Nippon Pulse linear shaft motor presentation 2005
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Transcript of Nippon Pulse linear shaft motor presentation 2005
The principle of Operation and Application of a Linear Shaft Motor
Nippon Pulse America, INC
January 13, 2005
To
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1.Principal of the Linear Shaft Motor
2.Distinctive Features of the Linear Shaft Motor
3.Actuator Module
4.Application
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Development Concept
Simple is the best!
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Shaft
Magnet Coil
Slider
Linear Shaft Motor Structure
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Linear Shaft Motor Principle
u w v u w v u w v
u w v u w v u w v
S N S N S NS N
Coil Flux
Shaft
Flux Thrust
CurrentFleming’s law ELECTROMATE
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Linear Shaft Motor vs. Linear Motor
NS
SN
NS
SN
NS
SN
Core(Iron)
Back York(Iron)
Coil
Coil Magnet
Magnet Adsorption Force
No influence by change of gap
LINEAR SHAFT MOTOR
Linear motor
Cogging by concentration of flux ELECTROMATE
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Linear Shaft Motor Structure
Table
Shaft-motor Shaft
Slider(coil)
Linear encoder
LinearGuideCable bare
Metal fittings
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Plate Shaft HolderLinear Guide Table Linear Encoder
Cables
Shaft Motor
Linear Shaft Motor Structure
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Linear Shaft Motor
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Distinctive FeaturesⅠ
Big thrust (6000N) possibilityQuiet, no friction during movementLight weight and compact due to no coreSimple structure allows building of unit from a short stroke up to 4.6M strokeHigh resolution (0.14nm), and when combined with high accuracy linear encoder you can achieve high precision positioning
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Distinctive FeaturesⅡIt is possible to control speed and positioning with high accuracy by using a linear encoder, even if the mechanical 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 as underwater and in a vacuumWhen compared to other linear motors, it is compact and lightweight
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F-V Curve
F-V curve shows characteristic of a DC motor (However, the classification for a shaft motor of “The Institute of Electrical Engineers of Japan” is a synchronous motor)
7000N output (Size of Slider:120 x 120 x 540)
0
1000
2000
3000
4000
5000
6000
7000
8000
0 0.5 1 1.5 2 2.5 3 3.5 4
VELOCITY (m/ sec)
FO
RC
E (
N)
0%
10%
20%
30%
40%
50%
60%
70%
80%
F- V定格推力
出力効率
FVSpecified ThrustOutputEfficiency
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Current in Movement
Only at the time of an acceleration and slowdown, current flows.
In case of a linear motor with a core, about 30% of rated current flows even at the time of constant speeding -10
-505
10152025303540
移動時間
速度
(mm
/s)
- 1.5
-1
-0.5
0
0.5
1
1.5
電流
値(A
)
速度(V) 電流値(A)Velocity(V) Current(A)
Velo
city
(m
m/s
)
Cur
rent
(A)
Time
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Data for Temperature Increase427Q 温度試験 <定格6.4A 25% = 1.6A>
0
5
10
15
20
25
30
0 720 1440 2160 2880 3600 4320 5040 5760経過時間 (1Div=1時間) Total 8時間26分35秒 最高温度24.5℃
温度
(
℃
CH01:室温 CH02:U-コイル CH03:V-コイル CH04:W-コイル CH05:フィン-L CH06:フィン-R
427Q Temperature Test (6.4A 25%=1.6A)
CH01:Rm. Tep. CH02:U Coil CH03:V Coil CH04:W Coil CH05:Fin L CH06:Fin R
Tem
pera
ture
(C
)
Process time(1Div=1 h), Total=8h 26m 35s, Highest Tep.=24.5C
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05
10152025303540
0 60 120 180 240 300経過時間(分)
温度
(℃)
荷重1kg、、Vmax=1m/ s、α max=1G、ストローク200mm/両端1秒停止往復運転
テーブル温度
室温
温度上昇=テー フ ル゙ 温度ー室温
Temperature Increase on a TableTe
mpe
ratu
re(
C)
Load:!kg, V max=1m/s, α
max=1 G
Stroke:200mm( Round movement after 1sec stop at at the both ends)
Process time
Temperature on the table
Temperature in the room
Temperature increase = Temperature on the table – Temperature in the
room
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Duty Curve
DUTY=Acceleration and slowdown/cycle
In case of a linear motor, constant movement (Duty=1) is not practical.
Technique utilizing duty well is the art of using a shaft motor.
