linear shaft motor vs. other linear motors
TRANSCRIPT
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Linear Shaft Motor vs. other linear motors
Ihr Partner in der Antriebstechnik
Linear Shaft Motor vs. anderen Linearmotoren
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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
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--- Linear Shaft Motor
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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
RCE (N)
0%
10%
20%
30%
40%
50%
60%
70%
80%
F-V
定格推力
出力
効率
Output
Efficiency
F - V
S605Q Specification Curve
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Simple
Non-contactHigh precision
Einfach
Hochpräzisions Kontaktfrei
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US Patent 06,040,642
US Patent 2006162650A
Läufer Magneten Spulen Stator
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u w v u w v u w v
u w v u w v u w v
S N N S S N N S S NN S
Fleming’s law of motion
Läufer SpulenMagnetischer
Fluss
AusflussKraft
Strom
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Verteilung des Magnetfelds / Magnetic field distribution
Simulierte durch FEM Tatsächlich
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• Konstruktionsregel für lineare Bewegungen / Linear motion design rule – Kraft = Leitungsstrom * magnetische Flussdichte / Force = Current *
Magnetic field
F = I x B– where
F = Kraft in Newton
- F = forces, measured in Newton's
I = Leitungsstrom in Ampere
- I = current in wire, measured in amperes
B = magnetische Flussdichte in Tesla
- B = magnetic field, measured in teslas
Temperaturerhöhung / Temperature increase = I2 (Leitungsstrom/Current ) x R
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• Eisenloser Entwurf Coreless design
• Beruht auf dem Ironless-PrinzipNo iron in forcer or shaft
• Keine CoggingNo cogging
• Steifer EntwurfStiff design
– Die zylindrischen Spulen des Stators bilden den Kern. So wird große mech. Steifheit erreicht, wie in einem Motor mit Eisenkern.
– The coils themselves are the core, thus the stiffness of an iron core design
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• Iron Core (Platen & Cylindrical)
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Strömung
Kraft
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• Coreless (U-förmigen)
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• Linear Shaft Motor
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Strömung
Kraft
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Ein grosser Luftspalt (nominal 0,5 bis 2,5 mm) ist möglich und unkritisch.
Large Air Gap0.5mm to 2.5mm nominal annular air gap (1 to 5mm total)
Es treten keine Kraftschwankungen auf, bei Luftspalttoleranzen über dem Arbeitsweg.
Non-criticalNo variation in force as gap varies over stroke of device
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(Coil)Ineffective use of flux
Cylindrical type
Effective use of flux
Magnets
Coil
Magnetic Flux
Magnets
Magnetic Flux
Coil
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60
80
100
120
140
0 0,2 0,4 0,6 0,8
%
Air gap (mm)
Iron core Flat
Force @
Constant Current
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• Because of the non-contact design, – No lubrication– No adjustment necessary.
• Eco-friendly – No noise– No dust.
• Energy efficient• Very simple setup• Simple alignment
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Linearmotor Bauform
Linear Motor Type
U-förmig
U-Shaped
Eisenlos tubular
Coreless CylindricalLinear Shaft Motor
AusgangsleistungPower Output
Niedrig / Low Hoch / High
Steifheit
StiffnessNiedrig / Low Hoch / High
Anziehungskraft
absorption forceKeine / None Keine / None
Cogging Keine / None Keine / None
Vergleich / Comparison
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• Technische Daten von Linearmotoren sind nicht immer vergleichbar.
• Linear motor specs are not always what they seem.
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Motor: S435Q
Maximum velocity: 6.3m/sec
Acceleration: 13.5G
Payload: 20kg (44lbs)
Stroke: 800mm 2’7”
Encoder: Heidenhain
Resolution: 1µm
Driver: Servoland SVDM 40P
Guide: LM guide
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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 50 100 150 200 250
Tim e (s)
Velocity(mm/s)
Velocity fluctuation is under 0.01%.
Motor: 2-S160T in parallel
Maximum velocity: 8 µm/sec
Payload: 25kg (55 lbs)
Encoder: Heidenhain
Resolution: 10 nm
Driver: Delta Tau P-Mac
Guide: Air bearing
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Motor: S435Q
Maximum velocity: 5m/sec
Acceleration: 20G
Payload: 1.7kg (4 lbs)
Encoder: MitsutoyoResolution: 0.5 µm
Driver: Servoland SVDM 40P
Guide: LM guide
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Stage: GTX 250
Motor: S200Q
Velocity: 100mm/sec
Acceleration: 1G
Payload: 25kg (55 lbs)
Velocity fluctuation is under 0.006%.
Encoder: Heidenhain
Resolution: 0.1µm
Driver: Servoland SVDM 5P
Guide: Air bearing
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-5
0
5
10
15
20
25
30
35
40
45
50
55
0 5 10 15 20 25 30 35
A ACT POS
B ACT POS
COMAND POS
[SEC]
[nm]
Motor: 2- S320D in parallel
Payload: 25kg (55 lbs)
Guide: Air bearing
Encoder: Heidenhain
Resolution: 1 nm
Driver: Delta Tau P-Mac
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Der Schleppfehler, ist sehr klein. Der max. Schleppfehler ist unter 100 nm.
Following error is very small. Maximum following error is under 100 nm.
Red line: command velocity
Blue line: actual velocity
Schleppfehler
Stage: GTX 250
Motor: 2-S160T in parallel
Maximum Velocity: 3mm/sec
Payload: 10kg (22 lbs)
Encoder: SONY BS78 TS13
Resolution: 0.14nm
Driver: P-Mac U-mac system
Guide: Air bearing
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• 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.
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(In comparison to types of linear motion)
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• Größte Kraft / Maximum force 36.000 N(S1150T)
• Kleinster Motor / Smallest motor S040D 25x10x10 mm
• Längster Weg / Longest stroke 4,6 m
• Größte Geschwindigkeit / Fastest speed 6,3 m/sec
• Geringste Geschwindigkeit / Slowest speed8 µm/sec
• Größte Beschleunigung / Maximum acceleration20 G
• Geschwindigkeitsschwankungen / Velocity fluctuation< 0,05%
• Höchste Auflösung / Finest resolution 70 pm (0,00007 µm)
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