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Linear Shaft Motor Application Resource Tool (SMART)
                            Current version V5.2.9E
Thank you for making use of Nippon Pulse America’s Linear Shaft Motor Application Resource
Tool (SMART). This tool is provided to assist you in selecting the correct Linear Shaft Motor for
your application. While every effort has been made to ensure that all calculations are correct,
many variables contribute to the selection of the correct Linear Shaft Motor for your application.
Nippon Pulse America cannot be held responsible for an incorrectly selected Linear Shaft Motor
since we cannot control all the variables of your system. Please verify any information gathered
from SMART.

SMART is a Microsoft Excel Workbook that makes use of Excel’s macro capability. If macros
are not enabled on your machine, SMART will not work.

I.     What is available in SMART?
       SMART is composed of 13 worksheets. The worksheets are as follows:

       1)      Read Me (Brief explanation of the Linear Shaft Motor selection software)
               It provides an explanation of the Selection Process Flow of SMART. The
               “Result” worksheet (see below) is the worksheet used for the selection
               calculations.

       2)      Worksheet (Worksheet to assist in collecting information for entry into SMART)
               Please make sure to use the worksheet to collect all information needed before
               running the motor selection software section of SMART.

       3)      Result (Motor selection software itself). Start selection software by double
               clicking anywhere on the “Result” sheet.
               a.      The temperature shown by the calculations is the surface temperature of
                       the coil, which is inside the forcer.
               b.      As for the surface temperature rise of the coil inside the forcer, it is rated
                       for 110K in a 23°C environment.
               c.      The mass of the forcer is automatically added to the calculations.
               d.      Please be sure to insert the load, voltage, and the motor you are
                       considering into the template.
               e.      If the selected motor will not work within the conditions you chose, you
                       will receive an error message letting you know what needs to be corrected
                       before proceeding.
               f.      The data on the “Spec Sheet” worksheet is used for making the
                       calculations. We have made every effort to verify that all data on the
                       “Spec Sheet” worksheet is correct. Please do not modify this data, it will
                       have an adverse effect on your results.

       4)      Forcer, Coil temperature difference
               This is a list of the standard temperature differences between the outside of the
               Forcer and the Coil surface.
5)    Spec Sheet (specification chart)
      The data on the “Spec Sheet” worksheet is used for making the calculations. We
      have made every effort to verify that all data on the “Spec Sheet” worksheet is
      correct. Please do not modify this data, it will have an adverse effect on your
      results.

6)    Move Data
      Data for all moves is stored here for use in the calculations.

7)    Force - Duty Curve
      Will generate a Force Duty Curve for any Linear Shaft Motor. When the Window
      below is displayed, select the correct motor and press OK. The Curve will be
      generated.




8)    Tandem forcer interval
      Information for use of two forcers on one shaft.

9)    Shaft Weight
      Shaft Mass information.

10)   Shaft Bending
      Shaft Bending information

11)   Magnetic Field
      Information on the Magnetic Flux Density on the Linear Shaft Motor

12)   Principal

13)   Velocity Ripple
II.   Software operation explanation for “Linear Simple Selection, Ver5.2.8E”
      1)     Please open “Linear Simple Selection, Ver5.2.8E”

      2)     When you see the message that macros are used, please click the “Enable
             Macros” button for the program to work correctly.




      3)     Please select the “Result” worksheet tab.




      4)     Please double click the center of this worksheet.




      5)     You will be asked the units for which to make calculations.

      6)     You will next see the input selection, which is shown below.
7)    The friction coefficient range for most linear guides is 0.02-0.03; however, the
      values for residual pressure, seal resistance, etc., should also be taken into
      consideration. You should calculate your resistance settings before entering your
      friction coefficient. For example, we would like to move a load, M1. The power
      to move the load is M2. We need to calculate the friction coefficient. The formula
      would be M2/M1. Please see Appendix A for more information about the friction
      coefficient.

8)    Enter the load information. Only the mass to be moved needs to be entered, the
      mass of the forcer is automatically added to the calculations.

