To  The principle of Operation and Application of a Linear Shaft Motor        Nippon Pulse America, INC              Janua...
1.Principal of the Linear Shaft Motor2.Distinctive Features of the Linear Shaft Motor3.Actuator Module4.Application       ...
Development ConceptSimple is the best!                      Sold & Serviced By:                                           ...
Linear Shaft Motor Structure          Magnet         Coil  Shaft                         Slider                          S...
Linear Shaft Motor Principle                          Coil                         FluxShaft          uwv uwv uwv    S    ...
Linear Shaft Motor vs. Linear Motor                              LINEAR SHAFT MOTOR                                       ...
Linear Shaft Motor Structure                                              Table                        Slider(coil)Metal f...
Linear Shaft Motor StructurePlate   Linear Guide   Table      Linear Encoder   Shaft Holder                               ...
Linear Shaft Motor                     Sold & Serviced By:                                           ELECTROMATE          ...
Distinctive FeaturesⅠBig thrust (6000N) possibilityQuiet, no friction during movementLight weight and compact due to no co...
Distinctive FeaturesⅡIt is possible to control speed and positioning with highaccuracy by using a linear encoder, even if ...
F-V Curve                                               8000                                                              ...
Current in MovementOnly at the time                          Velocity(V)           Current(A)                             ...
Data for Temperature Increase                                    427Q4Temperature 4A 25% = 1.6A>25%=1.6A)                 ...
Temperature Increase on a Table                                     荷重1kg、 V max=1m/s, αs、 max=1G、                        ...
Duty Curve                                                                     435Q 435QDUTY=Acceleratio               250...
Repetition Positioning Accuracy                                                              Used with 8.6nm resolution en...
Precise Positioning                                       :Enlargement                          High Precise Positioning u...
Performance Characteristics                         of High SpeedVelocity                                                 ...
Highest SpeedConditions   6.3m/sec   Motor:S435   Q   Loading:26k   g   Stroke:850m   m                                 So...
Lowest Speed                                                                 低   速                                        ...
Uniformity in High Speed                                                       Uniformity in speed:±0.006%                ...
Uniformity in Low Speed                    Velocity(mm/sec)                                                Uniformity in s...
Holding ThrustDue to servo control,                                 Holding ャフトモーター435Qの保持力 S435D                         ...
Magnetic FieldMagnetic force abruptly                                                     0.4decreases when leaving       ...
Advantages for Manufacturing    (In comparison to a conventional liner motor)• Quality Control  – Saving time in inspectio...
Development and         ProductionDevelopment(Technical Center in Tokyo)  Development and Designing  For Customer Applicat...
Application of Linear Shaft              Motor for Medical Purpose                                               Multiple ...
Business for Linear Shaft MotorDevelopment of Motor      : GMC HillstoneDevelopment of Peripherals : Nippon PulseMotorProd...
System of Actuator1.    Motor and Driver2.    Motor, Driver and Controller3.    Motor, Driver, Controller and Encoder4.   ...
SummaryWhat is a shaft motor?                                                          Magnet                     Coil  Th...
