Description
Design Features
5 different aperture sizes: 100 mm, 150 mm, 200 mm, 250 mm, 325 mm
Axial load capacity up to 595 kg; radial loads to 680 kg
Excellent accuracy and repeatability
Cog free motor provides smooth motion
No accuracy changes over time from gear wear
45-300 rpm continuous rotation speed
Vacuum compatible versions available
Absolute encoder options
Aerotech’s ALAR series direct-drive rotary stages provide superior angular positioning and velocity control with exceptionally large apertures. With the combination of a large aperture and direct-drive motor, the ALAR series makes worm-drive large aperture stages a thing of the past.
Advantage ALAR
Now customers can get large aperture rotary stages with zero backlash and no gear wear or gear vibration as is commonly seen in worm-drive stages. The other added benefit is that direct drive is significantly faster than worm drive, so testing can be completed in less time. In production settings, this equates to faster testing, lower cost manufacturing and higher profits. From the standpoint of system accuracy and repeatability, the stage will maintain its performance over time with no need for maintenance because there are no gears to wear out. With higher accuracy and no backlash, customers can produce more accurate products because their test system is now more accurate.
Applications
Applications for the ALAR include single and multi-axis electro-optic sensor testing, missile seeker testing, antenna testing, inertial navigation device testing, photonic component alignment, high-accuracy laser machining and precision wafer inspection. These include testing in vacuum to 10-6 Torr. These rotary stages can also be configured as multi-axis gimbals.
High Speed
ALAR stages can operate between 45-300 rpm, depending on the particular model selected. This speed range is significantly higher than gear-drive stages of similar size.
Superior Mechanical Design
Angular contact bearings are used to maximize performance with respect to tilt error, moment stiffness and rotating friction. A precision-machined shaft further minimizes tilt error. The design incorporates integral connections that minimize cable issues. The ALAR works especially well in applications that require 360° continuous motion but have limited space. The stage is 65-160 mm tall and provides smooth motion without travel restrictions.
Brushless Direct-Drive
To maximize positioning performance, the ALAR series utilizes Aerotech’s brushless, slotless motors. This motor has 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. Since it is a slotless, ironless design, there is zero cogging, meaning there is absolutely no torque ripple. This makes the ALAR ideal for applications requiring outstanding contoured motion, smooth scan velocity or precise incremental steps.
High Payload Capacity and Large Moment Load Stiffness
The ALAR comes in two different configurations. The standard profile (SP) unit has high payload capacity and high moment load stiffness so it can handle applications where its rotation axis is parallel or perpendicular to gravity and the payload center of gravity is cantilevered away from the stage. The low profile (LP) unit has high payload capacity and is good for applications where the axis of rotation is parallel to gravity. Both the SP and LP units have the same aperture options. Either SP or LP stages can handle between 260-1300 lb of axial load.
Accurate Positioning
Performance is assured with encoder line counts from 31000 to 76800 per rev, resulting in resolutions from 0.02 arc sec/count to 0.009 arc sec/count. 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. As a result, accuracy of ±2 arc sec and bi-directional repeatability of ±0.5 arc sec is attainable.
Flexible Configurations
Aerotech manufactures a wide range of servo amplifiers and advanced controllers to provide a complete, integrated package.
Specifications