9)    The Voltage should be equal to the input potential of the servo driver you are
      using.

10)   Enter the environmental temperature data.

11)   Enter the allowable temperature. In this case, the allowable temperature is equal
      to the temperature of the coil inside the forcer.

12)   Choose whether your application will be horizontal or vertical. This factor is
      important for the force coefficient. The amount of force required will be different
      for horizontal and vertical. For vertical applications, force will keep the forcer
      from falling. Please carefully choose your force coefficient. If you set it too high,
      the coil will overheat and the motor will cease operation. If you set it too low, the
      forcer will not stop moving, as you require.

13)   Select the designated motor.

14)   If you do not enter all the data, you will receive an error message after you
      attempt to calculate the motion.

15)   Click the “Define Move Profiles” button

16)   The Define Move Profile window will open (see figure below).
17)   Please enter the stroke length you would like to have.

18)   Select if Motion is defined “By Setting Time”, “By Work Velocity”, or “By
      Acceleration”.

19)   Input the appropriate variables for your movement.

20)   Enter the amount of time to pause before beginning the next motion in the Interval
      box.




21)   Click on “Save Current Move”

22)   If this is a new move which has not been named the following window will
      appear.
23)   Enter a Suitable move name in the box, in this case we will use “1”, press OK.




24)   If additional operational patterns are needed, please repeat steps 17 – 23.

25)   After you have saved the last move select the “Define Motion Profile” button the
      following window will open.
26)   If an additional pause is needed for all moves, for example settling time of the
      driver, this should be entered in the Interval window. Note this time is added to
      the move pause time entered with each move.




27)   Select pattern number to be used.

28)   Select “Forward” OR "Backward" if in Horizontal mode. In this example,
      “Forward" is selected.

29)   If you are in Vertical mode your options are “Up” and “Down”




30)   Then click "Next ".

31)   The calculation for that move is performed in the background.
32)    For more additional moves repeat steps 27 - 30




       33)    The calculation can be repeated indefinitely under these conditions. When
              finished select the “Calculate – End” button.

       34)    Your results will be displayed and can be printed.


III.   Supplementation
       1)    It is possible to have as much as a ±10°C error in the temperature calculations
             displayed; therefore, it is recommended that you verify all data before selecting a
             Linear Shaft Motor.
IV.   Appendix A

      1) Coefficient of Friction
          Extreme care is needed in using friction coefficients and additional independent references
          should be used. For any specific application the ideal method of determining the coefficient of
          friction is by trials. A short table is included above the main table to illustrate how the
          coefficient of friction is affected by surface films. When a metal surface is perfectly clean in a
          vacuum, the friction is much higher than the normal accepted value and seizure can easily
          occur.

                                 Effect of oxide film etc on coefficient of static friction
                                                                          Thick          Sulfide
                                   MATERIAL                Clean Dry
                                                                       Oxide Film         Film
                          Steel-Steel                     0.78         0.27           0.39
                          Copper-Copper                   1.21         0.76           0.74




