LM series. Linear Motor LM-05-P51-EN

Transcription

1 LM series Linear Motor cpc reserves the right to revise any information(technical details) any time without notice, for printing mistakes or any other incidental mistakes. We take no responsibility. 88 Murietta Street. hino, Printed in Taiwan LM-0-P-EN

2 ontents Parameter Glossary...P0~P0 Force & Ordering Information...P03~P0 LM-Ironless series onstruction & Features...P0~P08 LM PM ssembly imensions...p09~p0 LM P ssembly imensions...p~p LM PX ssembly imensions...p3~p LM PB ssembly imensions...p~p6 LM PBX ssembly imensions...p7~p8 LM P ssembly imensions...p9~p LM PX ssembly imensions...p~p LM PL ssembly imensions...p3~p LM PEX ssembly imensions...p~p LM-Ironcore series onstruction & Features...P7~P8 - ssembly imensions...p9~p -7 ssembly imensions...p3~p3 - ssembly imensions...p33~p3 B- ssembly imensions...p~p36 B-80 ssembly imensions...p37~p B- ssembly imensions...p39~p0-6 ssembly imensions...p~p -8 ssembly imensions...p3~p - ssembly imensions...p~p6 Selection pplication Table Sizing Example...P7~8 Selection pplication Table...P9~

3 Parameter Glossary Lp (mm) Length The length of the aluminum base of the coil assembly. The cable bending radius is not counted toward this length. linear motor s effective stroke is usually the total Magnetic way length minus the coil length and cable bending radius. Pm (Kg) Weight Includes main body weight and cable length of 00mm. This mass needs to be factored into the motor load. Sm (Kg/m) Magnetic way Weight Nominal weight of the Magnetic way per meter length Ip (pk) Instantaneous maximum current that can be passed into the motor coil. To prevent irreversible damage, duration should be less than second and a duty cycle of under %. Ke (V l-l/m/s) Back EMF constant The peak line-to-line Back EMF produced per one meter/second in velocity by the motor. Maximum voltage required by a motor in motion is: Volt = (Ke x Vmax) + (Imax x R) It is recommended that the driver s maximum deliverable voltage is at least.3 times greater than the maximum voltage to ensure that there is enoug control over the motor. Unit conversion Vpeak = x Vrms p (mm) Pole Pitch The distance between identical magnetic poles within the Stator, i.e. S-S or N-N, This is equivalent to the commutation cycle length. Motor coil three phase Line-to-Line resistance. onnecting the coils in parallel reduces the constant and Inductance but proportionally increases the amount of current required to achieve the same level of thrust. For copper coils there is a 93% increase in resistance for every rise in temperature. Line voltage(y) = 3 x Phase voltage(y) Y connection Ic (pk) urrent The peak line current level that will bring the motor coil to 0 given even cycling between the three phases. ssumes ambient air condition of one atmosphere at. ctual achievableic is dependent on motor motion profile, component connection and surrounding environments. E.g.Ic capacity under vacuum is significantly less than under nominal air pressure, forcer under continuous motion versus stationary or large versus small forcer fixture contact surface area. Fp N Kf (N/pk) Force onstant L mh Inductance Unit conversion Instantaneous maximum force that can be produced by the motor. To prevent irreversible damage, duration should be less than second and a duty cycle of under %. The thrust force produced by the motor per unit amp of current. The cpc catalog values are Peak values Ipeak = x Irms e (ms) Time onstant Time needed to reach 63% of target current level. It is a function of inductance and resistance. Generally, Ironless linear motors have a smaller time constant than Ironed linear motors, thus have a faster response. Motor three phase Line-to-Line inductance. The lower inductance represent the motor's electrical loop response is faster. Rth ( /W) Thermal Resistance Heat rise of the coil per unit watt of power input. Generally, the smaller the thermal resistance the better the heat dissipation structure. peak = x rms Line current(y) = 3 x Phase current(y) Y connection Line current ( ) = Fc N Force The continuous force that will bring the motor coil to 0 given even cycling between the three phases Kw (N/ W) Motor onstant measure of motor efficiency, a higher Motor constant indicates that for the same power input, greater force is produced. 0 0

