11 6 75 APERTURE 196.2 SQ 8X M6X1. 7 EQUALLY SPACED ON B.C. AS SHOWN 17 SQ 'C' +.8 76 1 PILOT.1 E 125 1 B.C. 65 27.5 TABLETOP OPTION FEEDBACK CONNECTOR(S) QTY: 'D' 75 MOTOR CONNECTOR.1 E 1.8 31.5 'A' 'B' 13.5 M6X1. 4.4 TYP - 3 SIDES 33.8 BRAKE OPTION -E- 192.3 173 1 [4] [2] [2] DIMENSIONS BASIC MODEL 'A' 'B' 'C' 'D' APR2DR-155-RE 154.9 8 227 1 8X M6x1. 7 [1/4-2.27] 1 [4] APR2DR-155-REH 154.9 8 244 2 APR2DR-185-RE 179.9 1 227 1 APR2DR-185-REH 179.9 1 244 2 DIMENSIONS: MILLIMETERS [INCHES] 6.4.1 E +.8 75.5 E 27.5 PILOT OPTIONAL TABLETOP W/ SCALE SCALE 1:6 39 www.aerotech.com
APR Series DIMENSIONS APR-26 4X 1 THRU ALL 15 8 1 APERTURE 26.4 SQ 8X M8X1.25 9.3 EQUALLY SPACED ON B.C. AS SHOWN Rotary Stages APR Series 23 SQ 'C' +.8 11 1 PILOT.1 E 18 14 B.C. FEEDBACK CONNECTOR(S) QTY: 'D' MOTOR CONNECTOR 65.1 E 1.8 1 27.3 TABLETOP OPTION 'A' 'B' 36.8 -E- 13.5 M8X1.25 9.3 TYP - 3 SIDES 256.3 234.8 24X M8X1.25 9.3 [5-16-18.35] 25 [1] TYP 1 [6] SQ DIMENSIONS BASIC MODEL 'A' 'B' 'C' 'D' APR26DR-16-RE 159.9 8 291 1 ADR26DR-16-REH 159.9 8 38 2 APR26DR-18-RE 18.9 1 291 1 APR26DR-18-REH 18.9 1 38 2 DIMENSIONS: MILLIMETERS [INCHES] 5.4.1 E +.8 1.5 E 27.3 PILOT OPTIONAL TABLETOP W/ SCALE SCALE 1:6 www.aerotech.com 31
APR Series ORDERING INFORMATION APR Series Rotary Stages Ordering Example APR 26DR -16 -RE-AS -A -HS -TTM -LIBRK -1 Series Width Height (mm) Feedback Motor Type Hard Stop Tabletop Brake 1DR 2DR 26DR -115-135 -18-155 -185-16 -18 -RE-AS -RE-X1 -RE-X1 -RE-ABS -REH-X1 -REH-X1 -A -B -HS -NOTT -TTM -TTU -CTBRK -LIBRK -NOBRK -CTBRKH -LIBRKH -NOBRKH Limited Travel in Degrees -1 (±5 deg travel) -2 (±1 deg travel) -4 (±2 deg travel) -6 (±3 deg travel) -8 (±4 deg travel) -1 (± deg travel) -12 (±6 deg travel) -14 (±7 deg travel) -16 (±8 deg travel) -18 (±9 deg travel) -2 (±1 deg travel) -22 (±11 deg travel) -24 (±12 deg travel) -27 (±135 deg travel) APR Series Rotary Stage APR1DR-115 Direct-drive rotary table with mm clear aperture and 2.36 Nm continuous torque APR1DR-135 Direct-drive rotary table with mm clear aperture and 4.18 Nm continuous torque APR1DR-18 Direct-drive rotary table with mm clear aperture and 7.69 Nm continuous torque APR2DR-155 Direct-drive rotary table with 75 mm clear aperture and 11.12 Nm continuous torque APR2DR-185 Direct-drive rotary table with 75 mm clear aperture and 15.93 Nm continuous torque APR26DR-16 Direct-drive rotary table with 1 mm clear aperture and 19.71 Nm continuous torque APR26DR-18 Direct-drive rotary table with 1 mm clear aperture and 29.9 Nm continuous torque Feedback -RE-AS -RE-X1 -RE-X1 -RE-ABS -REH-X1 -REH-X1 Rotary encoder, amplified sine Rotary encoder, X1 digital Rotary encoder, X1 digital Rotary encoder, absolute (compatible with HPe, HLe, CP, CL drives only) Rotary encoder, high accuracy, X1 digital (not available for APR1DR-115) Rotary encoder, high accuracy, X1 digital (not available for APR1DR-115) Motor Type -A Motor winding: low current -B Motor winding: high speed, low voltage (not available for APR26DR) Hard Stop -HS Hardstop-to-hardstop distance is discretely adjustable from 14 deg up to 29 deg in increments of 11.25 deg Note: Tabletop option (-TTM or -TTU) and Limited Travel (-1, -2, etc.) must be selected for the hardstop option. Tabletop -NOTT -TTM -TTU No tabletop option Metric graduated tabletop English graduated tabletop Brake Not applicable for APR26DR -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 APR1DR-115) -LIBRKH Brake option for limited travel with high-accuracy feedback (not available for APR1DR-115) -NOBRKH No brake option with high-accuracy feedback (not available for APR1DR-115) Limited Travel -1/2/4/6/8/1/12/14/16/18/2/22/24/27 (±5, ±1, ±2 ±135 deg nominal travel) Note: 36 deg continuous travel does not require selection. Travels contain an extra 1.5 deg per side limit-limit travel (Ex: -27: ±135 deg nominal travel, ±136.5 deg limit-limit travel). 311 www.aerotech.com