Kotlin Multiplatform & Compose Multiplatform - Starter kit for pragmatics
Nippon Pulse linear shaft motor presentation 2005
1. To
The principle of Operation and
Application of a Linear Shaft Motor
Nippon Pulse America, INC
January 13, 2005
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2. 1.Principal of the Linear Shaft Motor
2.Distinctive Features of the Linear Shaft Motor
3.Actuator Module
4.Application
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3. Development Concept
Simple is the best!
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4. Linear Shaft Motor Structure
Magnet Coil
Shaft
Slider
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5. Linear Shaft Motor Principle
Coil Flux
Shaft uwv uwv uwv
S N S N S N S N
uwv uwv uwv
Flux Thrust
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6. Linear Shaft Motor vs. Linear Motor
LINEAR SHAFT MOTOR
No influence by
Coil Magnet
change of gap
Coil Core(Iron) Magnet Adsorption Force
S N S N S N
N S N S N S
Cogging by Back York(Iron)
concentration of flux
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7. Linear Shaft Motor Structure
Table
Slider(coil)
Metal fittings
Linear
Cable bare Guide
Shaft-motor Shaft
Linear encoder
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8. Linear Shaft Motor Structure
Plate Linear Guide Table Linear Encoder Shaft Holder
Shaft Motor
Cables
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9. Linear Shaft Motor
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10. 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
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11. 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
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12. F-V Curve
8000 80%
F-V curve shows 7000
FV F- V 70%
Specified Thrust
定格推力
characteristic of a DC Output 出力
6000
Efficiency
効率 60%
motor
(However, the classification 5000 50%
for a shaft motor of “The F O R CE ( N)
Institute of Electrical 4000 40%
Engineers of Japan” is a 3000 30%
synchronous motor)
2000 20%
7000N output (Size of 1000 10%
Slider:120 x 120 x 540)
0 0%
0 0.5 1 1.5 2 2.5 3 3.5 4
VELOCITY (m/ sec)
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13. Current in Movement
Only at the time Velocity(V) Current(A)
速度(V) 電流値( )
A
of an acceleration
and slowdown, 40 1.5
35
current flows. 1
30
25
Velocity(mm/s)
0.5
Current(A)
速度(mm/s)
In case of a linear
電流値(A)
20
motor with a core, 15 0
about 30% of 10
- 0.5
rated current 5
flows even at the 0 -1
time of constant -5
speeding - 10 - 1.5
Time
移動時間
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14. Data for Temperature Increase
427Q4Temperature 4A 25% = 1.6A>25%=1.6A)
2 Q
7 温度試験 <定格6.
Test (6.4A
CH01:Rm.CH01:室温 CH02:U Coil
Tep. CH02:U-コイル CH03:V Coil
CH03:V-コイル CH04:W Coil
CH04:W-コイル CH05:Fin L
CH05:フィン-L CH06:Fin R
CH06:フィン-R
30
25
20
Temperature
温度 (℃
15
(C)
10
5
0
0 720 1440 2160 2880 3600 4320 5040 5760
Process time(1Div=1 h), Total=8h 26m 35s, Highest Tep.=24.5C
経過時間 ( Div=1
1 時間) Tot al 8
6 5 最高温度2 . ℃
時間2 分3 秒 45
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15. Temperature Increase on a Table
荷重1kg、 V max=1m/s, αs、 max=1G、
Load:!kg,
、 Vmax=1m/ max=1 G
α
Stroke:200mm( Round movement after 1sec stop at at the both ends)
スト ローク200mm/両端1秒停止往復運転
40
Temperature on the table
テーブル温度
35
30
℃)
Temperature(C)
25 Temperature室温 room
in the
温度(
20
15 Temperature increase =
10 Temperature on the table – Temperature in the
温度上昇=テー ブ 温度ー室温
room ル
5
0
0 60 120 180 240 300
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16. Duty Curve
435Q 435Q
DUTY=Acceleratio 2500
n and
slowdown/cycle 2000
+10℃
In case of a linear
+20℃
+30℃
Thrust(N)
1500
motor, constant
+40℃
推力 (N
+50℃
+60℃
movement 1000
+70℃
+80℃
(Duty=1) is not +90℃
+100℃
practical.