                                                                                  Coefficient Of Friction
               MATERIAL 1                    MATERIAL 2                         DRY                    Greasy
                                                                       Static   Sliding          Static     Sliding
        Aluminum                    Aluminum                        1,05-1,35 1,4             0,3
        Aluminum                    Mild Steel                      0,61      0,47
        Brake Material              Cast Iron                       0,4
        Brake Material              Cast Iron (Wet)                 0,2
        Brass                       Cast Iron                                 0,3
        Brick                       Wood                            0,6
        Bronze                      Cast Iron                                 0,22
        Bronze                      Steel                                                     0,16
        Cadmium                     Cadmium                         0,5                       0,05
        Cadmium                     Mild Steel                                    0,46
        Cast Iron                   Cast Iron                       1,1           0,15                      0,07
        Cast Iron                   Oak                                           0,49                      0,075
        Chromium                    Chromium                        0,41                      0,34
        Copper                      Cast Iron                       1,05          0,29
        Copper                      Copper                          1,0                       0,08
        Copper                      Mild Steel                      0,53          0,36                   0,18
        Copper-Lead Alloy           Steel                           0,22                      -
        Diamond                     Diamond                         0,1                       0,05 - 0,1
        Diamond                     Metal                           0,1 -0,15                 0,1
        Glass                       Glass                           0,9 - 1,0     0,4         0,1 - 0,6  0,09-0,12
        Glass                       Metal                           0,5 - 0,7                 0,2 - 0,3
        Glass                       Nickel                          0,78          0,56
        Graphite                    Graphite                        0,1                       0,1
        Graphite                    Steel                           0,1                       0,1
        Graphite (In vacuum)        Graphite (In vacuum)            0,5 - 0,8
        Hard Carbon                 Hard Carbon                     0,16                      0,12 - 0,14
        Hard Carbon                 Steel                           0,14                      0,11 - 0,14
        Iron                        Iron                            1,0                       0,15 - 0,2
        Lead                        Cast Iron                                     0,43
        Leather                     Wood                            0,3 - 0,4
        Leather                     Metal(Clean)                    0,6                       0,2
        Leather                     Metal(Wet)                      0,4
        Leather                     Oak (Parallel grain)            0,61          0,52
        Magnesium                   Magnesium                       0,6                       0,08
        Nickel                      Nickel                          0,7-1,1       0,53        0,28          0,12
        Nickel                      Mild Steel                                    0,64;                     0,178
        Nylon                       Nylon                           0,15 - 0,25
Coefficient Of Friction
                      MATERIAL 1                  MATERIAL 2                       DRY                   Greasy
                                                                          Static      Sliding      Static     Sliding
             Oak                          Oak (parallel grain)         0,62         0,48
             Oak                          Oak (cross grain)            0,54         0,32                       0,072
             Platinum                     Platinum                     1,2                      0,25
             Plexiglas                    Plexiglas                    0,8                      0,8
             Plexiglas                    Steel                        0,4 - 0,5                0,4 - 0,5
             Polystyrene                  Polystyrene                  0,5                      0,5
             Polystyrene                  Steel                        0,3-0,35                 0,3-0,35
             Polythene                    Steel                        0,2                      0,2
             Rubber                       Asphalt (Dry)                             0,5-0,8
                                                                                    0,25-
             Rubber                       Asphalt (Wet)
                                                                                    0,0,75
             Rubber                       Concrete (Dry)                            0,6-0,85
             Rubber                       Concrete (Wet)                            0,45-0,75
             Saphire                      Saphire                      0,2                      0,2
             Silver                       Silver                       1,4                      0,55
             Sintered Bronze              Steel                        -                        0,13
             Solids                       Rubber                       1,0 - 4,0                --
             Steel                        Aluminium Bros               0,45
             Steel                        Brass                        0,35                     0,19
             Steel(Mild)                  Brass                        0,51         0,44
             Steel (Mild)                 Cast Iron                                 0,23        0,183          0,133
             Steel                        Cast Iron                    0,4                      0,21
             Steel                        Copper Lead Alloy            0,22                     0,16           0,145
             Steel (Hard)                 Graphite                     0,21                     0,09
             Steel                        Graphite                     0,1                      0,1
             Steel (Mild)                 Lead                         0,95         0,95        0,5            0,3
             Steel (Mild)                 Phos. Bros                                0,34                       0,173
             Steel                        Phos Bros                    0,35
             Steel(Hard)                  Polythened                   0,2                      0,2
             Steel(Hard)                  Polystyrene                  0,3-0,35                 0,3-0,35
             Steel (Mild)                 Steel (Mild)                 0,74         0,57                       0,09-0,19
             Steel(Hard)                  Steel (Hard)                 0,78         0,42        0,05 -0,11     0,029-.12
             Steel                        Zinc (Plated on steel)       0,5          0,45        -              -
             Teflon                       Steel                        0,04                     0,04           0,04
             Teflon                       Teflon                       0,04                     0,04           0,04
             Tin                          Cast Iron                               .32
             Tungsten Carbide             Tungsten Carbide             0,2-0,25                 0,12
             Tungsten Carbide             Steel                        0,4 - 0,6                0,08 - 0,2
             Tungsten Carbide             Copper                       0,35
             Tungsten Carbide             Iron                         0,8
             Wood                         Wood(clean)                  0,25 - 0,5
             Wood                         Wood (Wet)                   0,2
             Wood                         Metals(Clean)                0,2-0,6
             Wood                         Metals (Wet)                 0,2
             Wood                         Brick                        0,6
             Wood                         Concrete                     0,62
             Zinc                         Zinc                         0,6                      0,04
             Zinc                         Cast Iron                    0,85       0,21


