Nippon Pulse linear shaft motor presentation 2005

To

The principle of Operation and
Application of a Linear Shaft Motor
Nippon Pulse America, INC

January 13, 2005
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１．Principal of the Linear Shaft Motor
２．Distinctive Features of the Linear Shaft Motor
３．Actuator Module
４．Application

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Development Concept

Simple is the best!

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Linear Shaft Motor Structure
Magnet Coil

Shaft
Slider

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Linear Shaft Motor Principle
Coil Flux
Shaft uwv uwv uwv

ＳＮＳＮＳＮＳＮ

uwv uwv uwv

Flux Thrust

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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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Table
Slider(coil)
Metal fittings
Linear
Cable bare Guide

Shaft-motor Shaft
Linear encoder
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Plate Linear Guide Table Linear Encoder Shaft Holder

Shaft Motor

Cables
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Linear Shaft Motor

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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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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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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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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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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
　６５最高温度２． ℃
時間２分３秒　４５

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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＝ﾃｰﾌﾞ温度ー室温
room ﾙ
5
0
0 60 120 180 240 300
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経過時間（分）
Process time www.electromate.com

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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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８６ｍ）
．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８６ｍ）
．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:

- 0.005
0 10 20 30 40 50 60 70 80
ELECTROMATE
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Precise Positioning
:Enlargement
High Precise Positioning up to
±0.1μm, without overshoot

Model S160T
Condition
Ｖmax≒１ｍ／sec
αmax≒１Ｇ
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Performance Characteristics
of High Speed
Velocity Acceleration
（m/s) Type Ｗ |Ｇ|
Speed
Stroke：700mm
3 Constant Speed: 8
3.3m/s Acceleration
and slowdown
2 6

1 4

0 2

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time(sec) sales@electromate.com

Highest Speed

Conditions

６．３ｍ／ｓｅｃ

Motor：Ｓ４３５
Ｑ

Loading：２６ｋ
ｇ

Stroke：８５０ｍ
ｍ
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Encoder：1μｍ Toll Free Phone (877) SERVO98
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Lowest Speed
低速
8μm/sec
送り　（８ μ ｍ／

Conditions 0.05

0.045
Velocity（mm/sec)
Velocity：8μｍ/ｓｅ
0.04

ｃ 0.035
V e lo c it y (m m / s )

0.03

0.025
Motor：Ｓ３２０Ｄ 0.02

0.015

Loading：１０ｋｇ 0.01

0.005

Stroke：２ｍｍ 0
0 50 100 150 200 2 50

Time (s)
Time (sec)

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Uniformity in High Speed
Uniformity in speed：±0.006％
Velocity
Conditions （mm/sec)
Channel 1 Velocity (Millimeter/sec)

Velocity：
100.015

100mm/ｓｅｃ
100.010

Motor：S320D 100.005

Loading：10kg 100.000

Stroke：220mm 99.995

Encoder：0.1μ 99.990

ｍ 2.5 3.0
Time (Seconds)
3.5 4.0

Time（ｓec） Sold & Serviced By:

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Uniformity in Low Speed
Velocity（mm/sec) Uniformity in speeding：±0.01％
Conditions
一定速度　５ｍｍ／ 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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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)
encoder Sold & Serviced By:

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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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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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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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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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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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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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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:

alignment
A system can be compact and it can build simply. System design ELECTROMATE
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Nippon Pulse linear shaft motor presentation 2005

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Nippon Pulse linear shaft motor presentation 2005