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Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
LDC-Series/
LDL- Series Linear
Servo Motor
Why Linear Motors?
• They provide features that help you increase the throughput of your
machinery  Greater profitability
• They are more reliable than other linear actuation methods Less
Downtime  Greater profitability
• They open the door to more flexible machinery while maintaining high
levels of production that you would normally only achieve with dedicated
machinery  Differentiator vs. Your Competition
• Improve precision which in some cases can minimize waste that your
machines generate  Higher Efficiencies Greater Profitability
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
2
Increased Throughput
• How Can Linear Motors Increase Your Machine’s Throughput?
– They can achieve faster settle times because they are directly mounted to the
payload….no “spring”
– Other technologies such as belts, ballscrews and rack & pinions have to deal with
“spring” introduced by
• Couplings between the rotary motor and the driven item such as the
ballscrew, pinion or pulley.
• Clearances or backlashes in gear-boxes and ballscrews.
• The spring in the belt itself
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
3
Increased Throughput
• How Can Linear Motors Increase Your Machine’s Throughput?
– They can achieve
• up to 10gs of acceleration
• up to 10m/s of velocity
– Belt and rack & pinion actuation can achieve high velocities and accelerations…
but at a cost.
• High rates of wear
• High levels of noise
– Ballscrew actuation …. Well….At least they’re fairly precise….Not something often
used for speed.
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
4
Increased Reliability
• How does using linear motors make your machines more reliable?
– Linear Motors have NO wear items
– Ballscrew, belt and rack & Pinion have several wear items, that need maintenance
and even replacement.
• Radial bearings (end of screws, in pulleys, supporting pinions)
• Ballscrew nuts and pinions
• Ballscrews, belts and racks
• Gearboxes
– Linear Motors are also easy to align/install
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
5
Increased Machine Flexibility
• How can using linear motors increase the flexibility of my machinery?
– Inflexible machines are those that are designed for a specific task. From a linear
motion perspective, they often use one of the following technologies:
• Cams
• Linkages
• Rodless Pneumatic Cylinders
– The simplest changes in scope can require massive amounts of set up to remove
and install different tooling.
• Linear motors, as a result of their direct drive configuration, high
accelerations and speed, can come close to achieving motion similar to
that from cams, linkages and other 2 point motion devices. Some
existing applications taking advantage of this are:
– Flying shears…can allow for different length cuts
– Vertical Form-Fill-and Seal machines…allow for different size packages
– Multi-axis on the fly laser cutting can take place of dedicated large stamping dies for
easy change over from Copyright
one shape
to another.
© 2009 Rockwell Automation, Inc. All rights reserved.
6
Elimination of Waste
• How can linear motors result in greater efficiencies and less waste?
– Linear motors, when combined with high precision linear encoders ($100), can
easily obtain repeatability in the 2 to 3 micron range.
• If you’re cutting product and can’t have less than a certain amount go into a
package, you can reduce that margin by cutting closer and ship less free
goods out the door.
• If you’re having to perform secondary operations (sorting or trimming) on the
product you just made because you just couldn’t hold consistency, the higher
precision of linear motors can help to reduce this.
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
7
Product Application
Motion not as
Rotary
Motor & n
• What technologies compete with linear
motors?
smooth
Ballscrew n Settling time
– Ballscrews and rotary servo motors
n High speed
– Belts and rotary servo motors
n High accel
– Rack & Pinions and rotary servo motors
n Motion not sm
Rotary Motor &
Poor settling
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8
Linear Motor n
corrosive env.
purchase cost
varying loads
High force due to
Multiple mechanical May require
In some
Moderate initial
n mechanical
n
n
n
- moving parts
precision ballscrew applications, issues purchase cost
advantage
exist with
n
Low life in many
Inherent issues with mechanical
Suited to widely
demanding
Life cycle costbetter than .02mm
n
n
n backlash &
n
particles & • Precision
varying loads •Higher
applications
e.g.
can be higher
Speeds
hysteresis
lubrication • Speed greater than 2m/s
24/7/365Travels
• High G’s (greater than 3g’s)
•Longer
Motion not as
• Throughput
5m/s & 5m Specialty motors
Rotary Motor & n
• Reliability
smooth
n available (e.g.
