Nippon Pulse high precision linear motion made simple presentation 2009

High Precision Linear Motion made Simple

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Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
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sales@electromate.com

• Privately held company in Japan
• Date of Incorporation was May 20, 1952
• President & CEO, Hiroki Hashidate
• Has 2 offices and 2 factories in Japan
• Has 1 factory in China
• Has 5 subsidiary companies &
1 sales office overseas
• Quality System
– ISO 9001 year 2000 Certified
• Environmental Standards Sold & Serviced By:

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– ISO 14001 year 2004 certified Toll Free Phone (877) SERVO98
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• The customer is always first
– We strive to achieve customer impression, more
than satisfaction.

• Employees are the biggest asset
– Encourage each employee’s willingness to do their
best.
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Controllers

Networking

Drivers Motors
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Mechatronic Systems Toll Free Phone (877) SERVO98
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• ASIC Based Motion
Control Chips
– PCL series/PCD series
• PC Based Multi-axis
Controllers
– PPCI, NPMC series
• Simple Hand-held
Unit
(Motion Checker)
– MCH series Sold & Serviced By:

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• Stepper Motors
Driver Chips for
Bipolar /Unipolar
– NP series
• Stepper Motors
Driver Modules
– BD series

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• Tin-can Stepper Motors
– PF/PFC series
• Linear Stepper Motors
– PFL series
• Hybrid Stepper Motors
– PJB series &
PR series
• Synchronous Timing
Motors
– PTM series
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• Linear Shaft Motors
(brushless)
– S series

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• Serial communication chips
– G9000 series
• Networking modules
– for Master modules
– for local modules
• I/O device
• Control device
• CPU emulation
device
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• Per customer’s specifications
– Various X-Y Stages for Bio and Medical
• Actuators (Motor + Electronics integration)

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• What is a Linear Shaft Motor?
– (Theory and Structure)
– What are their advantage over other linear motion
systems?
– What is the True Cost of using the Linear Shaft
Motor?
• How to use / select
• Applications

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• Linear Induction Motor (LIM)
• Linear Pulse Motor (LPM)
• Linear DC Motor (DCLM)
– Voice Coil Motor
• Linear Synchronous Motor (LSM)
– Flat type, U type, and Cylindrical type
• With core
• Coreless --- Linear Shaft Motor

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ELECTROMATE
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8 000 8 0%

Efficiency
7 000 F- V 7 0%

F-V Output
定格推力
出力

6 000 効率 6 0%

5 000 5 0%
F O R CE ( N)

4 000 4 0%

3 000 3 0%

2 000 2 0%

1 000 1 0%

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0 0% ELECTROMATE
0 0 .5 1 1 .5 2 2.5 3 3.5 4 Toll Free Phone (877) SERVO98
V EL OC IT Y (m / sec ) www.electromate.com
S605Q Specification Curve

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ELECTROMATE
US Patent 06,040,642 www.electromate.com
US Patent 2006162650A

u w v u w v u w v

Ｎ S Ｓ N Ｎ S Ｓ N Ｎ S Ｓ N

u w v u w v u w v

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ELECTROMATE
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Fleming’s right hand law sales@electromate.com

Magnetic field distribution
Simulated by FEM Actual

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• Linear motion design rule
– Force = Current * Magnetic field

F=IxB
– where
F = forces, measured in Newton's
I = current in wire, measured in amperes
B = magnetic field, measured in teslas

• Temperature increase = I(Current)2 x R
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• Coreless design

• No iron in forcer or shaft

• No cogging

• Stiff design
– The coils themselves are the core, thus the stiffness of
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an iron core design ELECTROMATE
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• Iron Core (Platen & Cylindrical)

Force

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Current
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• Coreless (U SHAPED)

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• Linear Shaft Motor
Force

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Current Toll Free Fax (877) SERV099
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Large Air Gap
0.5mm to 2.5mm
nominal annular air gap
(1 to 5mm total)

Non-critical
No variation in force as
gap varies over stroke of
device Sold & Serviced By:

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Coil

Magnetic Flux Magnets

Ineffective use of flux (Coil)
Coil
Magnetic Flux
Cylindrical type
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Effective use of flux Toll Free Phone (877) SERVO98
Magnets www.electromate.com

• Because of the non-contact design,
– No lubrication
– No adjustment necessary.
• Eco-friendly
– No noise
– No dust.
• Energy efficient
• Very simple setup
• Simple alignment Sold & Serviced By:

ELECTROMATE
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Linear Motor Flat & Coreless
Cylindrical Coreless Flat Cylindrical
Type type with core Linear Shaft Motor

Power
High Low High
Output
Stiffness High Low High

Absorption
Very High None None
force
Result of Need more space
adsorption force for assembly
No effect No effect
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Cogging Large None None Toll Free Phone (877) SERVO98
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• Are published specs
– “True” specs or
– “If” specs

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ELECTROMATE
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• Linear motor specs are not always what they seem.