ALAR Series Specifications
| Model | ALAR100SP | ALAR100LP | ALAR150SP | ALAR150LP |
|---|
| Aperture | 100 mm | 100 mm | 150 mm | 150 mm |
| Motor | 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 |
| Peak Current, Stall | Apk | 10.8 A | 33.5 A | 24.8 A | 31.4 A |
| Arms | 7.6 A | 23.7 A | 17.5 A | 22.2 A |
| Bus Voltage | Up to 340 VDC |
| Unlimited Travel | Yes |
| Maximum Limited Travel | ±170° | ±170° | ±170° | ±170° |
| Maximum Velocity @ 160 V Bus(1) | 300 rpm | 50 rpm | 250 rpm | 45 rpm |
| Maximum Acceleration | 1364 rad/s2 | 1009 rad/s2 | 1330 rad/s2 | 829 rad/s2 |
| Resolution (Min. Incremental Motion)(2) | 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) |
| Incremental Encoder Line Count | 31,488 lines/rev | 31,488 lines/rev | 40,000 lines/rev | 36,000 lines/rev |
| Maximum Torque | 23.9 N·m | 17.5 N·m | 42.9 N·m | 22.9 N·m |
| Continuous Torque | 6.0 N·m | 3.0 N·m | 10.7 N·m | 4.0 N·m |
| Stage Mass | 16.3 kg | 8.3 kg | 18.6 kg | 9.8 kg |
| Stage Mass with Limits | 17 kg | 8.9 kg | 19.6 kg | 10.8 kg |
| 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(3) N·m | 450 N·m | 225(3) N·m |
| Repeatability | ±2.4 µrad (±0.5 arc sec) |
| Accuracy(4) | ±9.7 µrad (±2 arc sec) |
| Tilt-Error Motion | 9.7 µrad (2.0 arc sec) |
ALAR Series Specifications
| Model | ALAR200SP | ALAR200LP | ALAR250SP-M1 | ALAR250SP-M2 | ALAR250LP |
|---|
| Aperture | 200 mm | 200 mm | 250 mm | 250 mm | 250 mm |
| Motor | Brushless Slotless |
| Continuous Current | Apk | 5.3 | 5.3 | 5.3 | 7.95 | 5.3 |
| Arms | 3.75 | 3.75 | 3.75 | 5.62 | 3.75 |
| Peak Current, Stall | Apk | 34.8 | 34.8 | 34.8 | 52.2 | 34.8 |
| Arms | 24.6 | 24.6 | 24.6 | 36.9 | 24.6 |
| Bus Voltage | Up to 340 VDC |
| Unlimited Travel | Yes |
| Maximum Limited Travel | ±170° | ±170° | ±170° | ±170° | ±170° |
| Maximum Velocity(1) | 90 rpm | 90 rpm | 140 rpm | 140 rpm | 90 rpm |
| Maximum Acceleration | 361 rad/s2 | 570 rad/s2 | 287 rad/s2 | 287 rad/s2 | 407 rad/s2 |
| Resolution (Min. Incremental Motion) (2) | 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) | 0.05 µrad
(0.01 arc sec) |
| Incremental Encoder Line Count | 55,040 lines/rev | 47,200 lines/rev | 64,800 lines/rev | 64,800 lines/rev | 55,040 lines/rev |
| Maximum Torque | 126.8 N·m | 126.8 N·m | 137.8 N·m | 206.7 N·m | 147.9 N·m |
| Continuous Torque | 19.3 N·m | 19.3 N·m | 21.0 N·m | 31.5 N·m | 22.5 N·m |
| Stage Mass | 40.4 kg | 28.2 kg | 51.3 kg | 51.3 kg | 35.0 kg |
| Stage Mass with Limits | 43.1 kg | 30.1 kg | 54.5 kg | 54.5 kg | 37.4 kg |
| Shaft Inertia | 0.320 kg·m2 | 0.190 kg·m2 | 0.500 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 | 0.573 kg·m2 | 0.383 kg·m2 |
| Axial Load | 4675 N (1051 lb) | 4350 N (978 lb) | 4950 N (1113 lb) | 4950 N (1113 lb) | 4950 N (1113 lb) |
| Radial Load | 4775 N (1073 lb) | 4125 N (927 lb) | 5200 N (1169 lb) | 5200 N (1169 lb) | 5050 N (1135 lb) |
| Moment Load | 1600 N·m | 1075(3) N·m | 1825 N·m | 1825 N·m | 1475(3) N·m |
| Repeatability | ±2.4 µrad (±0.5 arc sec) |
| Accuracy(4) | ±9.7 µrad (±2 arc sec) |
| Tilt-Error Motion | 9.7 µrad (2.0 arc sec) |
ALAR Series Specifications
| Model | ALAR325SP-M1 | ALAR325SP-M2 | ALAR325LP |
|---|
| Aperture | 325 mm | 325 mm | 325 mm |
| Motor | Brushless Slotless |
| Continuous Current | Apk | 5.1 | 7.65 | 5.1 |
| Arms | 3.63 | 5.41 | 3.63 |
| Peak Current, Stall | Apk | 31.2 | 46.8 | 31.2 |
| Arms | 22.1 | 33.1 | 22.1 |
| Bus Voltage | Up to 340 VDC |
| Unlimited Travel | Yes |
| Maximum Limited Travel | ±170° | ±170° | ±170° |
| Maximum Velocity(1) | 150 rpm | 150 rpm | 120 rpm |
| Maximum Acceleration | 185 rad/s2 | 185 rad/s2 | 339 rad/s2 |
| Resolution (Min. Incremental Motion)(2) | 0.04 µrad (0.009 arc sec) | 0.04 µrad (0.009 arc sec) | 0.04 µrad (0.009 arc sec) |
| Incremental Encoder Line Count | 76,800 lines/rev | 76,800 lines/rev | 64,800 lines/rev |
| Maximum Torque | 213.8 N·m | 320.8 N·m | 213.8 N·m |
| Continuous Torque | 35.0 N·m | 52.4 N·m | 35.0 N·m |