Ballscrew n Settling time
Key Cha
washdown rated)
Alternative
In some
Inherent issues withSolutions
n Low initial
Performance
Mechanical
A
Multiple mechanical
High speed
n
Simplicity
n
Micro
n High speed
n
n backlash &
n applications,nissues
purchase cost
- moving parts
n
n Reliability
High
accel
Can a
exist with
hysteresis
n
micro
n Broad speed range n Unlimited travel
mechanical
n High accel
Life cycle cost
n Low life in many
n
1 µm
particles & Fastnsettling
can be much n Vertical apps
demanding
Tuning for widely
issues
1 thou
n
Linear Motor
lubrication
Key Characteristics
varyinghigher
loads
Rotary Motor & n Motion not smooth
applications
e.g.
Environmental
High force due
to
Poor settling Alternative
&Solutions
Multiple
mechanical
May r
Performance
Mechanical
Accuracy
Considerations
Cost
comparison
n
n
n
mechanical
n
24/7/365
Belt
n High speed
n Simplicity
n Micron range typical n Sanitary/Cleanroom
moving
parts
preci
Life
cycle
cost
stiffness
advantage
.0001mm
n can be much
Product Application
• General Comparison
Belts
1mm
•Lower Precision
Linear Motor
Rack
n High accel
n Reliability
Legend:
Can achieve sub
micron range
n Vacuum prep
•Higher Precision
Low lifelower
in many
Inhere
Open motor
Suited
to
widely
demanding
High
initial linear
equals major
constructionn
not
n
n
backl
n Fast settling
n
motor based
apps
1 µm = 0.000039
in loads
varying
e.g.
n equals major advantage n equals disadvantage
n n Vertical
suited to wet / applications
n stage/actuator
hyste
Tuning for widelydisadvantage
issues
1
thou
=
25.4
µm
n
Linear Motor
corrosive env. 24/7/365
purchase cost
varying loads
Motion not as
High force due to
Multiple Rotary
mechanical
May require
In some
Moderate initial
n
Motor
n mechanical
n
n &
n
smooth
- moving parts
precision ballscrew
applications, issues
purchase cost
advantage
Ballscrew
exist with
n Settling time
n
Low life in many
n Broad speed range n Unlimited travel
n
Ball Screw
n
Rotary Motor &
Ballscrew
Suited to widely
varying loads
n
Motion not as
smooth
n Settling time
n
n High speed
Inherent issues with
mechanical
n backlash &
particles &
hysteresis
n High speedlubrication n
Life cycle cost
Inhere
n
be higher
Multiplecan
mechanical
n backl
- moving parts
hyste
Specialty motors
n available (e.g.
n High accel
n Low life in many
washdown rated)
demanding
In some
Inherent issues with
n Low initial
Multiple mechanical
smooth
n backlash
n applications, issues
Rotary Motor
& n&Motion not
purchase
applications
e.g.cost
- moving parts
Poor settling
& with
exist
n
24/7/365
Belt hysteresis
Life cycle cost
stiffness mechanical
Low life in many
0m/s
& 0m
n
n High accel
•Lower Speeds
Rotary Motor & n Motion not smooth
Poor settling &
•Shorter
Travels
n
Belt
stiffness
n
demanding
applications e.g.
24/7/365
demanding
applications e.g.
Legend:
24/7/365
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
particles &
lubrication
n can be much
higher
n equals major advantage n equals disadvantage
equals
n disadv
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Product Application
• General Comparison
Criteria
Precision
Servo
Responsiveness
Velocity
Thrust Force
Reliability
Ease of Assembly
Use of Absolute
Encoders with Kinetix
Drives
Noise Level
Ability to have multiple
heads on a single axis
Linear Motors
Belt Drive
Ballscrew
Rack & Pinion
Comments
J
J
J
K
L
L
J
K
J
K
J is .005mm K is .025mm
L
J
K
K
J
J
J
J
L
K
K
J
K
K
Linear Motors Have No Mechanical Parts
to wear out or maintain.