Source of above values: The values are checked against a variety of internet and literature sources, including Machinerys Handbook
(Eighteenth edition) and Kempes Engineers Year Book (1980).

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Smart%20 Manual%20rev20060403

  • 1. Linear Shaft Motor Application Resource Tool (SMART) Current version V5.2.9E Thank you for making use of Nippon Pulse America’s Linear Shaft Motor Application Resource Tool (SMART). This tool is provided to assist you in selecting the correct Linear Shaft Motor for your application. While every effort has been made to ensure that all calculations are correct, many variables contribute to the selection of the correct Linear Shaft Motor for your application. Nippon Pulse America cannot be held responsible for an incorrectly selected Linear Shaft Motor since we cannot control all the variables of your system. Please verify any information gathered from SMART. SMART is a Microsoft Excel Workbook that makes use of Excel’s macro capability. If macros are not enabled on your machine, SMART will not work. I. What is available in SMART? SMART is composed of 13 worksheets. The worksheets are as follows: 1) Read Me (Brief explanation of the Linear Shaft Motor selection software) It provides an explanation of the Selection Process Flow of SMART. The “Result” worksheet (see below) is the worksheet used for the selection calculations. 2) Worksheet (Worksheet to assist in collecting information for entry into SMART) Please make sure to use the worksheet to collect all information needed before running the motor selection software section of SMART. 3) Result (Motor selection software itself). Start selection software by double clicking anywhere on the “Result” sheet. a. The temperature shown by the calculations is the surface temperature of the coil, which is inside the forcer. b. As for the surface temperature rise of the coil inside the forcer, it is rated for 110K in a 23°C environment. c. The mass of the forcer is automatically added to the calculations. d. Please be sure to insert the load, voltage, and the motor you are considering into the template. e. If the selected motor will not work within the conditions you chose, you will receive an error message letting you know what needs to be corrected before proceeding. f. The data on the “Spec Sheet” worksheet is used for making the calculations. We have made every effort to verify that all data on the “Spec Sheet” worksheet is correct. Please do not modify this data, it will have an adverse effect on your results. 4) Forcer, Coil temperature difference This is a list of the standard temperature differences between the outside of the Forcer and the Coil surface.
  • 2. 5) Spec Sheet (specification chart) The data on the “Spec Sheet” worksheet is used for making the calculations. We have made every effort to verify that all data on the “Spec Sheet” worksheet is correct. Please do not modify this data, it will have an adverse effect on your results. 6) Move Data Data for all moves is stored here for use in the calculations. 7) Force - Duty Curve Will generate a Force Duty Curve for any Linear Shaft Motor. When the Window below is displayed, select the correct motor and press OK. The Curve will be generated. 8) Tandem forcer interval Information for use of two forcers on one shaft. 9) Shaft Weight Shaft Mass information. 10) Shaft Bending Shaft Bending information 11) Magnetic Field Information on the Magnetic Flux Density on the Linear Shaft Motor 12) Principal 13) Velocity Ripple