| Stage Mass | 61.2 kg | 61.2 kg | 44.5 kg |
| Stage Mass with Limits | 64.9 kg | 64.9 kg | 49.9 kg |
| Shaft Inertia | 1.01 kg·m2 | 1.01 kg·m2 | 0.55 kg·m2 |
| Shaft Inertia with Limits | 1.2 kg·m2 | 1.2 kg·m2 | 0.675 kg·m2 |
| Axial Load | 5825 N (1310 lb) | 5825 N (1310 lb) | 5825 N (1310 lb) |
| Radial Load | 6650 N (1495 lb) | 6650 N (1495 lb) | 6450 N (1450 lb) |
| Moment Load | 2650 N·m | 2650 N·m | 2200(3) N·m |
| Repeatability | ±2.4 µrad (±0.5 arc sec) |
| Accuracy(4) | ±9.7 µrad (±2 arc sec) |
| Tilt-Error Motion | 9.7 µrad (2.0 arc sec) |
Dimensions
Ordering Information
ALAR-LP Mechanical-Bearing, Direct-Drive Rotary Stage
| Option | Description |
|---|
| ALAR100LP | Mechanical-bearing, direct-drive rotary stage |
| ALAR150LP | Mechanical-bearing, direct-drive rotary stage |
| ALAR200LP | Mechanical-bearing, direct-drive rotary stage |
| ALAR250LP | Mechanical-bearing, direct-drive rotary stage |
| ALAR325LP | Mechanical-bearing, direct-drive rotary stage |
Travel (Required)
| Option | Description |
|---|
| - | Continuous travel |
| -TR010 | Limited travel, ±5 degrees |
| -TR020 | Limited travel, ±10 degrees |
| -TR030 | Limited travel, ±15 degrees |
| -TR060 | Limited travel, ±30 degrees |
| -TR090 | Limited travel, ±45 degrees |
| -TR120 | Limited travel, ±60 degrees |
| -TR180 | Limited travel, ±90 degrees |
| -TR240 | Limited travel, ±120 degrees |
| -TR300 | Limited travel, ±150 degrees |
| -TR340 | Limited travel, ±170 degrees |
| Option | Description |
|---|
| -E1 | Incremental encoder, 1 Vpp sine |
| -E2 | Incremental encoder, x4 interpolation |
| -E3 | Incremental encoder, x20 interpolation |
| -E4 | Incremental encoder, x40 interpolation |
| -E5 | Incremental encoder, x100 interpolation |
| -E6 | Incremental encoder, x200 interpolation |
| -E7 | Absolute encoder |
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.
| Option | Description |
|---|
| -TAS | 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. |
| -TAC | 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. |
Note: LP stages are ideal for vertical-axis applications. SP stages are ideal for horizontal or vertical applications.ALAR-SP Mechanical-Bearing, Direct-Drive Rotary Stage
| Option | Description |
|---|
| ALAR100SP | Mechanical-bearing, direct-drive rotary stage |
| ALAR150SP | Mechanical-bearing, direct-drive rotary stage |
| ALAR200SP | Mechanical-bearing, direct-drive rotary stage |
| ALAR250SP | Mechanical-bearing, direct-drive rotary stage |
| ALAR325SP | Mechanical-bearing, direct-drive rotary stage |
| Option | Description |
|---|
| -M1 | Standard motor |
| -M2 | High power motor |
Note: Motor options (-M1 and -M2) only apply to the ALAR250SP and ALAR325SP stages.
Travel (Required)
| Option | Description |
|---|
| - | Continuous travel |
| -TR010 | Limited travel, ±5 degrees |
| -TR020 | Limited travel, ±10 degrees |
| -TR030 | Limited travel, ±15 degrees |
| -TR060 | Limited travel, ±30 degrees |
| -TR090 | Limited travel, ±45 degrees |
| -TR120 | Limited travel, ±60 degrees |
| -TR180 | Limited travel, ±90 degrees |
| -TR240 | Limited travel, ±120 degrees |
| -TR300 | Limited travel, ±150 degrees |
| -TR340 | Limited travel, ±170 degrees |
Feedback (Required)
| Option | Description |
|---|
| -E1 | Incremental encoder, 1 Vpp Sine |
| -E2 | Incremental encoder, x4 interpolation |
| -E3 | Incremental encoder, x20 interpolation |
| -E4 | Incremental encoder, x40 interpolation |
| -E5 | Incremental encoder, x100 interpolation |
| -E6 | Incremental encoder, x200 interpolation |
| -E7 | Absolute encoder |
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.
| Option | Description |
|---|
| -TAS | 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. |
| -TAC | 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. |
Note: LP stages are ideal for vertical-axis applications. SP stages are ideal for horizontal or vertical applications.