4 Ironless Ironcore Force Overview Force Overview PEX PL PX P B6- B- B- Model PBX Model B6-80 B-80 B-80 PB B6- B- B- PX P PM Ordering Information Force(N) Ordering Information Force(N) Halls Winding Type W-winding W-winding able Length in mm (00mm Standard) ooling N - no cooling - air cooling N - no hall sensor H - with hall sensor W3-winding 3 W-winding oil assembly count PM Type..6 P Type...0 P Type..3.. P-X Type...0 P-X Type..3.. PL Type.. PB Type.3... PE-X Type.. PB-X Type.3... PM series P series P-X series PB series PE-X series PB-X series P series P-X series PL series Linear Motor Linear Motor Length 0 - mm - 0mm - 80mm SM series S series S-X series SB series SB-X series S series S-X series SL series SE-X series LM 7 S H N 00 LM M 0 7 N able Length Magnet Protection in mm (00mm Standard). N - None. S - Stainless Steel ooling N - no cooling W - water cooling 3. E - Epoxy Linear Motor Winding Quantity ssembly width Halls N - no hall sensor H - with hall sensor Winding Type S,SP,P, -6,8, -,7, B-,80, - coils - coils 6-6 coils series B series series ssembly width -6,8, -,7, B-,80, Length 0-M MB M -M 3 MB 0 M -M 80 MB 80 M 6 M series MB series M series Linear Motor cpc also provides servo drives, optical linear scales and magnetic linear scale, for more details please contact cpc. 03 0

5 (Stator). Ironless Linear Motor Series PT. For motor parameters, force constant refers to the amount of force produced per one ampere of current, while motor constant is the force produced per Watt and is representative of the motor s efficiency. s such the motor constant is a better metric at evaluating motor performance. cpc s linear motors have been designed with the aid of advanced simulation software. s a result, for a given dimension cpc s motor has a higher motor constant. 0 06

6 Linear Motor Thermal nalysis ynamic System Measurement Linear Guide In a linear motor system, the slider, linear guide and base are all paths of heat dissipation for the coil. This also includes the natural air flow over the motor while it is in motion. The thermograph image on the right shows the overall linear motor system temperature distribution after reaching thermal equilibrium. It is obvious that the heat from the coil is dissipated through everything it is in contact with. To ease estimation of required heat sinking capacity, the cpc catalog provides separate continuous current values. One value assumes the motor is without a heat sink and second is with a heat sink of nominal size. Both conditions assume even three phase current distribution. Stationary Measurements The figure blow shows the method the test setup from which the without heat sink continuous current value is derived. The coil is placed on thermally insulating material with ambient air at and atmosphere of air pressure. Evenly cycled three phase current is injected into the coils and the level of current is increased until the coil reach 0 under thermal equilibrium. onnection plate Linear Slider oil Encoder Read Head The figure blow shows the method the test setup from which the with heat sink continuous current value is derived. The coil is placed on an aluminum plate with ambient air at and atmosphere of air pressure. Thermal conductive paste is applied between the interface of the coil and aluminum plate. Evenly cycled three phase current is injected into the coil and the level of current is increased until the coils reach 0 under thermal equilibrium. Motion profile: Point to Point continuous move Travel: 0mm urrent 3. Slider Material: luminum (xx8mm) Linear Guide The measurement result shows that, while the same amount of heat is produced. fast moving motor coil is under a stronger air flow and reached a lower thermal equilibrium temperature. Velocity m/s m/s. m/s 3.m/s 0. Time s Motion profile under different acceleration that utilizes has same continuous current. Suggestion Slider Temperature oil Encoder Read Head Velocity m/s Equilibrium temperature reached under varying maximum velocity for the same continuouscurrent. atmosphere atmosphere oil oil Unlike conventional rotary motors, linear motors are mechanically open systems due to the way external components are connected. Hence the continuous force the motor can achieve is highly dependent on heat dissipation structure, air convection under motion and other external factors. For example, ambient air pressure has the following relation with elevation above sea level: Ph= 7 - (h/.) Ph tmospheric pressure(torr) Heat Insulating Material Thermal Paste luminum Material h Elevation above sea level (m) Without Heat Sink Measurement Setup With Heat Sink Measurement Setup s atmospheric pressure and thus density decrease with elevation, the convection cooling effect is reduced. s a general guide, the achievable continuous force under vacuum is % of that under one atmosphere. cpc suggests that for most application purposes, the with heat sink value is used as the main metric in motor sizing selection. Should the without heat sink value be used instead it would easily lead to over design

