ARMS Hardware Manual
Overview
1.3. Basic Specifications
N O T E :
Aerotech continually improves its product offerings; listed options may be superseded at any
time. All drawings and illustrations are for reference only and were complete and accurate as of this
manual’s release. Refer to www.aerotech.com for the most up-to-date information.
Table 1-3:
ARMS150 Series Specifications
ARMS Series
ARMS150-M1
ARMS150-M2
Width
146 mm
Height
(1)
183 mm
246 mm
Aperture
(2)
8 mm
Total Travel
±360° Continuous
Motor
S-130-39-A
S-130-102-A
Bus Voltage
Up to 340 VDC
Maximum Torque (Continuous)
2.36 N·m
7.69 N·m
Fundamental Encoder Resolution
16,200 lines/rev
Accuracy (calibrated)
(3)
±2.5 arc-sec
Repeatability
±0.5 arc-sec
Max Load
(4)
Axial
30 kg
Moment
175 N·m
Tilt Error Motion
±1 arc-sec
Maximum Rate
(5)
1500°/s
Minimum Rate
(6)
0.002°/s
Rate Resolution
(6)
0.002°/s
Rate Stability
(6)
Over 360°
0.0001%
Over 10°
0.005%
Over 1°
0.05%
Peak Acceleration
(7)
>20,000°/s
2
Inertia (unloaded)
(7)
6,600 kg·mm
2
9,700 kg·mm
2
Total Mass
(7)
9 kg
15 kg
Servo Bandwidth
(8)
> 70 Hz (-3 dB)
Material
Aluminum
Stage Finish
Black Anodize
Tabletop Finish
Hard Coating (62 Rockwell Hardness)
1. Height may vary with certain slip ring and rotary union options (refer to for more details).
2. Aperture not available with all slip ring and rotary union options (refer to
for more details).
3. Certified with each stage. Requires the use of an Aerotech controller.
4. Maximum loads are mutually exclusive.
5. Maximum rate is based on stage capability. Actual rate may depend on encoder resolution, load, amplifier bus voltage, and motor
(refer to the S-series rotary motor (P/N: EDU166) for more information.
6. Minimum rate, rate resolution, and rate accuracy are based on stage capability. Actual rate, resolution, and accuracy may depend
on encoder resolution.
7. Peak acceleration, inertia, and total mass based on unloaded stage with standard diameter tabletop.
8. Servo bandwidth is based on unloaded stage with standard diameter tabletop. Actual bandwidth may depend on mass and inertia
of stage payload.
www.aerotech.com
Chapter 1
11