  • 3. II. Software operation explanation for “Linear Simple Selection, Ver5.2.8E” 1) Please open “Linear Simple Selection, Ver5.2.8E” 2) When you see the message that macros are used, please click the “Enable Macros” button for the program to work correctly. 3) Please select the “Result” worksheet tab. 4) Please double click the center of this worksheet. 5) You will be asked the units for which to make calculations. 6) You will next see the input selection, which is shown below.
  • 4. 7) The friction coefficient range for most linear guides is 0.02-0.03; however, the values for residual pressure, seal resistance, etc., should also be taken into consideration. You should calculate your resistance settings before entering your friction coefficient. For example, we would like to move a load, M1. The power to move the load is M2. We need to calculate the friction coefficient. The formula would be M2/M1. Please see Appendix A for more information about the friction coefficient. 8) Enter the load information. Only the mass to be moved needs to be entered, the mass of the forcer is automatically added to the calculations. 9) The Voltage should be equal to the input potential of the servo driver you are using. 10) Enter the environmental temperature data. 11) Enter the allowable temperature. In this case, the allowable temperature is equal to the temperature of the coil inside the forcer. 12) Choose whether your application will be horizontal or vertical. This factor is important for the force coefficient. The amount of force required will be different for horizontal and vertical. For vertical applications, force will keep the forcer from falling. Please carefully choose your force coefficient. If you set it too high, the coil will overheat and the motor will cease operation. If you set it too low, the forcer will not stop moving, as you require. 13) Select the designated motor. 14) If you do not enter all the data, you will receive an error message after you attempt to calculate the motion. 15) Click the “Define Move Profiles” button 16) The Define Move Profile window will open (see figure below).
  • 5. 17) Please enter the stroke length you would like to have. 18) Select if Motion is defined “By Setting Time”, “By Work Velocity”, or “By Acceleration”. 19) Input the appropriate variables for your movement. 20) Enter the amount of time to pause before beginning the next motion in the Interval box. 21) Click on “Save Current Move” 22) If this is a new move which has not been named the following window will appear.
  • 6. 23) Enter a Suitable move name in the box, in this case we will use “1”, press OK. 24) If additional operational patterns are needed, please repeat steps 17 – 23. 25) After you have saved the last move select the “Define Motion Profile” button the following window will open.
  • 7. 26) If an additional pause is needed for all moves, for example settling time of the driver, this should be entered in the Interval window. Note this time is added to the move pause time entered with each move. 27) Select pattern number to be used. 28) Select “Forward” OR "Backward" if in Horizontal mode. In this example, “Forward" is selected. 29) If you are in Vertical mode your options are “Up” and “Down” 30) Then click "Next ". 31) The calculation for that move is performed in the background.
  • 8. 32) For more additional moves repeat steps 27 - 30 33) The calculation can be repeated indefinitely under these conditions. When finished select the “Calculate – End” button. 34) Your results will be displayed and can be printed. III. Supplementation 1) It is possible to have as much as a ±10°C error in the temperature calculations displayed; therefore, it is recommended that you verify all data before selecting a Linear Shaft Motor.
