Transcript Linear Shaft Motor

To
The principle of Operation and
Application of a Linear Shaft Motor
Nippon Pulse America, INC
January 13, 2005
１．Principal of the Linear Shaft Motor
２．Distinctive Features of the Linear Shaft Motor
３．Actuator Module
４．Application
Development Concept
Simple is the best!
Linear Shaft Motor Structure
Magnet
Coil
Shaft
Slider
Linear Shaft Motor Principle
Coil
Shaft
Flux
uwv uwv uwv
Ｓ
Ｎ
Ｓ
Ｎ
Ｓ
uwv uwv uwv
Flux
Fleming’s law
Thrust
Current
Ｎ
Ｓ
Ｎ
Linear Shaft Motor vs. Linear Motor
LINEAR SHAFT MOTOR
No influence by
change of gap
Magnet
Coil
Core(Iron）
Coil
S
N
N
S
S
N
Cogging by
concentration of flux
Magnet
N
S
S
N
Adsorption Force
N
S
Back York(Iron)
Linear motor
Linear Shaft Motor Structure
Metal fittings
Slider(coil)
Cable bare
Shaft-motor Shaft
Table
Linear
Guide
Linear encoder
Linear Shaft Motor Structure
Plate
Linear Guide
Table
Linear Encoder
Shaft Holder
Shaft Motor
Cables
Linear Shaft Motor
Distinctive FeaturesⅠ
 Big thrust (6000N) possibility
 Quiet, no friction during movement
 Light weight and compact due to no core
 Simple structure allows building of unit from a short stroke
up to 4.6M stroke
 High resolution (0.14nm), and when combined with high
accuracy linear encoder you can achieve high precision
positioning
Distinctive FeaturesⅡ
 It 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 vacuum
 When compared to other linear motors, it is compact and
lightweight
F-V Curve
8000
 7000N output (Size of
Slider:120 x 120 x 540)
FV
SpecifiedF-V
Thrust
定格推力
Output 出力
Efficiency
効率
7000
6000
FORCE (N)
 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)
80%
70%
60%
5000
50%
4000
40%
3000
30%
2000
20%
1000
10%
0
0%
0
0.5
1
1.5
2
2.5
VELOCITY (m/sec)
3
3.5
4
Current in Movement
Velocity（V)
速度(V)
Current（A)
電流値（Ａ）
40
35
30
25
20
15
10
5
0
-5
-10
1.5
1
0.5
0
-0.5
-1
-1.5
移動時間
Time
電流値(A)
Current（A)
 In case of a linear
motor with a core,
about 30% of rated
current flows even
at the time of
constant speeding
速度(mm/s)
Velocity（mm/s)
 Only at the time of
an acceleration
and slowdown,
current flows.
Data for Temperature Increase
427Q
(6.4A
４２７Temperature
Q 温度試験 ＜定格６．４ATest
２５％ ＝
１．６A ＞25%=1.6A)
01:室温
C H 02:U －コイル
CH01:Rm.C HTep.
CH02:U
Coil
C H 03:V －コイル
CH03:V
Coil
C H 04:W －コイルCoil
CH04:W
CH05:Fin L
C H 05:フィン－Ｌ
CH06:Fin R
C H 06:フィン－Ｒ
30
25
Temperature
温度 （℃）
（C)
20
15
10
5
0
0
720
1440
2160
2880
3600
4320
経過時間 （１D iv=１時間） T otal ８時間２６分３５秒 最高温度２４．５℃
5040
Process time(1Div=1 h), Total=8h 26m 35s, Highest Tep.=24.5C
5760
Temperature Increase on a Table
Load：!kg, V max=1m/s, α max=1 G
荷重1kg、、Vmax=1m/s、αmax=1G、
ストローク200mm／両端1秒停止往復運転
Stroke：200mm(
Round movement after 1sec stop at at the both ends)
40
Temperature
on the table
テーブル温度
35
Temperature（C)
温度（℃）
30
25
Temperature 室温
in the room
20
15
Temperature increase =
Temperature on温度上昇＝ﾃｰﾌﾞﾙ温度ー室温
the table – Temperature in the room
10
5
0
0
60
120
180
経過時間（分）
Process time
240
300
Duty Curve
435Q 435Q
 DUTY=Acceleration
and slowdown/cycle
2500
2000
+10℃
+20℃
+30℃
1500
推力 （Ｎ）
Thrust（N)
 In case of a linear
motor, constant
movement (Duty=1)
is not practical.
+40℃
+50℃
+60℃
+70℃
1000
+80℃
+90℃
+100℃
 Technique utilizing
duty well is the art
of using a shaft
motor.
