Description

Design Features

AGR series motorized rotary stages provide significant improvements in speed, load capacity, and long-term positioning performance over previous generations of worm-gear-drive stages. AGR series stages address a wide range of applications for general purpose positioning in laboratory and industrial uses.

Construction Features

The presence of a large, clear aperture in the stage allows the AGR series to address applications requiring a through-hole or accommodations to mount an optic, including articulation of beam polarizing lenses, through-holes for cabling and/or air lines, or vision/camera/inspection applications.

The AGR stage base is fabricated from an aluminum alloy that offers significant weight savings in multi-axis arrangements and other weight critical applications, while providing high structural stiffness and long-term stability.

Each stage is designed with two high-precision angular contact bearings with optimal spacing to provide excellent error motions coupled with high load capacities in a small, compact package.

Flexible Options

Options include flexible motor selections as well as a direct encoder mounted to the stage shaft for outstanding repeatability and to virtually eliminate hysteresis and backlash. Vacuum-compatible versions (for use in pressures as low as 10-6 torr) are also available.

Motor and Drives

Standard AGR stage configurations feature Aerotech’s brushless servomotors. However, all AGR stages can be outfitted with stepper or DC brush motors. A full range of matching drives and controls are available for a complete single-source solution.

Specifications

AGR Specifications

Mechanical SpecificationsAGR50AGR75AGR100AGR150AGR200
Travel360° (Limited Travel Versions Available)
AccuracyUncalibrated0.87 mrad (180 arc sec)0.58 mrad (120 arc sec)
Calibrated0.29 mrad (60 arc sec)0.24 mrad (50 arc sec)
Uncalibrated with Direct Encoder Option97 µrad (20 arc sec)
Calibrated with Direct Encoder Option58 µrad (12 arc sec)49 µrad (10 arc sec)
Repeatability 
(Unidirectional)		Standard49 µrad (10 arc sec)
Direct Encoder(1)24 µrad (5 arc sec)
Repeatability 
(Bi-directional)		Standard0.22 mrad (45 arc sec)
Direct Encoder(1)39 µrad (8 arc sec)29 µrad (6 arc sec)
Tilt Error Motion49 µrad (10 arc sec)
Axial Error Motion5 µm
Radial Error Motion10 µm
Gear Ratio51:167:185:1117:1126:1
Maximum Speed(2)with Brushless Servomotor (BM and BMS Models)180°/s120°/s
with Stepper Motor60°/s40°/s
Maximum Acceleration(3)720°/s2480°/s2
Aperture50 mm75 mm100 mm150 mm200 mm
Load CapacityAxial40 kg100 kg200 kg300 kg425 kg
Radial20 kg50 kg100 kg125 kg200 kg
MomentSee Moment Load Curves
Maximum Torque Load to Stage Shaft2.5 N·m3.5 N·m12 N·m20 N·m80 N·m
Rotor Inertia (Unloaded)0.00052 kg·m20.0013 kg·m20.0035 kg·m20.011 kg·m20.076 kg·m2

Stage Mass
(No Motor)

Standard1.9 kg2.4 kg4.5 kg6.1 kg18.6 kg
Direct Encoder2.5 kg3.1 kg5.6 kg7.6 kg21.7 kg
MaterialAluminum

  1. Direct encoder repeatability specifications are for systems using the -E1 or -E3 direct encoder options only.

  2. Maximum speed is load dependent. Contact an Aerotech Application Engineer if imbalanced loads are present.

  3. Unloaded acceleration.

  4. On-axis loading is listed.

  5. Specifications are for single-axis systems measured 25 mm above the tabletop. Performance of multi-axis systems is payload and workpoint dependent. Consult factory for multi-axis or non-standard applications.

Electrical Specifications

ModelAGR50AGR75AGR100AGR150AGR200
Drive SystemPrecision Worm-Gear with Brushless Servomotor or Stepper Motor
FeedbackStandardNoncontact Rotary Encoder Contained Within Motor; See Motor Description Under "Ordering Options" Section for Details
Direct EncoderNoncontact Rotary Encoder Directly Mounted to AGR Stage Shaft
15744 Lines/Rev18000 Lines/Rev23600 Lines/Rev31488 Lines/Rev40000 Lines/Rev
Maximum Bus Voltagewith Brushless Servomotor (BM Models)80 VDC320 VDC
with Brushless Servomotor (BMS Models)320 VDC
with Stepper Motor40 VDC80 VDC
Limit Switches5 V, Normally Closed or Normally Open
Home SwitchNear Limit (for Limited Travel Stage Version)

  1. For stepper motors with Aerotech controllers, amplifier bus voltages are 2X values listed.

Recommended Controller

Multi-AxisA3200Ndrive MP10/Ndrive CP10/Npaq
EnsembleEnsemble MP10/Ensemble CP10/Epaq
Single AxisSoloistSoloist MP10/Soloist CP10

Dimensions

Ordering Information

AGR Series Gear-Driven Rotary Stages

Model (Required)

OptionDescription
AGR50Gear-driven rotary stage, 50 mm diameter clear aperture
AGR75Gear-driven rotary stage, 75 mm diameter clear aperture
AGR100Gear-driven rotary stage, 100 mm diameter clear aperture
AGR150Gear-driven rotary stage, 150 mm diameter clear aperture
AGR200Gear-driven rotary stage, 200 mm diameter clear aperture