7 LM-PM Npx. Top Mounting M.x3 0. Lp Npx B.8 3. Side Mounting M. thru 6. LM-PM Model Performance () with heat sink(n) ()() without heat sink(n) ()(3) Force with heat sink(n) ()() Force without heat sink(n) ()(3) Peak power(w) ()() power(w) ()() Pole pitch(mm) Electrical () urrent with heat sink(pk) ()() urrent without heat sink(pk) ()(3) with heat sink(pk) ()() without heat sink(pk) ()(3) Force onstant(n/pk) () Back EMF onstant(vpk(l-l) / m/s) Thermal Resistant with heat sink( o /W) ()() Heat Sink(mm) Ph-PE dielectric strength () Ph-PE insulation resistance () LM-PM Model LM-PM W W W LM-PM W W W3 LM-SM LM-PM6 W W W x0x. 0x0x x0x LM-SM Ns x. Mp.9.8. Ns x ± (ssembly Height) Np Np Lp Mp B Ns LM-PM LM-SM0 3 LM-PM LM-SM 9 0 LM-PM LM-SM

8 LM-P. Mx LM-P Model Model LM-P LM-P LM-P3 LM-P LM-P W W W W W W W W3 W W M3x Performance () with heat sink(n) ()() without heat sink(n) ()(3) Force with heat sink(n) ()() Force without heat sink(n) ()(3) Peak power(w) ()() power(w) ()() Pole pitch(mm) LM-S Electrical () urrent with heat sink(pk) ()() urrent without heat sink(pk) ()(3) with heat sink(pk) ()() without heat sink(pk) ()(3) Force onstant(n/pk) () Back EMF onstant(vpk(l-l) / m/s) Thermal Resistant with heat sink( o /W) ()() Heat Sink(mm) Ph-PE dielectric strength () Ph-PE insulation resistance () x0x 0x0x 0x0x 0x0x 0x0x LM-P LM-S LM-P LM-P LM-P3 LM-P LM-P Np 3 6 Np Lp Mp B 0 LM-S0 LM-S LM-S Ns

9 LM-P-X. Mx LM-P-X SERIES LM-P-X Model Model LM-P-X LM-P-X LM-P-X3 LM-P-X LM-P-X W W W W W W W W3 W W M3x 0. Performance () with heat sink(n) ()() without heat sink(n) ()(3) Force with heat sink(n) ()() Force without heat sink(n) ()(3) Peak power(w) ()() power(w) ()() Pole pitch(mm) LM-S-X Electrical () urrent with heat sink(pk) ()() urrent without heat sink(pk) ()(3) with heat sink(pk) ()() without heat sink(pk) ()(3) Force onstant(n/pk) () Back EMF onstant(vpk(l-l) / m/s) Thermal Resistant with heat sink( o /W) ()() Heat Sink(mm) Ph-PE dielectric strength () Ph-PE insulation resistance () x0x 0x0x 0x0x 0x0x 0x0x LM-P-X LM-S-X LM-P-X LM-P-X LM-P-X3 LM-P-X LM-P-X Np 3 6 Np Lp Mp B 0 LM-S-X0 LM-S-X LM-S-X Ns

10 LM-PB Mx6 LM-PB SERIES LM-PB Model Model LM-PB LM-PB3 LM-PB LM-PB LM-PB6 LM-PB8 W W W W W W W3 W W W W W W W3 W Mx7 Performance () with heat sink(n) ()() without heat sink(n) ()(3) Force with heat sink(n) ()() Force without heat sink(n) ()(3) Peak power(w) ()() power(w) ()() Electrical cycle length(mm) LM-SB Electrical () urrent with heat sink(pk) ()() urrent without heat sink(pk) ()(3) with heat sink(pk) ()() without heat sink(pk) ()(3) Force onstant(n/pk) () Back EMF onstant(vpk(l-l) / m/s) Thermal Resistant with heat sink( o /W) ()() Heat Sink(mm) Ph-PE dielectric strength () Ph-PE insulation resistance () x0x x0x 7. 0x0x 8. 0x0x 9. 0x0x x0x LM-PB LM-SB LM-PB LM-PB3 LM-PB LM-PB LM-PB6 LM-PB8 Np 3 Np Lp Mp B 0 LM-SB0 LM-SB LM-SB Ns

