Aerotech AGR Series, Hardware Manual

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AGR Hardware Manual Overview
Table 1-4: AGR Series Mechanical Specifications (AGR150 and AGR200)
AGR150 AGR200
Travel 360° (Limited Travel Versions Available)
Frame Size NEMA23 NEMA34
Accuracy
(1)
Uncalibrated 0.58 mrad (120 arc sec)
Calibrated 0.24 mrad (50 arc sec)
Uncalibrated with
Direct Encoder
Option
97 µrad (20 arc sec)
Calibrated with
Direct Encoder
Option
49 µrad (10 arc sec)
Repeatability
(Unidirectional)
(1)
Standard 49 µrad (10 arc sec)
Direct Encoder
(2)
24 µrad (5 arc sec)
Repeatability
(Bidirectional)
(1)
Standard 0.22 mrad (45 arc sec)
Direct Encoder
(2)
29 µrad (6 arc sec)
Tilt Error Motion 49 µrad (10 arc sec)
Axial Error Motion 5 µm
Radial Error Motion 10 µm
Gear Ratio 117:1 126:1
Maximum Speed
(3)
with Brushless
Servomotor (BM
and BMS Models)
180°/s 120°/s
with Stepper Motor 40°/s
Maximum Acceleration
(4)
720°/s
2
480°/s
2
Aperture 150 mm 200 mm
Load Capacity
Axial 300 kg 425 kg
Radial 125 kg 200 kg
Moment See Moment Load Capacity: Section 2.4.
Maximum Torque Load to Stage Shaft 20 N·m 80 N·m
Rotor Inertia (Unloaded)
0.011 kg-·m
2
0.076 kg-·m
2
Stage Mass (No Motor)
Standard 6.1 kg 18.6 kg
Direct Encoder 7.6 kg 21.7 kg
Material Aluminum
1. Certified with each stage.
2. Direct encoder repeatability specifications are for systems that use the -E1 or -E3 direct encoder options only.
3. Maximum speed is load dependent. Contact an Aerotech Application Engineer if imbalanced loads are present.
4. Unloaded acceleration.
5. On-axis loading is listed.
6. Specifications are for single-axis systems measured 25 mm above the tabletop; performance of multi-axis system is payload and
workpoint dependent. Consult the Aerotech factory for multi-axis or non-standard applications.
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