Design Features

The AMG-GR series of gear-driven motorized gimbals provides economical, high-accuracy elevation-over-azimuth positioning. These gimbals are built using the primary positioning elements of the robust and economical AGR-series rotary stage. The AMG-GR is available in a variety of standard travel ranges. Due to the flexibility of the design, customized travels are easily accommodated. A variety of accuracy grades, motor types, and cell designs make this the ideal stage series for applications ranging from sensor calibration to laser beam steering.

Cell Design Versatility

The AMG-GR comes standard with circular cells ranging from 100 mm to 300 mm diameter. Cell mounting options include a centered (balanced) cell or a front-surface reflection option where the front of the optic is located on the axes of rotation. Special configurations are available to accommodate non-circular optics, cameras, sensors, and round optics larger than 300 mm in diameter. Due to a modular-design approach, each gimbal mirror cell can be easily modified or replaced with different shaped cells to accommodate sensors or other asymmetrically-shaped payloads.

Flexible Options

The AMG-GR can be outfitted with brushless servo or stepper motors. A full range of matching drives and controls is available for a complete single-source solution.

For applications that require high-accuracy and repeatability, a direct-encoder mounted to the cell and yoke is available. Vacuum-compatible versions are also available.

Specifications

AMG-GR Specifications

ModelAMG100GRAMG150GRAMG200GRAMG300GR
Travel(1)180°, Continuous rotation (Azimuth), 90°, 315°, and Continuous rotation (Elevation)
Clear Aperture100 mm150 mm200 mm300 mm
Accuracy(2)UncalibratedAzimuth: 0.87 mrad (180 arc sec) 
Elevation: 0.87 mrad (180 arc sec)		Azimuth: 0.58 mrad (120 arc sec) 
Elevation: 0.58 mrad (120 arc sec)
Calibrated

Azimuth: 0.29 mrad (60 arc sec)
Elevation: 0.29 mrad (60 arc sec)

Azimuth: 0.24 mrad (50 arc sec)
Elevation: 0.24 mrad (50 arc sec)
Uncalibrated  with Direct Encoder

Azimuth: 97 µrad (20 arc sec)
Elevation: 97 µrad (20 arc sec)

Calibrated with Direct Encoder

Azimuth: 58 µrad (12 arc sec)
Elevation: 58 µrad (12 arc sec)

Azimuth: 49 µrad (10 arc sec)
Elevation: 49 µrad (10 arc sec)
Repeatability 
(Bi-Directional)(2)		Without Direct EncoderAzimuth: 0.22 mrad (45 arc sec)
Elevation: 0.22 mrad (45 arc sec)
With Direct EncoderAzimuth: 39 µrad (8 arc sec)
Elevation: 39 µrad (8 arc sec)		Azimuth: 29 µrad (6 arc sec)
Elevation: 39 µrad (8 arc sec)		Azimuth: 29 µrad (6 arc sec)
Elevation: 29 µrad (6 arc sec)
Tilt Error Motion49 µrad (10 arc sec)
Orthogonality73 µrad (15 arc sec)
Gear RatioAzimuth: 51:1 Elevation: 51:1Azimuth: 51:1 Elevation: 51:1Azimuth: 85:1 Elevation: 67:1Azimuth: 117:1 Elevation: 85:1
Maximum Speed(3)Servomotor180°/s
Stepper Motor60°/s40°/s (Azimuth) 
60°/s (Elevation)		40°/s
Azimuth Aperture 
(Available with 180-degree azimuth travel only)		50 mm50 mm100 mm150 mm
Max. Load Capacity12 kg15 kg25 kg45 kg
Maximum Torque Load to AZ/EL Shaft for Offset Loading2.5 N·m2.5 N·m3.5 N·m12 N·m
Mass (with BMS Servomotor)Standard9.7 kg11.9 kg18.7 kg32.2 kg
Direct Encoder11.1 kg13.3 kg20.8 kg35.1 kg
MaterialAluminum

  1. Custom travels available upon request.

  2. Certified with each stage. Specifications are per axis.

  3. Maximum speed is load dependent. Contact and Aerotech Application Engineer if imbalanced loads are present. Requires the selection of an appropriate amplifier with sufficient voltage and current.

Electrical Specifications

 AMG100GRAMG150GRAMG200GRAMG300GR
Drive SystemPrecision Worm-Gear with Brushless or Stepping Motor
FeedbackStandardRotary Servomotor Feedback: 
Choose Between TTL Digital Encoder or 1 Vpp Analog Encoder (See Ordering Options Table)
Direct EncoderNoncontact Rotary Encoder Directly Mounted to AZ/EL Stage Shaft
Azimuth: 15744 Lines/Rev Elevation: 15744 Lines/RevAzimuth: 15744 Lines/Rev Elevation: 15744 Lines/RevAzimuth: 23600 Lines/Rev Elevation: 18000 Lines/RevAzimuth: 31488 Lines/Rev 
Elevation: 23600 Lines/Rev
Maximum Bus VoltageBM80 VDC80 VDC (Elevation) 340 VDC (Azimuth)340 VDC
BMS340 VDC
SM(1)40 VDC
Limit Switches5 V, Normally Closed
Home SwitchNear Limit (for Limited Travel Stage Version)