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ELECTROMATE
www.electromate.com

• Continuous and Peak forces looks similar

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ELECTROMATE
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• Continuous current and Resistance looks similar

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ELECTROMATE
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• What is Peak Force based on?
– U-motor 1 second

– LSM 40 second

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ELECTROMATE
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• What is continuous Force based
on?
– U-motor 75°C (100°C total)

– LSM 110°C (135°C total)

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ELECTROMATE
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Efficient Heat Dissipation

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After 24 hours of operation @ 10lbs cont force
ELECTROMATE
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• High Speed
• Slow Speed
• Acceleration
• Velocity fluctuation
• Nanometer step

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ELECTROMATE
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Motor: S435Q Encoder: Heidenhain
Maximum velocity: 6.3m/sec Resolution: 1µm Sold & Serviced By:

Acceleration: 13.5G Driver: Servoland SVDM 40P ELECTROMATE
Payload: 20kg (44lbs) Guide: LM guide Toll Free Fax (877) SERV099
www.electromate.com
Stroke: 800mm 2’7”

0.05

0.045

0.04

V e lo c it y (mm / s ) 0.035

0.03

0.025

0.02

0.015

0.01

0.005

0
0 50 100 150 200 2 50

Time (s)

Velocity fluctuation is under 0.01%.
Motor: 2-S160T in parallel Encoder: Heidenhain Sold & Serviced By:

Maximum velocity: 8 µm/sec Resolution: 10 nm ELECTROMATE
Payload: 25kg (55 lbs) Driver: Delta Tau P-Mac Toll Free Fax (877) SERV099
www.electromate.com
Guide: Air bearing

Motor: S435Q Encoder: Mitsutoyo
Maximum velocity: 5m/sec Resolution: 0.5 µm
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ELECTROMATE
Acceleration: 20G Driver: Servoland SVDM 40P Toll Free Phone (877) SERVO98
www.electromate.com
Payload: 1.7kg (4 lbs) Guide: LM guide sales@electromate.com

Channel 1 Velocity (Millimeter/sec)

100.015

100.010

100.005

100.000

99.995

99.990
2.5 3.0 3.5 4.0
Time (Seconds)

Velocity fluctuation is under 0.006%.
Stage: GTX 250
Motor: S200Q Encoder: Heidenhain Sold & Serviced By:

Velocity: 100mm/sec Resolution: 0.1µm ELECTROMATE
Acceleration: 1G Driver: Servoland SVDM 5P Toll Free Fax (877) SERV099
www.electromate.com
Payload: 25kg (55 lbs) Guide: Air bearing

[nm]
55

50 A ACT POS
B ACT POS
45

40

35 COMAND POS
30

25

20

15

10

5

0
0 5 10 15 20 25 30 35
-5
[SEC]
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Motor: 2- S320D in parallel Encoder: Heidenhain ELECTROMATE
Payload: 25kg (55 lbs) Resolution: 1 nm Toll Free Fax (877) SERV099
www.electromate.com
Guide: Air bearing Driver: Delta Tau P-Mac

• The savings really comes down to the
number of parts needed to build the
system and the complexities of these
parts.

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ELECTROMATE
www.electromate.com

• Rotary To Linear Systems

– Each part requires a PO

– Every part must be inspected to verify it’s quality

– All the parts need to be arranged and stocked to
allow for an efficient build Sold & Serviced By:

ELECTROMATE
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– 1 part number (2 parts)

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ELECTROMATE
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• Ball and lead screws require true
concentricity between the screw and
the nut, and they require high levels of
parallelism between these and the
linear guide.

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ELECTROMATE
www.electromate.com

• Linear Motor*
– Straightness - ± 381 microns (0.015 inch)
– Flatness - ≤ 889 microns (0.035 inch)
• Piezoelectric Motor†
– Straightness - ± 50 µ
– Flatness - ≤ 50 microns (0.0019 inch)
– Straightness - ± 0.5mm to 2.5mm (0.02 to 0.1 inch)
– Flatness - ≤ 1mm to 5mm (0.04 to 0.2 inch)
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ELECTROMATE
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• Cheaper components might later add to
manufacturing cost
– the total number of parts
– time required to do alignments
– required burn-in period
– required tuning time

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ELECTROMATE
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• Ball / Lead Screw
Rotary Motor Bearing Housing Ballnut

Flexible Coupling

Ball / Lead Screw

Support Bearing
Encoder
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ELECTROMATE
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• Ball / Lead Screw
Rotary MotorEvery
– part must be inspected and installed
Bearing Housing Ballnut

– Adjustments required for concentricity between
Flexible Coupling
the screw and the nut
Ball / Lead Screw
– And, high levels of parallelism between screw and
the linear guide
– Rotary inertia of the screw can makes it difficult to
tune servo Support Bearing
Encoder
– Adjustments for screw longitudinal and torsional Sold & Serviced By:

deformation ELECTROMATE
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Linear Shaft Motor Linear Encoder