11 LM-PB-X Mx6 LM-PB-X SERIES LM-PB-X Model Model LM-PB-X LM-PB-X3 LM-PB-X LM-PB-X LM-PB-X6 LM-PB-X8 W W W W W W W3 W W W W W W W3 W Mx7 0. Performance () with heat sink(n) ()() without heat sink(n) ()(3) Force with heat sink(n) ()() Force without heat sink(n) ()(3) Peak power(w) ()() power(w) ()() Electrical cycle length(mm) LM-SB-X Electrical () urrent with heat sink(pk) ()() urrent without heat sink(pk) ()(3). with heat sink(pk) ()() 8 without heat sink(pk) ()(3) 6 Force onstant(n/pk) () 8. Back EMF onstant(vpk(l-l) / m/s) Thermal Resistant with heat sink( o /W) ()() Heat Sink(mm) Ph-PE dielectric strength () Ph-PE insulation resistance () x0x x0x x0x x0x x0x x0x LM-PB-X LM-SB-X 7 LM-PB-X LM-PB-X3 LM-PB-X LM-PB-X LM-PB-X6 LM-PB-X8 Np 3 Np Lp Mp B 0 LM-SB-X0 LM-SB-X LM-SB-X Ns

12 LM-P Mx9 LM-P Model Mx7 Model LM-P LM-P LM-P6 LM-P8 LM-P0 W W W W W3 W W W3 W W W3 W W W3 Performance () with heat sink(n) ()() without heat sink(n) ()(3) Force with heat sink(n) ()() Force without heat sink(n) ()(3) Peak power(w) ()() power(w) ()() Electrical cycle length(mm) LM-S Electrical () urrent with heat sink(pk) ()() urrent without heat sink(pk) ()(3) with heat sink(pk) ()() without heat sink(pk) ()(3) Force onstant(n/pk) () Back EMF onstant(vpk(l-l) / m/s) Thermal Resistant with heat sink( o /W) ()() Heat Sink(mm) Ph-PE dielectric strength () Ph-PE insulation resistance () x900x x900x x900x x900x x900x LM-P LM-S B LM-S0 LM-S LM-S () () (3)

13 LM-P-X Mx9 -X SERIES LM-P-X Model Mx7 Model LM-P-X LM-P-X LM-P-X6 LM-P-X8 LM-P-X0 W W W W W3 W W W3 W W W3 W W W3 Performance () with heat sink(n) ()() without heat sink(n) ()(3) Force with heat sink(n) ()() Force without heat sink(n) ()(3) Peak power(w) ()() power(w) ()() Electrical cycle length(mm) LM-S-X Electrical () urrent with heat sink(pk) ()() urrent without heat sink(pk) ()(3) with heat sink(pk) ()() without heat sink(pk) ()(3) Force onstant(n/pk) () Back EMF onstant(vpk(l-l) / m/s) Thermal Resistant with heat sink( o /W) ()() Heat Sink(mm) Ph-PE dielectric strength () Ph-PE insulation resistance () x900x x900x x900x x900x x900x LM-P-X LM-S-X LM-P-X LM-P-X LM-P-X6 LM-P-X8 LM-P-X B LM-S-X0 LM-S-X LM-S-X () () (3)

14 LM-PL LM-PL Model Model LM-PL LM-PL LM-PL6 LM-PL8 W W W3 W W W3 W W W3 W W W3 Performance () with heat sink(n) ()() without heat sink(n) ()(3) Force with heat sink(n) ()() Force without heat sink(n) ()(3) Peak power(w) ()() power(w) ()() Electrical cycle length(mm) Electrical () urrent with heat sink(pk) ()() urrent without heat sink(pk) ()(3) with heat sink(pk) ()() without heat sink(pk) ()(3) Force onstant(n/pk) () Back EMF onstant(vpk(l-l) / m/s) Thermal Resistant with heat sink( o /W) ()() Heat Sink(mm) Ph-PE dielectric strength () Ph-PE insulation resistance () x900x x900x x900x x900x LM-SL. 9 9 LM-PL LM-SL B () () (3) 3

15 LM-PE-X Np x 6. M x 8 LM-PE-X SERIES Np x B Side Mounting M x 6. LM-PE-X Model 83 Model Performance () with heat sink(n) ()() without heat sink(n) ()(3) Force with heat sink(n) ()() Force without heat sink(n) ()(3) Peak power(w) ()() power(w) ()() Electrical cycle length(mm) Electrical () urrent with heat sink(pk) ()() urrent without heat sink(pk) ()(3) with heat sink(pk) ()() without heat sink(pk) ()(3) Force onstant(n/pk) () Back EMF onstant(vpk(l-l) / m/s) Thermal Resistant with heat sink( o /W) ()() Heat Sink(mm) Ph-PE dielectric strength () Ph-PE insulation resistance () LM-PE-X LM-PE-X LM-PE-X LM-PE-X6 LM-PE-X8 W W W3 W W W3 W W W3 W W W x0x x0x x0x LM-SE-X x0x LM-SE-X Mp x Ns Ns x ± LM-PE-X LM-PE-X LM-PE-X6 LM-PE-X8 B LM-SE-X0 LM-SE-X LM-SE-X