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Nippon Pulse linear shaft motor presentation 2005

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Nippon Pulse linear shaft motor presentation 2005

  1. 1. To The principle of Operation and Application of a Linear Shaft Motor Nippon Pulse America, INC January 13, 2005 Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  2. 2. 1.Principal of the Linear Shaft Motor2.Distinctive Features of the Linear Shaft Motor3.Actuator Module4.Application Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  3. 3. Development ConceptSimple is the best! Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  4. 4. Linear Shaft Motor Structure Magnet Coil Shaft Slider Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  5. 5. Linear Shaft Motor Principle Coil FluxShaft uwv uwv uwv S N S N S N S N uwv uwv uwv Flux Thrust Sold & Serviced By: Fleming’s law ELECTROMATE Current Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  6. 6. Linear Shaft Motor vs. Linear Motor LINEAR SHAFT MOTOR No influence by Coil Magnet change of gap Coil Core(Iron) Magnet Adsorption Force S N S N S N N S N S N SCogging by Back York(Iron)concentration of flux Sold & Serviced By: ELECTROMATE Linear motor Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  7. 7. Linear Shaft Motor Structure Table Slider(coil)Metal fittings Linear Cable bare Guide Shaft-motor Shaft Linear encoder Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  8. 8. Linear Shaft Motor StructurePlate Linear Guide Table Linear Encoder Shaft Holder Shaft Motor Cables Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  9. 9. Linear Shaft Motor Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  10. 10. Distinctive FeaturesⅠBig thrust (6000N) possibilityQuiet, no friction during movementLight weight and compact due to no coreSimple structure allows building of unit from a shortstroke up to 4.6M strokeHigh resolution (0.14nm), and when combined with highaccuracy linear encoder you can achieve high precisionpositioning Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  11. 11. Distinctive FeaturesⅡIt is possible to control speed and positioning with highaccuracy by using a linear encoder, even if themechanical accuracy a little rough.High-speed drive (6.5m/Sec)Low-speed drive (8 μ m/Sec)Almost uniform in speed (±0.006% at 100mm/Sec)Can be used in strong environments such asunderwater and in a vacuumWhen compared to other linear motors, it is compactand lightweight Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  12. 12. F-V Curve 8000 80% F-V curve shows 7000 FV F- V 70% Specified Thrust 定格推力 characteristic of a DC Output 出力 6000 Efficiency 効率 60% motor(However, the classification 5000 50% for a shaft motor of “The F O R CE ( N) Institute of Electrical 4000 40% Engineers of Japan” is a 3000 30% synchronous motor) 2000 20%7000N output (Size of 1000 10%Slider:120 x 120 x 540) 0 0% 0 0.5 1 1.5 2 2.5 3 3.5 4 VELOCITY (m/ sec) Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  13. 13. Current in MovementOnly at the time Velocity(V) Current(A) 速度(V) 電流値( ) Aof an accelerationand slowdown, 40 1.5 35current flows. 1 30 25 Velocity(mm/s) 0.5 Current(A) 速度(mm/s)In case of a linear 電流値(A) 20motor with a core, 15 0about 30% of 10 - 0.5rated current 5flows even at the 0 -1time of constant -5speeding - 10 - 1.5 Time 移動時間 Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  14. 14. Data for Temperature Increase 427Q4Temperature 4A 25% = 1.6A>25%=1.6A) 2 Q  7 温度試験 <定格6. Test (6.4A CH01:Rm.CH01:室温 CH02:U Coil Tep. CH02:U-コイル CH03:V Coil CH03:V-コイル CH04:W Coil CH04:W-コイル CH05:Fin L CH05:フィン-L CH06:Fin R CH06:フィン-R 30 25 20Temperature 温度 (℃ 15 (C) 10 5 0 0 720 1440 2160 2880 3600 4320 5040 5760 Process time(1Div=1 h), Total=8h 26m 35s, Highest Tep.=24.5C 経過時間 ( Div=1 1 時間) Tot al 8   6 5 最高温度2 . ℃ 時間2 分3 秒  45 Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  15. 15. Temperature Increase on a Table 荷重1kg、 V max=1m/s, αs、 max=1G、 Load:!kg, 、 Vmax=1m/ max=1 G α Stroke:200mm( Round movement after 1sec stop at at the both ends) スト ローク200mm/両端1秒停止往復運転 40 Temperature on the table テーブル温度 35 30 ℃)Temperature(C) 25 Temperature室温 room in the 温度( 20 15 Temperature increase = 10 Temperature on the table – Temperature in the 温度上昇=テー ブ 温度ー室温 room ル 5 0 0 60 120 180 240 300 Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 経過時間( 分) Toll Free Fax (877) SERV099 Process time www.electromate.com sales@electromate.com