L
J
L
J
Kinetix drives currently are not
compatible with linear absolute encoders.
J
J
L
L
K
L
J
L
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
Linear Motors are mounted direct the
payload, no coupling or inertia matching
J is 5m/s L is 2.5m/s
J 10’s of kN K 5kN
No Belt, Gear or Ball Nut Noise
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Product Application
• Summary of Comparison
– Versus precision ground ballscrews
• Increased precision  less waste and part variation
• Greater smoothness  Increased consistency and perceived quality
• Faster move and settle times  Increased throughput
• No mechanical wear parts to lubricate or replace  Increased productivity
• Easier to install  No misalignment problems to cause premature failure
 Faster installation, reducing machine cost
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
11
Product Application
• Summary of Comparison
– Versus belt drives
• Increased precision  less waste and part variation
• Greater smoothness  Increased consistency and perceived quality
• Faster settle times  Increased throughput
• No mechanical wear parts to lubricate or replace  Increased productivity
• Less noisy  perceived quality improvement.
– Versus Rack & Pinion
• Increased precision  less waste and part variation
• Greater smoothness  Increased consistency and perceived quality
• Faster settle times  Increased throughput
• No mechanical wear parts to lubricate or replace  Increased productivity
• Less noisy  perceived quality improvement.
• Easier to install  No misalignment problems to cause premature failure
 Faster installation, reducing machine cost
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
12
Product Application
• Selecting the right type of linear motor
Feature
Non Cogging
High Force Density ($’s)
No Magnetic Attraction
Between Coil and Magnet
Track
Iron Core
Ironless
L
J
Provides for extremely smooth
motion.
L
Allows for the use of smaller, less
expensive motors. Also allows for
higher available force motors.
J
Allows you to use smaller, less
expensive linear bearings to guide
the coil.
Eliminates the need for shielding in
cases where the application is
sensitive to magnetic fields.
J
L
No Magnetic Field Exposure
L
J
Max Amplifier Input Voltage
460V AC
230V AC
Benefit
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
13
Product Application
• Linear Motor Applications – What does a basic axis look like?
End Stops
Bumper Springs
Linear Guides
Magnets
Carriage
Cable & Cable Carrier
Encoder Head
Bearings
Coil
Junction Box
Encoder Scale
Base
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14
Product Application
• Moving Coil
•
– Most common configuration
– Used to transport or position a payload
– Used in combinations to form gantries
Multiple Moving Coils
– Adds additional functionality
• Multiple process heads
• Variable clamping/sealing/cutting
• 2D motion with one axis
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
15
Product Application
• Moving Magnet
•
– Short Stroke, light load, high acceleration
– NO moving cables
Multiple Magnets and Multiple Coils
– Adds additional functionality
• Variable clamping/sealing/cutting
• Multiple process heads
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16
Product Application
• Vertical Moving Coil
– Uses a counter-weight
– Limited to 1g of acceleration
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17
Why Use Allen-Bradley Linear Motors?
• Easy to select and optimize with Motion Analyzer 4.7 (June 2009)
….part of Mechatronics focus
• Easy to include in your design with the availability of C.A.D drawings and
models.
• Easy to commission with RSLogix 5000 software.
• Easy to program with the availability of Add On Instructions (AOIs).
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
18
Product Selection
• Selecting the right size linear motor
– Main tool for motor sizing/selection  Motion Analyzer 4.7…..Due out this Spring
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
19
Product Selection
• Selecting the right size linear motor
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
20
Product Selection
• Selecting the right size linear motor
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
21
Product Selection
• Selecting the right size linear motor
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
22
Product Selection
• Selecting the right size linear motor
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Product Selection
• Selecting the right size linear motor - Summary
–
–
–
–
–
–
–
Voltage desired
Type of motor desired (Iron Core or Ironless)
Payload (weight of carriage and object(s) mounted to carriage)
Motion Profile (travel distance, time to make move, dwell time, etc.)