16 Ironcore Linear Motor Features onstruction & Features For motor parameters, force constant refers to Iron core linear motors are suitable for use in high acceleration, high velocity and high load point to point linear motion applications. Structure the amount of force produced per one ampere of current, while motor constant is the force produced per Watt and is representative of the motor s efficiency. s such the motor constant is a better metric at evaluating motor performance. cpc s linear motors have been designed with the aid of advanced simulation software. s a result, for a given dimension cpc s motor has a higher motor constant. Winding assembly Iron core U U V V W W Forcer N S N S N S N Stator Ironcore Linear Motor Series Permanent Magnet Backing plate linear motors are composed of two parts: The stator and the forcer. Forcer is made by combining coil windings with an iron core encapsulated by epoxy inside an aluminum outer shell. Stator is composed of arrays of permanent magnets on a ferromagnetic backing plate. The magnets are arranged in a N-S pole pattern, forming a closed magnetic field loop with the forcer iron core. Low ogging Force ogging force originates from the magnetic pull on the iron core during transitions across magnetic poles on the stator. By skewing the magnets the transition zone characteristics can be refined. Using advanced software analysis cpc arrived at a design with low cogging force skew skew dvantages Heat issipative ase In a cpc iron core motor the outer casing is made of aluminum, increasing heat dissipation area and lowering thermal resistance. High Force ensity ue to stronger magnetic coupling between the iron core and the stator magnets. Iron core linear motors have relatively higher force output than ironless linear motors. Integrated Hall Sensor and Temperature Switch cpc's motor forcer fully utilizes its internal volume, integrating hall sensors and an over temperature detection switch for the user, without having to buy or install as optional extras. High Heat issipation The iron core provides a dissipation path for the heat produced by the coils during operation, reducing the coil-to-ambient thermal resistance compared with ironless linear motors. Easy assembly For iron core linear motors the forcer and stator are directly facing and is easier to assemble. pplications. utomated storage. Pick & Place 3. Industrial utomation. Semiconductors. Medical equipment 6. PB industry 7. Printing industry 7 8

17 urrent VS Force. Force Linear Saturation When the motor its operating in its linear regin, its thrust output is directly proportional to input current and the force constant is fixed. When operating in the saturation regin,output thrust is not linearly proportional due to magnetic saturation,resulting in less thrust increase than expected. urrent LM-- series LM-- LM-- Model Performance () (N) ()(3) Force with heat sink(n) ()() Force without heat sink(n) ()(3) in linear range(n) ttraction Force(N) Peak power(w) () power(w) ()() Pole pitch(mm) Electrical () urrent with heat sink(pk) ()() urrent without heat sink(pk) ()(3) ()(3) in linear range(n) Force onstant(n/pk) () Back EMF onstant(v/m/s) () Thermal Resistant with heat sink( o /W) ()() Model LM-- S P SP LM LM-6- P SP P Power able Ø8. Hole Ø 7 Top Mounting M x Hall Sensor Wire and ThermalProtection Wire Ø LM-M- 3. Np x 0. Lp ( LT ) (7.) Ns x 0 (.89).. (.) (ir gap) 3 8 Slotted Hole Ø (ssembly width) 3 (ssembly Height) Mounting Hole Ø. thru 0 0.mm Stainless or Epoxy cover (Optional) LM-- LM-M- () Np Lp Ns LT () LM-- 97 LM-M0-0 (3) LM LM-M LM-6-7 LM-M