500
0
0
0.1
0.2
0.3
0.4
0.5
D U TY
Duty
0.6
0.7
0.8
0.9
1
Repetition Positioning Accuracy
Used with 8.6nm resolution encoder
Distance(mm)
 Available within ±1.2
pulses of encoder
resolution （3σ）
（encoder resolution：
less than １０ｎｍ）
Distance（mm)
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
5
0
-5
-10
-15
-20
-25
-30
-35
-40
-45
-50
-55
-60
0
10
20
30
40
50
60
70
80
Tim e (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８．６ｎｍ）
0.005
0.004
Distance(mm)
Distance（mm)
 No influence with
Expansion and
contraction of a shaft
0.003
0.002
0.001
0
-0.001
-0.002
-0.003
-0.004
-0.005
0
10
20
30
40
Tim e (s)
Time(s)
50
60
70
80
Precise Positioning
:Enlargement
High Precise Positioning up to
±0.1μm, without overshoot
Model
S160T
Condition
Ｖmax≒１ｍ／sec
αmax≒１Ｇ
Performance Characteristics
of High Speed
Velocity
（m/s)
Acceleration
|Ｇ|
Type Ｗ
Speed
Stroke：700mm
3
3.3m/s
2
-
8
Constant Speed:
Acceleration
and slowdown
6
1
4
0
2
1
0
0.1
0.2
time(sec)
0.3
0
Highest Speed
Conditions
 ６．３ｍ／ｓｅｃ
 Motor：Ｓ４３５Ｑ
 Loading：２６ｋｇ
 Stroke：８５０ｍｍ
 Encoder：1μｍ
Lowest Speed
（８ μ ｍ
8m/sec
低 速 送り
Conditions
／
0.05
 Velocity：8ｍ/ｓｅｃ
 Motor：Ｓ３２０Ｄ
 Loading：１０ｋｇ
 Stroke：２ｍｍ
Velocity（mm/sec)
V elocity(m m /s)
0.045
0.04
0.035
0.03
0.025
0.02
0.015
0.01
0.005
0
0
50
100
150
Tim e (s)
Time (sec)
200
250
Uniformity in High Speed
Uniformity in speed：±0.006％
Conditions
 Velocity：100mm/
ｓｅｃ
Velocity（mm/sec)
C hannel 1 Velocity (M illim eter/sec)
100.015
100.010
 Motor：S320D
 Loading：10kg
100.005
100.000
 Stroke：220mm
99.995
 Encoder：0.1ｍ
99.990
2.5
3.0
Tim e (Seconds)
Time（ｓec）
3.5
4.0
Uniformity in Low Speed
Conditions
Velocity（mm/sec)
 Motor：S320D
 Loading：10kg
 Stroke：220mm
 Encoder：0.1ｍ
V elocity (m m / s)
 Velocity：5mm/ｓｅｃ
一
定
Uniformity
in speeding：±0.01％
速度
５ｍ ｍ ／ L
5.01
5.009
5.008
5.007
5.006
5.005
5.004
5.003
5.002
5.001
5
4.999
4.998
4.997
4.996
4.995
4.994
4.993
4.992
4.991
4.99
0
100
200
300
4 00
500
600
Tim e (s)
Time（ｓec）
700
800
90 0
1000
11 00
Holding Thrust
Holdingシャフトモーター４３５Ｑの保持力
Thrust of S435D
 Due to servo control,
thrust is not held after
achieving the position
to be programmed
 Holding thrust depends
on the gain
1000
800
推力 （Ｎ）
Thrust（N)
 Holding thrust up to
the maximum is
maintained during
operation
1200
600
400
200
 Holding thrust is also
depends on the
resolution of an
encoder
0
0
2
4
6
8
偏移 （μｍ）
10
Deviation (m)
12
14
16
Magnetic Field
 Very little influence in
proportion to the distance
from N-S pitch
0.4
0.35
磁界の強さ（Ｔ）
Magnetic Force
 Magnetic force abruptly
decreases when leaving
from the surface of the
shaft
0.3
0.25
0.2
0.15
0.1
0.05
0
0
5
10
15
表面からの距離（ｍｍ）
20
25
30
Distance from surface (mm)
 No relation between the
pitch of both poles and
positioning accuracy
 Thrust field is different
from magnetic field
Flux Density(T)
Magnetic
MAGNETIC FLUX DENSITY (T)
0.4
Distance from surface：10mm
Distance from surface： 5mm
Distance from surface： 0mm
0.3
表面からの距離 10 m m
5mm
0mm
0.2
0.1
0
0
15
30
45
60
-0.1
-0.2
-0.3
-0.4
Position (mm)
P O S ITIO N (m m )
75
90
105
120
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
Development and Production
Development（Technical Center in Tokyo）
Development and Designing
For Customer Application
Production（Iwaki, Odate, Chaina Factories）
Motor, Driver, Controller, Communication System
Odate Factory（Akita）
Application of Linear Shaft
Motor for Medical Purpose
Limit Sensor with
T-NET
Multiple
Movement
for 4 axes with
stepping motor
Slider
of
Shaft Motor
Shaft Motor
Limit Sensor with
T-NET
Controller Unit
NPM-104EMBC
Slider of Shaft
Motor
Movement Sensor
with T-NET
Shaft Motor
3 pcs of Driver for
Shaft Motor
NPMC6045-4104
board built-in (4 axes
control)
NPMCTNET-I/O 104
board G9001 built-in
2 axes driver for
stepping motor
Business for Linear Shaft Motor
 Development of Motor
： GMC Hillstone
 Development of Peripherals ： Nippon Pulse Motor
 Production of Motor
： GMC Hillstone
Nippon Pulse Motor
 Production of Peripherals
： Nippon Pulse Motor
 Sales of System Actuator
： Nippon Pulse Motor
System of Actuator
1.
2.
3.
4.
5.
6.
Motor and Driver
Motor, Driver and Controller
Motor, Driver, Controller and Encoder
Motor, Driver, Controller, Encoder and
Communication System
?
?
Propose with Module Actuator
Supply to Our Customers with the Best Module Actuator
Summary
What 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
Shaft
Features of a shaft motor
Quiet, no friction during movement
Big 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.
Linear guide
Table
Structure of a shaft motor
Linear encoder
Slider
Magnet shaft
Cables for encoder
Moving part (coil)
Cables
part
for
Shaft holder
moving
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
alignment
A 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