  16. 16. Duty Curve 435Q 435QDUTY=Acceleratio 2500n andslowdown/cycle 2000 +10℃In case of a linear +20℃ +30℃ Thrust(N) 1500motor, constant +40℃ 推力 (N +50℃ +60℃movement 1000 +70℃ +80℃(Duty=1) is not +90℃ +100℃practical. 500Technique utilizing 0duty well is the art 0 0.1 0.2 0.3 0.4 0.5 DUTY 0.6 0.7 0.8 0.9 1of using a shaft Duty Sold & Serviced By: ELECTROMATEmotor. Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  17. 17. Repetition Positioning Accuracy Used with 8.6nm resolution encoder 静的位置決め性能(エンコーダ分解能8 6 m) .n 60 55 50 45 40Available within ±1.2 Distance(mm) 35 30 25 20pulses of encoder 15 Distance(mm 10 5 0resolution (3σ) -5 - 10 - 15 - 20(encoder - 25 - 30 - 35 - 40resolution:less than - 45 - 50 - 55 - 60 0 10 20 30 40 50 60 70 8010nm) Time (s) Time(s) Used with 8.6nm resolution encoder 静的位置決め性能(エンコーダ分解能8 6 m) .n 0.005No influence with 0.004 Distance(mm)Expansion and 0.003 0.002contraction of a shaft 0.001 Distance(mm 0 - 0.001 - 0.002 - 0.003 - 0.004 Sold & Serviced By: - 0.005 0 10 20 30 40 50 60 70 80 ELECTROMATE Time (s) Toll Free Phone (877) SERVO98 Time(s) Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  18. 18. Precise Positioning :Enlargement High Precise Positioning up to ±0.1μm, without overshootModel S160TCondition Vmax≒1m/sec αmax≒1G Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  19. 19. Performance Characteristics of High SpeedVelocity Acceleration(m/s) Type W |G| Speed Stroke:700mm 3 Constant Speed: 8 3.3m/s Acceleration and slowdown 2 6 1 4 0 2 Sold & Serviced By: - 1 0 ELECTROMATE 0 0.1 0.2 0.3 Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com time(sec) sales@electromate.com
  20. 20. Highest SpeedConditions 6.3m/sec Motor:S435 Q Loading:26k g Stroke:850m m Sold & Serviced By: ELECTROMATE Encoder:1μm Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  21. 21. Lowest Speed 低 速 8μm/sec 送り   (8 μ m /Conditions 0.05 0.045 Velocity(mm/sec) Velocity:8μm/se 0.04 c 0.035 V e lo c it y (m m / s ) 0.03 0.025 Motor:S320D 0.02 0.015 Loading:10kg 0.01 0.005 Stroke:2mm 0 0 50 100 150 200 2 50 Time (s) Time (sec) Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  22. 22. Uniformity in High Speed Uniformity in speed:±0.006% VelocityConditions (mm/sec) Channel 1 Velocity (Millimeter/sec) Velocity: 100.015 100mm/sec 100.010 Motor:S320D 100.005 Loading:10kg 100.000 Stroke:220mm 99.995 Encoder:0.1μ 99.990 m 2.5 3.0 Time (Seconds) 3.5 4.0 Time(sec) Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  23. 23. Uniformity in Low Speed Velocity(mm/sec) Uniformity in speeding:±0.01%Conditions 一 定 速 度   5m m / L 5 .0 1 5 .0 0 9 Velocity:5mm/s 5 .0 0 8 5 .0 0 7 ec 5 .0 0 6 5 .0 0 5 5 .0 0 4 5 .0 0 3 Motor:S320D V e lo c it y (mm / s ) 5 .0 0 2 5 .0 0 1 5 4 .9 9 9 Loading:10kg 4 .9 9 8 4 .9 9 7 4 .9 9 6 4 .9 9 5 4 .9 9 4 Stroke:220mm 4 .9 9 3 4 .9 9 2 4 .9 9 1 4 .9 9 Encoder:0.1μm 0 100 200 300 4 00 500 600 700 800 90 0 1000 11 00 Time(sec) T im e (s) Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  24. 24. Holding ThrustDue to servo control, Holding ャフトモーター435Qの保持力 S435D シ Thrust ofthrust is not held after 1200achieving the positionto be programmed 1000Holding thrust up to 800the maximum is Thrust(N)maintained during 推力 (Noperation 600Holding thrust 400depends on the gain 200Holding thrust is alsodepends on the 0 0 2 4 6 8 10 12 14 16resolution of an 偏移 μ m) ( Deviation (μm)encoder Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  25. 