The principle of Operation and Application of a Linear Shaft Motor Nippon Pulse America, INC January 13, 2005 To

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!

Shaft Magne t Coil Slider Linear Shaft Motor Structure

Linear Shaft Motor Principle uwvuwvuwv uwvuwvuwv ＳＮＳＮＳＮＳＮ Coil Flux Shaft Flux Thrust Current Fleming’s law

Linear Shaft Motor vs. Linear Motor N S S N N S S N N S S N Core(Iron ） Back York(Iron) Coil Magnet Adsorption Force No influence by change of gap LINEAR SHAFT MOTOR Linear motor Cogging by concentration of flux

Linear Shaft Motor Structure Table Shaft-motor Shaft Slider(coil) Linear encoder Linear Guide Cable bare Metal fittings

Plate Shaft HolderLinear GuideTableLinear Encoder Cables Shaft Motor Linear Shaft Motor Structure

Linear Shaft Motor

Distinctive Features Ⅰ  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 Features Ⅱ  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  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) FV Specified Thrust Output Efficiency

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 Velocity （ V) Current （ A) Velocity （ mm/s) Current （ A) Time

Data for Temperature Increase 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 Temperature （ C) Process time(1Div=1 h), Total=8h 26m 35s, Highest Tep.=24.5C

Temperature Increase on a Table Temperature （ 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

Duty Curve  DUTY=Accelerat ion 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. Thrust （ N) 435Q Duty

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) Used with 8.6nm resolution encoder Distance （ mm) Time(s)

:Enlargement Model S160T Condition Ｖ max ≒１ｍ／ sec αmax ≒１Ｇ High Precise Positioning up to ±0.1μm, without overshoot Precise Positioning

Acceleration | Ｇ | time(sec) Acceleration and slowdown Speed -1 0 Type Ｗ Stroke ： 700mm Constant Speed: 3.3m/s Performance Characteristics of High Speed Velocity （ m/s)

Highest Speed Conditions  ６．３ｍ／ｓｅｃ  Motor ：Ｓ４３ ５Ｑ  Loading ：２６ ｋｇ  Stroke ：８５０ ｍｍ  Encoder ： 1μ ｍ

8  m/sec Velocity （ mm/sec) Time (sec) Lowest Speed Conditions  Velocity ： 8  ｍ / ｓ ｅｃ  Motor ：Ｓ３２０Ｄ  Loading ：１０ｋｇ  Stroke ：２ｍｍ

Uniformity in speed ： ±0.006 ％ Velocity （ mm/sec) Uniformity in High Speed Conditions  Velocity ： 100mm/ ｓｅ ｃ  Motor ： S320D  Loading ： 10kg  Stroke ： 220mm  Encoder ： 0.1  ｍ Time （ｓ ec ）

Velocity （ mm/sec) Time （ｓ ec ） Uniformity in Low Speed Uniformity in speeding ： ±0.01 ％ Conditions  Velocity ： 5mm/ ｓｅｃ  Motor ： S320D  Loading ： 10kg  Stroke ： 220mm  Encoder ： 0.1  ｍ

Holding Thrust of S435D Deviation (  m) Thrust （ N) Holding Thrust  Due 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

 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 Magnetic Field Distance from surface (mm) Position (mm) Magnetic Flux Density(T) Distance from surface ： 10mm Distance from surface ： 5mm Distance from surface ： 0mm Magnetic Force

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 ）

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

3 pcs of Driver for Shaft Motor Shaft Motor Slider of Shaft Motor Shaft Motor Limit Sensor with T-NET Multiple Movement for 4 axes with stepping motor 2 axes driver for stepping motor Movement Sensor with T-NET Controller Unit NPM-104EMBC NPMC board built-in (4 axes control) NPMCTNET-I/O 104 board G9001 built-in Application of Linear Shaft Motor for Medical Purpose

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.Motor and Driver 2.Motor, Driver and Controller 3.Motor, Driver, Controller and Encoder 4.Motor, Driver, Controller, Encoder and Communication System Propose with Module Actuator Supply to Our Customers with the Best Module Actuator 5. ? 6. ?

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 encoder Linear guide Moving part (coil) Shaft holder 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 Features of a shaft motor Quiet, no friction during movement Big thrust (6000N) Repetition of position accuracy is available in 0.1 μ m. 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 (8 μ m /Sec). Can be used in strong environments such as underwater and in a vacuum. A system is compact and simple. Summary