  • 9. IV. Appendix A 1) Coefficient of Friction Extreme care is needed in using friction coefficients and additional independent references should be used. For any specific application the ideal method of determining the coefficient of friction is by trials. A short table is included above the main table to illustrate how the coefficient of friction is affected by surface films. When a metal surface is perfectly clean in a vacuum, the friction is much higher than the normal accepted value and seizure can easily occur. Effect of oxide film etc on coefficient of static friction Thick Sulfide MATERIAL Clean Dry Oxide Film Film Steel-Steel 0.78 0.27 0.39 Copper-Copper 1.21 0.76 0.74 Coefficient Of Friction MATERIAL 1 MATERIAL 2 DRY Greasy Static Sliding Static Sliding Aluminum Aluminum 1,05-1,35 1,4 0,3 Aluminum Mild Steel 0,61 0,47 Brake Material Cast Iron 0,4 Brake Material Cast Iron (Wet) 0,2 Brass Cast Iron 0,3 Brick Wood 0,6 Bronze Cast Iron 0,22 Bronze Steel 0,16 Cadmium Cadmium 0,5 0,05 Cadmium Mild Steel 0,46 Cast Iron Cast Iron 1,1 0,15 0,07 Cast Iron Oak 0,49 0,075 Chromium Chromium 0,41 0,34 Copper Cast Iron 1,05 0,29 Copper Copper 1,0 0,08 Copper Mild Steel 0,53 0,36 0,18 Copper-Lead Alloy Steel 0,22 - Diamond Diamond 0,1 0,05 - 0,1 Diamond Metal 0,1 -0,15 0,1 Glass Glass 0,9 - 1,0 0,4 0,1 - 0,6 0,09-0,12 Glass Metal 0,5 - 0,7 0,2 - 0,3 Glass Nickel 0,78 0,56 Graphite Graphite 0,1 0,1 Graphite Steel 0,1 0,1 Graphite (In vacuum) Graphite (In vacuum) 0,5 - 0,8 Hard Carbon Hard Carbon 0,16 0,12 - 0,14 Hard Carbon Steel 0,14 0,11 - 0,14 Iron Iron 1,0 0,15 - 0,2 Lead Cast Iron 0,43 Leather Wood 0,3 - 0,4 Leather Metal(Clean) 0,6 0,2 Leather Metal(Wet) 0,4 Leather Oak (Parallel grain) 0,61 0,52 Magnesium Magnesium 0,6 0,08 Nickel Nickel 0,7-1,1 0,53 0,28 0,12 Nickel Mild Steel 0,64; 0,178 Nylon Nylon 0,15 - 0,25
  • 10. Coefficient Of Friction MATERIAL 1 MATERIAL 2 DRY Greasy Static Sliding Static Sliding Oak Oak (parallel grain) 0,62 0,48 Oak Oak (cross grain) 0,54 0,32 0,072 Platinum Platinum 1,2 0,25 Plexiglas Plexiglas 0,8 0,8 Plexiglas Steel 0,4 - 0,5 0,4 - 0,5 Polystyrene Polystyrene 0,5 0,5 Polystyrene Steel 0,3-0,35 0,3-0,35 Polythene Steel 0,2 0,2 Rubber Asphalt (Dry) 0,5-0,8 0,25- Rubber Asphalt (Wet) 0,0,75 Rubber Concrete (Dry) 0,6-0,85 Rubber Concrete (Wet) 0,45-0,75 Saphire Saphire 0,2 0,2 Silver Silver 1,4 0,55 Sintered Bronze Steel - 0,13 Solids Rubber 1,0 - 4,0 -- Steel Aluminium Bros 0,45 Steel Brass 0,35 0,19 Steel(Mild) Brass 0,51 0,44 Steel (Mild) Cast Iron 0,23 0,183 0,133 Steel Cast Iron 0,4 0,21 Steel Copper Lead Alloy 0,22 0,16 0,145 Steel (Hard) Graphite 0,21 0,09 Steel Graphite 0,1 0,1 Steel (Mild) Lead 0,95 0,95 0,5 0,3 Steel (Mild) Phos. Bros 0,34 0,173 Steel Phos Bros 0,35 Steel(Hard) Polythened 0,2 0,2 Steel(Hard) Polystyrene 0,3-0,35 0,3-0,35 Steel (Mild) Steel (Mild) 0,74 0,57 0,09-0,19 Steel(Hard) Steel (Hard) 0,78 0,42 0,05 -0,11 0,029-.12 Steel Zinc (Plated on steel) 0,5 0,45 - - Teflon Steel 0,04 0,04 0,04 Teflon Teflon 0,04 0,04 0,04 Tin Cast Iron .32 Tungsten Carbide Tungsten Carbide 0,2-0,25 0,12 Tungsten Carbide Steel 0,4 - 0,6 0,08 - 0,2 Tungsten Carbide Copper 0,35 Tungsten Carbide Iron 0,8 Wood Wood(clean) 0,25 - 0,5 Wood Wood (Wet) 0,2 Wood Metals(Clean) 0,2-0,6 Wood Metals (Wet) 0,2 Wood Brick 0,6 Wood Concrete 0,62 Zinc Zinc 0,6 0,04 Zinc Cast Iron 0,85 0,21 Source of above values: The values are checked against a variety of internet and literature sources, including Machinerys Handbook (Eighteenth edition) and Kempes Engineers Year Book (1980).