435Q
0
500
1000
1500
2000
2500
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1DUTY
推力
(
N +10℃ +20℃ +30℃ +40℃ +50℃ +60℃ +70℃ +80℃ +90℃+100℃
Thru
st(
N)
435Q
DutyELECTROMATE
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Repetition Positioning Accuracy
Available within ±1.2 pulses of encoder resolution (3σ)(encoder resolution:less than 10nm)
No influence with Expansion and contraction of a shaft
Time(s)
静的位置決め性能(エンコーダ分解能8.6nm)
- 0.005
- 0.004
- 0.003
- 0.002
- 0.001
0
0.001
0.002
0.003
0.004
0.005
0 10 20 30 40 50 60 70 80Time (s)
Dis
tanc
e(m
m
静的位置決め性能(エンコーダ分解能8.6nm)
- 60- 55- 50- 45- 40- 35- 30- 25- 20- 15- 10- 505
1015202530354045505560
0 10 20 30 40 50 60 70 80Time (s)
Dis
tanc
e(m
m
Used with 8.6nm resolution encoder
Used with 8.6nm resolution encoderD
ista
nce(
mm
)D
ista
nce(
mm
)Time(s)
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:Enlargement
Model
S160T
Condition
Vmax≒1m/sec
αmax≒1G
High Precise Positioning up to ±0.1μm,
without overshoot
Precise Positioning
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Acceleration|G|
time(sec)0.1
0.2
0.3
2
4
6
8
0
1
2
3
0
Acceleration and slowdown
Speed
-
1 0
Type W
Stroke:700mmConstant Speed:
3.3m/s
Performance Characteristics of High Speed
Velocity(m/s)
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Highest Speed
Conditions
6.3m/sec
Motor:S435Q
Loading:26kg
Stroke:850mm
Encoder:1μmELECTROMATE
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低 速 送 り ( 8 μ m /
0
0.005
0.01
0.015
0.02
0.025
0.03
0.035
0.04
0.045
0.05
0 50 100 150 200 2 50
Time (s)
Ve
loc
ity(
mm
/s)
8μm/sec
Velo
city
(m
m/s
ec)
Time (sec)
Lowest Speed
Conditions
Velocity:8μm/sec
Motor:S320D
Loading:10kg
Stroke:2mm
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2.5 3.0 3.5 4.0Time (Seconds)
99.990
99.995
100.000
100.005
100.010
100.015
Channel 1 Velocity (Millimeter/sec)
Uniformity in speed:±0.006%Velocity
(mm/sec)
Uniformity in High SpeedConditions
Velocity:100mm/sec
Motor:S320D
Loading:10kg
Stroke:220mm
Encoder:0.1μm
Time(sec)ELECTROMATE
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一 定 速 度 5 m m / L
4 .9 94 .9 9 14 .9 9 24 .9 9 34 .9 9 44 .9 9 54 .9 9 64 .9 9 74 .9 9 84 .9 9 9
55 .0 0 1
5 .0 0 25 .0 0 35 .0 0 45 .0 0 55 .0 0 65 .0 0 75 .0 0 85 .0 0 9
5 .0 1
0 1 0 0 2 0 0 3 0 0 4 0 0 5 0 0 6 0 0 7 0 0 8 0 0 9 0 0 1 0 0 0 1 1 0 0
Time (s)
Ve
loc
ity
(mm
/s)
Velocity(mm/sec)
Time(sec)
Uniformity in Low SpeedUniformity in speeding:±0.01%
Conditions
Velocity:5mm/sec
Motor:S320D
Loading:10kg
Stroke:220mm
Encoder:0.1μm
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シャフトモーター435Qの保持力
0
200
400
600
800
1000
1200
0 2 4 6 8 10 12 14 16偏移 (μ m)
推力
(
N
Holding Thrust of S435D
Deviation (μm)
Thru
st(
N)
Holding ThrustDue to servo control, thrust is not held after achieving the position to be programmed
Holding thrust up to the maximum is maintained during operation
Holding thrust depends on the gain
Holding thrust is also depends on the resolution of an encoder
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Magnetic force abruptly decreases when leaving from the surface of the shaft
Very little influence in proportion to the distance from N-S pitch
No relation between the pitch of both poles and positioning accuracy
Thrust field is different from magnetic field
- 0.4
- 0.3
- 0.2
- 0.1
0
0.1
0.2
0.3
0.4
0 15 30 45 60 75 90 105 120
POSITION (mm)
MAG
NET
IC F
LUX
DEN
SITY
(
表 面 か らの 距 離 10 mm 5 mm
0 mm
Magnetic Field
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0.4
0 5 10 15 20 25 30表面からの距離(mm)
磁界
の強
さ(
T
Distance from surface (mm)
Position (mm)
Mag
netic
Flu
x D
ensi
ty(T
) Distance from surface:10mmDistance from surface:
5mmDistance from surface:
0mm
Mag
netic
Fo
rce
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Advantages for Manufacturing
• 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
(In comparison to a conventional liner motor)
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Development and Production
Odate Factory(Akita)
Development and Designing
For Customer Application
Development(Technical Center in Tokyo)
Production(Iwaki, Odate, Chaina Factories)
Motor, Driver, Controller, Communication System
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3 pcs of Driver for Shaft Motor
Shaft Motor
Slider of Shaft Motor
Slider of Shaft Motor Shaft Motor
Limit Sensor with
T-NET
Limit Sensor with
T-NET
Multiple Movement
for 4 axes with
stepping motor
2 axes driver for
stepping motor
Movement Sens
or with T-NET
Controller Unit NPM-104EMBC
NPMC6045-4104board built-in (4 axes
control) NPMCTNET-I/O 104
board G9001 built-in
Application of Linear Shaft Motor for Medical Purpose
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Business for Linear Shaft Motor
Development of Motor : GMC HillstoneDevelopment of Peripherals : Nippon Pulse MotorProduction of Motor : GMC Hillstone
Nippon Pulse MotorProduction of Peripherals : Nippon Pulse MotorSales of System Actuator : Nippon Pulse Motor
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System of Actuator1. Motor and Driver2. Motor, Driver and Controller 3. Motor, Driver, Controller and Encoder4. Motor, Driver, Controller, Encoder and
Communication System
Propose with Module Actuator Supply to Our Customers with the Best Module Actuator
5. ?6. ?
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Shaft
Magnet Coil
Slider
What is a shaft motor?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
Structure of a shaft motor
Cables for moving
part
Cables for encoder
Table
Magnet shaft
Linear encoderLinear guide
Moving part (coil) Shaft holder
ApplicationUsing high resolution High precision position accuracyUsing stability in speeding and less than 0.05% of unevenness of
movement Precise measurementUsing 0.1μm of repetition positioning accuracy Pinpoint
alignmentA system can be compact and it can build simply. System design
with high flexibility
2 heads of a shaft motor are used at the X-axis
1 head of a shaft motor is used at the Y-axis
Features of a shaft motorQuiet, no friction during movementBig thrust (6000N)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.
Summary
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