Ambient Temperature and type of environment (industrial, clean, vacuum, etc)
Orientation of axis (flat, vertical, angle)
Resistance to motion (linear bearing friction, seal drag from bearings, external force,
etc.)
• Limitations you may have on overall length, width or height of your axis.
• Distance of cable from motor to amplifier.
Be conservative in your sizing. Unlike other technologies, you can
not increase the motor force without making the coil longer or
wider, which will may affect many other parts in your machine.
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24
Machine Design Simplification
• Drawings Available on line…..Link provided by Motion Analyzer
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25
Product Start Up - Setup with RSLogix 5000
• Settings for the Drive/Motor Tab
Table from users
manual
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26
Product Start Up - Setup with RSLogix 5000
• Motor Feedback Tab
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Product Start Up - Setup with RSLogix 5000
• Conversion Tab
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Product Start Up - Setup with RSLogix 5000
• Units Tab
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29
Product Start Up - Setup with RSLogix 5000
• Verify Direction and Resolution
– With the drive DISABLED, move the axis and verify that the ActualPostion tag
increases in value as you move in the positive direction. If the direction of travel does
not match what has been defined by the motor power and Hall Sensing wiring, then
you can change the direction by changing the encoder wiring using following table
Move the axis a known distance, and verify that the Actual Position tag
moves the correct distance in millimeters.
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30
Programming Simplification
• Add On Instructions
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31
Commercial Information
• Lead Time
–
–
–
–
–
Flying lead coils – 15 days
Connectorized coils – 20 days
Magnet channels – 15 days
Encoder Connector Kits – 10 days
Bulk Head Connector Kits – 10 days
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
32
Commercial Information
• How are these motors different than the Anorad motors?
– The LDC-Series and LDL-Series are subsets of the Anorad product offering.
• If there is a need for an item that falls within the Anorad offering, but is not a
“standard” LDC-Series or LDL-Series motor, we can access the item via the
custom quote process.
• In these cases, you would be working with an Application Engineer from NY
that can provide you with the information that you would need to enter the
custom quote request.
– The Allen-Bradley branded product also has as a standard, termination to plug &
play with Allen-Bradley continuously flexing and extension cables.
– The Allen-Bradley branded product is supported through Allen-Bradley distributors
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
33
Commercial Information
• Manufacturing, Assembly & AE Applications
Large Assembly
Dispensing/Inspection
Solar (Scribing & Deposition)
Medical & Scientific & Electronic
Inspection & Assembly
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
34
Commercial Information
• Packaging Applications
Cartoning
Vertical Form, Fill & Seal
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35
Commercial Information
• Material Handling Applications
•Material Handling –
•Glass Transfer
•Material Handling –
•Pallet Transfer
•Material Handling –
•Press Feeders
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36
Commercial Information
• Converting Print & Web Applications
Large Format Printers
Digital Imaging/
Computer-To-Plate
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37
Commercial Information
• Other Application Spaces
– Machine Tools
• Multi-spindle Screw Machines
– Cutting Tool Positioning…..Fast accurate positioning
• Vertical & Horizontal Milling Machines
– Cutting Tool Positioning….Accurate positioning
– Tool Changers…..Fast
• Slant Bed Turning Machines
– Cutting Tool Positioning….Accurate positioning
• Laser or Plasma Cutting Machines
– Cutting Head Positioning….Fast and accurate positioning
• Flying Cut-off Machines
– Following Axis….Fast and highly dynamic
• Coordinate Measuring Machines
– Probe positioning…..Accurate positioning
• Large Format Routers
– Cutting Head Positioning….Fast and accurate positioning
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38
Commercial Information
• Other Application Spaces
– Tire
• Inspection
– Moving probe heads…..Reliable, fast and accurate motion
– Semi Conductor
• Wafer Cutting, Handling & Marking
– Smooth, precise motion
– Flat Panel
• Large Format Gantries
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
39
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Thank You!
Copyright © 2009 Rockwell Automation, Inc. All rights reserved.
LDC-Series/
LDL- Series Linear
Servo Motor