500
Technique utilizing 0
duty well is the art 0 0.1 0.2 0.3 0.4 0.5
DUTY
0.6 0.7 0.8 0.9 1
of using a shaft Duty Sold & Serviced By:
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17. Repetition Positioning Accuracy
Used with 8.6nm resolution encoder
静的位置決め性能(エンコーダ分解能8 6 m)
.n
60
55
50
45
40
Available within ±1.2
Distance(mm)
35
30
25
20
pulses of encoder
15
Distance(mm
10
5
0
resolution (3σ)
-5
- 10
- 15
- 20
(encoder
- 25
- 30
- 35
- 40
resolution:less than
- 45
- 50
- 55
- 60
0 10 20 30 40 50 60 70 80
10nm) Time (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 6 m)
.n
0.005
No influence with 0.004
Distance(mm)
Expansion and
0.003
0.002
contraction of a shaft
0.001
Distance(mm
0
- 0.001
- 0.002
- 0.003
- 0.004 Sold & Serviced By:
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0 10 20 30 40 50 60 70 80
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18. Precise Positioning
:Enlargement
High Precise Positioning up to
±0.1μm, without overshoot
Model S160T
Condition
Vmax≒1m/sec
αmax≒1G
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23. Uniformity in Low Speed
Velocity(mm/sec) Uniformity in speeding:±0.01%
Conditions
一 定 速 度 5m m / L
5 .0 1
5 .0 0 9
Velocity:5mm/s 5 .0 0 8
5 .0 0 7
ec 5 .0 0 6
5 .0 0 5
5 .0 0 4
5 .0 0 3
Motor:S320D
V e lo c it y (mm / s )
5 .0 0 2
5 .0 0 1
5
4 .9 9 9
Loading:10kg
4 .9 9 8
4 .9 9 7
4 .9 9 6
4 .9 9 5
4 .9 9 4
Stroke:220mm 4 .9 9 3
4 .9 9 2
4 .9 9 1
4 .9 9
Encoder:0.1μm
0 100 200 300 4 00 500 600 700 800 90 0 1000 11 00
Time(sec)
T im e (s)
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24. Holding Thrust
Due to servo control, Holding ャフトモーター435Qの保持力 S435D
シ Thrust of
thrust is not held after 1200
achieving the position
to be programmed 1000
Holding thrust up to 800
the maximum is
Thrust(N)
maintained during
推力 (N
operation 600
Holding thrust
400
depends on the gain
200
Holding thrust is also
depends on the
0
0 2 4 6 8 10 12 14 16
resolution of an 偏移 μ m)
(
Deviation (μm)
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25. Magnetic Field
Magnetic force abruptly 0.4
decreases when leaving 0.35
from the surface of the
0.3
Magnetic
shaft
0.25
磁界の強さ(T
Force
0.2
0.15
Very little influence in 0.1
proportion to the
0.05
distance from N-S pitch
0
0 5 10 15 20 25 30
Distance from surface (mm)
表面からの距離(mm)
0.4
Magnetic Flux Density(T)
Distance from surface:10mm
No relation between the 0.3
Distance from mm
表 面 か らの 距 離 10 surface: 5mm
Distance 0 mm
frommm
5
surface: 0mm
pitch of both poles and 0.2
MAGNETIC FLUX DENSITY (
positioning accuracy 0.1
0
0 15 30 45 60 75 90 105 120
- 0.1
Thrust field is different - 0.2
from magnetic field - 0.3
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- 0.4
Position (mm)
POSITION (mm)
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26. 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
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27. Development and
Production
Development(Technical Center in Tokyo)
Development and Designing
For Customer Application
Production(Iwaki, Odate, Chaina Factories)
Motor, Driver, Controller, Communication System
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28. Application of Linear Shaft
Motor for Medical Purpose
Multiple Movement Slider of
Shaft Motor
for 4 axes with Shaft Motor
Limit Sensor with stepping motor
T-NET
Limit Sensor with
T-NET
Controller Unit
NPM-104EMBC Movement Sensor Slider of Shaft
with T-NET
Motor
Shaft Motor
3 pcs of Driver for
Shaft Motor
2 axes driver for
NPMC6045-4104 stepping motor
board built-in (4 axes
control) NPMCTNET-I/O 104 Sold & Serviced By:
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29. 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
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30. System of Actuator
1. Motor and Driver
2. Motor, Driver and Controller
3. Motor, Driver, Controller and Encoder
4. Motor, Driver, Controller, Encoder and
Communication System
5. ?
6. ?
Propose with Module Actuator
Supply to Our Customers with the Best Module Actuator
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31. 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
Features of a shaft motor Shaft
Quiet, no friction during movement
Big thrust (6000N) Slider
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
Structure of a shaft motor Table
Linear encoder
Magnet shaft
Shaft holder
Moving part (coil)
Cables for encoder 2 heads of a shaft 1 head of a shaft
Cables for moving motor are used at motor is used at the
part the X-axis Y-axis
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 Sold & Serviced By:
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A system can be compact and it can build simply. System design ELECTROMATE
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