Motor (Optional)

OptionDescription
-M1BMS35 brushless servomotor and 2000-line TTL encoder (AGR50, AGR75) 
BMS60 brushless servomotor and 2500-line TTL encoder (AGR100, AGR150) 
BMS280 brushless servomotor and 2500-line TTL encoder (AGR200)
-M2BMS35 brushless servomotor and 2000-line TTL encoder with brake (AGR50, AGR75)
BMS60 brushless servomotor and 2500-line TTL encoder with brake (AGR100, AGR150)
BMS280 brushless servomotor and 2500-line TTL encoder with brake (AGR200)
-M3BMS35 brushless servomotor and 1000-line 1 Vpp encoder (AGR50, AGR75) 
BMS60 brushless servomotor and 1000-line 1 Vpp encoder (AGR100, AGR150)
BMS280 brushless servomotor and 1000-line 1 Vpp encoder (AGR200)
-M4BMS35 brushless servomotor and 1000-line 1 Vpp encoder with brake (AGR50, AGR75) 
BMS60 brushless servomotor and 1000-line 1 Vpp encoder with brake (AGR100, AGR150) 
BMS280 brushless servomotor and 1000-line 1 Vpp encoder with brake (AGR200)
-M5BM22 brushless servomotor and 2000-line TTL encoder (AGR50, AGR75) 
BM75 brushless servomotor and 2500-line TTL encoder (AGR100, AGR150) 
BM250 brushless servomotor and 2500-line TTL encoder (AGR200)
-M6BM22 brushless servomotor and 2000-line TTL encoder with brake (AGR50, AGR75) 
BM75 brushless servomotor and 2500-line TTL encoder with brake (AGR100, AGR150) 
BM250 brushless servomotor and 2500-line TTL encoder with brake (AGR200)
-M7SM35 stepper motor (AGR50, AGR75) 
BM75 brushless servomotor and 1000-line 1 Vpp encoder (AGR100, AGR150) 
BM250 brushless servomotor and 1000-line 1 Vpp encoder (AGR200)
-M8SM35 stepper motor with brake (AGR50, AGR75) 
BM75 brushless servomotor and 1000-line 1 Vpp encoder with brake (AGR100, AGR150) 
BM250 brushless servomotor and 1000-line 1 Vpp encoder with brake (AGR200)
-M9SM60 high voltage stepper motor (AGR100, AGR150) 
SM280 high voltage stepper motor (AGR200)
-M10SM60 high voltage stepper motor with brake (AGR100, AGR150) 
SM280 high voltage stepper motor with brake (AGR200)

Motor Location (Required)

OptionDescription
-ML1Motor located on right side of stage housing, standard (see diagram)
-ML2Motor located on left side of stage housing (see diagram)

Motor Orientation (Optional)

OptionDescription
-2Motor orientation 2 (see diagram)
-3Motor orientation 3, standard (see diagram)
-4Motor orientation 4 (see diagram)
-5Motor orientation 5 (see diagram)

AGR-MOTOR-ORIENT-CAT


Travel (Required)

OptionDescription

Continuous travel (standard)
-TR015Limited travel, ±7.5 degrees
-TR030Limited travel, ±15 degrees
-TR045Limited travel, ±22.5 degrees
-TR060Limited travel, ±30 degrees
-TR075Limited travel, ±37.5 degrees
-TR090Limited travel, ±45 degrees
-TR105Limited travel, ±52.5 degrees
-TR120Limited travel, ±60 degrees
-TR135Limited travel, ±67.5 degrees
-TR150Limited travel, ±75 degrees
-TR165Limited travel, ±82.5 degrees
-TR180Limited travel, ±90 degrees
-TR195Limited travel, ±97.5 degrees
-TR210Limited travel, ±105 degrees
-TR225Limited travel, ±112.5 degrees
-TR240Limited travel, ±120 degrees
-TR255Limited travel, ±127.5 degrees
-TR270Limited travel, ±135 degrees

  1. Note: -TRxxx limited travel options contain an extra 2 degrees of overtravel between the nominal travel and the electrical limit on each side (Ex: -TR270 contains ±135 degrees of nominal travel, with ±137 degrees of travel between electrical limits).

Limits (Required)

OptionDescription
-LI1Normally-closed, end-of-travel limit switches with 9-pin connector
-LI2Normally-open, end-of-travel limit switches with 9-pin connector

Direct Rotary Feedback (Optional)

OptionDescription
-E1Direct, amplified-sine output encoder
-E2Direct, square-wave TTL output encoder, X5 multiplication
-E3Direct, square-wave TTL output encoder, X50 multiplication

Tabletop (Optional)

OptionDescription
-TT1Metric tabletop
-TT2English tabletop

Mounting Plate (Optional)

OptionDescription
-MP1Universal English/metric mounting plate

Seals (Optional)

OptionDescription
-SL1Labyrinth seal

Metrology (Required)

OptionDescription
-PL0No metrology performance plots
-PL1Metrology, uncalibrated with performance plots
-PL2Metrology, calibrated (HALAR) with performance plots

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.

OptionDescription
-TASIntegration - 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.
-TACIntegration - 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.