25. Magnetic FieldMagnetic force abruptly 0.4decreases when leaving 0.35from the surface of the 0.3 Magneticshaft 0.25 磁界の強さ(T Force 0.2 0.15Very little influence in 0.1proportion to the 0.05distance from N-S pitch 0 0 5 10 15 20 25 30 Distance from surface (mm) 表面からの距離(mm) 0.4 Magnetic Flux Density(T) Distance from surface:10mmNo relation between the 0.3 Distance from mm 表 面 か らの 距 離  10 surface: 5mm Distance    0 mm              frommm 5 surface: 0mmpitch of both poles and 0.2                MAGNETIC FLUX DENSITY (positioning accuracy 0.1 0 0 15 30 45 60 75 90 105 120 - 0.1Thrust field is different - 0.2from magnetic field - 0.3 Sold & Serviced By: ELECTROMATE - 0.4 Position (mm) POSITION (mm) Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  26. 26. Advantages for Manufacturing (In comparison to a conventional liner motor)• Quality Control – Saving time in inspection – Simple QC in total due to the simple structure• Cost Control – Low cost in making a guide – Basically low cost in structure• Process Control – High productivity (due to simple assembling) – Flexibility of production(Exchangeable in production process) – Easy maintenance Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  27. 27. Development and ProductionDevelopment(Technical Center in Tokyo) Development and Designing For Customer ApplicationProduction(Iwaki, Odate, Chaina Factories) Motor, Driver, Controller, Communication System Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Odate Factory(Akita) Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  28. 28. Application of Linear Shaft Motor for Medical Purpose Multiple Movement Slider of Shaft Motor for 4 axes with Shaft Motor Limit Sensor with stepping motor T-NET Limit Sensor with T-NETController UnitNPM-104EMBC Movement Sensor Slider of Shaft with T-NET Motor Shaft Motor 3 pcs of Driver for Shaft Motor 2 axes driver for NPMC6045-4104 stepping motor board built-in (4 axes control) NPMCTNET-I/O 104 Sold & Serviced By: board G9001 built-in ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  29. 29. Business for Linear Shaft MotorDevelopment of Motor : GMC HillstoneDevelopment of Peripherals : Nippon PulseMotorProduction of Motor : GMC Hillstone Nippon Pulse MotorProduction of Peripherals : Nippon PulseMotorSales of System Actuator : Nippon PulseMotor Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  30. 30. System of Actuator1. Motor and Driver2. Motor, Driver and Controller3. Motor, Driver, Controller and Encoder4. Motor, Driver, Controller, Encoder and Communication System5. ?6. ? Propose with Module Actuator Supply to Our Customers with the Best Module Actuator Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  31. 31. SummaryWhat is a shaft motor? Magnet Coil This is a direct drive-linear-servomotor which is controlling movement by switching on the current to the shaft arrayed inside with magnets and the coil rolled in the shape of a cylinder Features of a shaft motor Shaft Quiet, no friction during movement Big thrust (6000N) Slider Repetition of position accuracy is available in 0.1μm. Compared with the other drive system, it is very stable in speeding and possible to control with stable speed. Possible to operate by a high-speed drive (6.5 m/Sec) to low-speed drive (8μm /Sec). Can be used in strong environments such as underwater and in a vacuum. A system is compact and simple. Linear guide Structure of a shaft motor Table Linear encoder Magnet shaft Shaft holder Moving part (coil) Cables for encoder 2 heads of a shaft 1 head of a shaft Cables for moving motor are used at motor is used at the part the X-axis Y-axis Application Using high resolution High precision position accuracy Using stability in speeding and less than 0.05% of unevenness of movement Precise measurement Using 0.1μm of repetition positioning accuracy Pinpoint Sold & Serviced By: alignment A system can be compact and it can build simply. System design ELECTROMATE Toll Free Phone (877) SERVO98 with high flexibility Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
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