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

Recommended Controller

Multi-AxisA3200Ndrive MP/Ndrive CP/Npaq
EnsembleEnsemble MP/Ensemble CP/Epaq
Single-AxisSoloistSoloist MP/Soloist CP

Dimensions

Ordering Information

AMG-GR Gear-Driven Gimbal

OptionsDescription
AMG100GRAMG100GR gear-driven gimbal with 100 mm diameter clear aperture
AMG150GRAMG150GR gear-driven gimbal with 150 mm diameter clear aperture
AMG200GRAMG200GR gear-driven gimbal with 200 mm diameter clear aperture
AMG300GRAMG300GR gear-driven gimbal with 300 mm diameter clear aperture

Cell (Required)

OptionsDescription
-C0No cell
-C1Front surface reflecting cell
-C2Centered cell

Direct Rotary Feedback (Optional)

OptionsDescription
-E1Incremental encoders, 1 Vpp, one per axis
-E2Incremental encoders, digital TTL output, x5 multiplication, one per axis
-E3Incremental encoders, digital TTL output, x50 multiplication, one per axis

Azimuth Travel (Required)

OptionsDescription
-TR180Limited travel, +/- 90 degrees
-TRCNTContinuous travel

Azimuth Motor (Required)

OptionsDescription
-M0No motor
-M1BMS35 brushless servomotor with 2000-line TTL encoder (AMG100GR, AMG150GR)
BMS60 brushless servomotor with 2500-line TTL encoder (AMG200GR, AMG300GR)
-M2BMS35 brushless servomotor with 2000-line TTL encoder and brake (AMG100GR, AMG150GR)
BMS60 brushless servomotor with 2500-line TTL encoder and brake (AMG200GR, AMG300GR)
-M3BMS35 brushless servomotor with 1000-line 1 Vpp encoder (AMG100GR, AMG150GR)
BMS60 brushless servomotor with 1000-line 1 Vpp encoder (AMG200GR, AMG300GR)
-M4BMS35 brushless servomotor with 1000-line 1 Vpp encoder and brake (AMG100GR, AMG150GR)
BMS60 brushless servomotor with 1000-line 1 Vpp encoder and brake (AMG200GR, AMG300GR)
-M5BM22 brushless servomotor with 2000-line TTL encoder (AMG100GR, AMG150GR)
BM75 brushless servomotor with 2500-line TTL encoder (AMG200GR, AMG300GR)
-M6BM22 brushless servomotor with 2000-line TTL encoder and brake (AMG100GR, AMG150GR)
BM75 brushless servomotor with 2500-line TTL encoder and brake (AMG200GR, AMG300GR)
-M7SM35 stepper motor (AMG100GR, AMG150GR)
BM75 brushless servomotor with 1000-line 1 Vpp encoder (AMG200GR, AMG300GR)
-M8BM75 brushless servomotor with 1000-line 1 Vpp encoder and brake (AMG200GR, AMG300GR)
-M9SM60 stepper motor (AMG200GR, AMG300GR)

Elevation Travel (Required)

OptionsDescription
-TR090Limited travel, +/- 45 degrees
-TR315Limited travel, +/- 157.5 degrees
-TRCNTContinuous travel

Elevation Motor (Required)

OptionsDescription
-M0No motor
-M1BMS35 brushless servomotor with 2000-line TTL encoder (AMG100GR, AMG150GR, AMG200GR)
BMS60 brushless servomotor with 2500-line TTL encoder (AMG300GR)
-M2BMS35 brushless servomotor with 2000-line TTL encoder and brake (AMG100GR, AMG150GR, AMG200GR)
BMS60 brushless servomotor with 2500-line TTL encoder and brake (AMG300GR)
-M3BMS35 brushless servomotor with 1000-line 1 Vpp encoder (AMG100GR, AMG150GR, AMG200GR)
BMS60 brushless servomotor with 1000-line 1 Vpp encoder (AMG300GR)
-M4BMS35 brushless servomotor with 1000-line 1 Vpp encoder and brake (AMG100GR, AMG150GR, AMG200GR)
BMS60 brushless servomotor with 1000-line 1 Vpp encoder and brake (AMG300GR)
-M5BM22 brushless servomotor with 2000-line TTL encoder (AMG100GR, AMG150GR, AMG200GR)
BM75 brushless servomotor with 2500-line TTL encoder (AMG300GR)
-M6BM22 brushless servomotor with 2000-line TTL encoder and brake (AMG100GR, AMG150GR, AMG200GR)
BM75 brushless servomotor with 2500-line TTL encoder and brake (AMG300GR)
-M7SM35 stepper motor (AMG100GR, AMG150GR, AMG200GR)
BM75 brushless servomotor with 1000-line 1 Vpp encoder (AMG300GR)
-M8BM75 brushless servomotor with 1000-line 1 Vpp encoder and brake (AMG300GR)
-M9SM60 stepper motor (AMG300GR)

Mounting Plate (Optional)

OptionsDescription
-MPOptical table mounting plate

  1. *Note: -MP option required when continuous azimuth travel option is selected

Metrology (Required)

OptionsDescription
-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.