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ELECTROMATE
www.electromate.com

LSM vs Ball Screw
This is for a system with a target of 50nm, 100mm usable stroke, and required continous force is 2N.
Note: Prices in US$, Based on Qty 25 and current as of 11/17/06

Ball Screw LSM
Description Part Number Cost Description Part Number Cost
Precision Ball Screw BSX0802-187 $ 487.80 Shaft Motor S160D-100 $ 602.50
Support Unit Fixed side BSWR8 $ 106.00 Shaft Support SHA16 $ 13.40
Support Unit Support side BUNR8 $ 27.10 Driver HAR2/100I $ 506.00
Stopper BSTP8 $ 11.30 Encoder, AnalogRGH24B15L00A $ 420.00
Bracket for Ball Screw BNFB304 $ 31.50 Total $ 1,541.90
Screws CB4-8 $ 0.60
Coupling MCGS16 $ 15.50
Motor PJB42S41B14 $ 70.00
256 Driver $ 150.00
Sub-total $ 899.80
Encoder 50nm RGH24H15D30A $ 795.00 Sold & Serviced By:

Total $ 1,694.80 ELECTROMATE
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（In comparison to types of liner motion）
• The ability to use commercially available servo drivers.
• Higher speeds are able to be achieved while retaining
high precision.
– At the same time, extremely high precision low speed uniformity
and high repeatability are possible.
• Because of the non-contact design, no lubrication or
adjustment necessary.
• Very simple setup and operation time. No need for
extended burn in.
• Simple alignment and QC period.
• Eco-friendly - no noise, no dust.
• Energy efficient, - power requirements are lower then
that of ball screw systems.
Sold & Serviced By:

ELECTROMATE
www.electromate.com

• Maximum force 36000N (S1150T)
• Smallest motor S040D 25x10x10mm
• Longest stroke 4.6m (15’ 1”)
• Fastest speed 6.3m/sec (21ft/sec)
• Slowest speed 8 µm/sec
• Maximum acceleration 20G
• Velocity fluctuation under 0.05%
• Finest resolution 70pm Sold & Serviced By:

ELECTROMATE
(0.00007µm) Toll Free Phone (877) SERVO98
www.electromate.com

• What is a Linear Shaft Motor?
– (Theory and Structure)
– What are their advantage over other linear motion
systems?
– What is the True Cost of using the Linear Shaft
Motor?
• How to use / select

Sold & Serviced By:

ELECTROMATE
www.electromate.com

Operating Conditions

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ELECTROMATE
www.electromate.com

Calculations

-

In these equations, “μ” is the coefficient of friction on the guide.
"g" is as the acceleration of gravity. g = 9.81 m/sec2

Continuous Force => Feff
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Peak Force => larger Fa ELECTROMATE
or Fd
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Other

Manufacturing
equipment

Inspection
machines

Machining
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• HDD
• LCD
• PCB
• 3D
• Microscope
• Semiconductor
• Other Sold & Serviced By:

ELECTROMATE
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• Milling Machine
• Grinders
• Press
• EDM
• Machining center
• Laser machine
• Wire cut EDM Sold & Serviced By:

ELECTROMATE

• Other
www.electromate.com

• LCD
• Boiling machine
• Injection
• Stage
• Eject robot
• Handling
• Semiconductor before process
• Semiconductor after process
• Bonding
• Surface mounter
• Organic Electroluminescence (OEL) Display
• Robot

ELECTROMATE
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• Office Automation
• Medical
• Printer
• Machine parts
• Health
• Automatic sliding doors
• Food handling
• Fiber
• Research

ELECTROMATE
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Linear Shaft Motor Part Number

S ┬
Shaft Size (D)
040 ┬
Forcer Size (A) ▬ Usable Stroke ▬ Options ▬ Options
X ▬ XXXX ▬ XX ▬ XX
• Available
Modifications
├ 080 ┤
├ 120 ┤ FO Forcer Only
├ 160 ┤ SO Shaft Only
├ 200 ┤ XX Two digit for custom motor
├
├
250
320
┤
┤ ST Standard – Waterproof IPX8
├ 350 ┤ WP Waterproof
├
├
427
435
┤
┤
HA
CE
Digital Hall Effect
CE type motor – Shaft support
length
├ 500 ┤
XX usable stroke in millimeters
└ 1000 ┘
S Single winding

– End Caps
D Double (2) windings
T Triple (3) windings
Q Quadruple (4) windings

– CE type
H Hextuple (6) windings
X Octuple (8) windings

XX Shaft diameter in mm *10
– Hall effects
• Digital
S Linear Shaft Motor
V Vacuum Linear Shaft Motor

•Q&A
Example:
S160T-350-ST
A standard 16 mm Shaft Motor with a triple coil Sold & Serviced By:

and a 350 mm usable stroke length. ELECTROMATE
www.electromate.com

Nippon Pulse high precision linear motion made simple presentation 2009

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