18 urrent VS Force. Force Linear Saturation When the motor its operating in its linear regin, its thrust output is directly proportional to input current and the force constant is fixed. When operating in the saturation regin,output thrust is not linearly proportional due to magnetic saturation,resulting in less thrust increase than expected. urrent LM--7 series LM--7 LM--7 Model Top Mounting M x 3. Np x 0. Model Performance () (N) ()(3) Force with heat sink(n) ()() Force without heat sink(n) ()(3) in linear range(n) ttraction Force(N) Peak power(w) () power(w) ()() Pole pitch(mm) Electrical () urrent with heat sink(pk) ()() urrent without heat sink(pk) ()(3) ()(3) in linear range(n) Force onstant(n/pk) () Back EMF onstant(v/m/s) () Thermal Resistant with heat sink( o /W) ()() LM--7 S P SP P LM P LM Hall Sensor Wire and ThermalProtection Wire Ø Power able Ø8. Hole Ø 67 LM-M-7 Lp ( LT ) (7.) Ns x 0 (.89) Mounting Hole Ø. thru mm Stainless or Epoxy cover (Optional) (ir gap) (.) 3 8 Slotted Hole Ø 7 (ssembly width) 3 (ssembly Height) LM--7 LM-M-7 () Np Lp Ns LT () LM LM-M0-7 0 (3) LM LM-M LM LM-M

19 urrent VS Force. Force Linear Saturation When the motor its operating in its linear regin, its thrust output is directly proportional to input current and the force constant is fixed. When operating in the saturation regin,output thrust is not linearly proportional due to magnetic saturation,resulting in less thrust increase than expected. urrent LM-- series LM-- LM-- Model Top Mounting M x 3. Np x Model Performance () (N) ()(3) Force with heat sink(n) ()() Force without heat sink(n) ()(3) in linear range(n) ttraction Force(N) Peak power(w) () power(w) ()() Pole pitch(mm) Electrical () urrent with heat sink(pk) ()() urrent without heat sink(pk) ()(3) ()(3) in linear range(n) Force onstant(n/pk) () Back EMF onstant(v/m/s) () Thermal Resistant with heat sink( o /W) ()() LM LM LM-6- P P P Hall Sensor Wire and ThermalProtection Wire Ø Power able Ø8. Hole Ø 07 LM-M- Lp ( LT ) (7.) Ns x 0 (.89) Mounting Hole Ø. thru 7. 0 (ir gap) 0.mm Stainless or Epoxy cover (Optional) 3 8 (.) Slotted Hole Ø (ssembly width) 3 (ssembly Height) LM-- LM-M- Np Lp Ns LT () () LM-- 97 LM-M0-0 (3) LM LM-M LM-6-7 LM-M

20 urrent VS Force. Force Linear Saturation When the motor its operating in its linear regin, its thrust output is directly proportional to input current and the force constant is fixed. When operating in the saturation regin,output thrust is not linearly proportional due to magnetic saturation,resulting in less thrust increase than expected. urrent LM-B- series LM-B- LM-B- Model Performance () (N) ()(3) Force with heat sink(n) ()() Force without heat sink(n) ()(3) in linear range(n) ttraction Force(N) Peak power(w) () power(w) ()() Pole pitch(mm) Electrical () urrent with heat sink(pk) ()() urrent without heat sink(pk) ()(3) ()(3) in linear range(n) Force onstant(n/pk) () Back EMF onstant(v/m/s) () Thermal Resistant with heat sink( o /W) ()() Model LM-B- S P SP P P LM-B LM-B Power able Ø8. Hall Sensor Wire and ThermalProtection Wire Ø Top Mounting M x 39 Np x 3 LM-MB- Mounting Hole Ø. thru Lp Ns X 0.mm Stainless or Epoxy cover (Optional) (ir gap) 9 (ssembly width) (ssembly Height) LM-B- LM-MB- () Np Lp Ns () LM-B- LM-MB0- (3) LM-B- 3 0 LM-MB- 0 LM-B6-370 LM-MB

21 urrent VS Force. Force Linear Saturation When the motor its operating in its linear regin, its thrust output is directly proportional to input current and the force constant is fixed. When operating in the saturation regin,output thrust is not linearly proportional due to magnetic saturation,resulting in less thrust increase than expected. urrent LM-B-80 series LM-B-80 Performance () LM-B-80 Model (N) ()(3) Force with heat sink(n) ()() Force without heat sink(n) ()(3) in linear range(n) ttraction Force(N) Peak power(w) () power(w) ()() Pole pitch(mm) Electrical () urrent with heat sink(pk) ()() urrent without heat sink(pk) ()(3) ()(3) in linear range(n) Force onstant(n/pk) () Back EMF onstant(v/m/s) () Thermal Resistant with heat sink( o /W) ()() Model P LM-B P LM-B P LM-B Power able Ø8. Hall Sensor Wire and ThermalProtection Wire Ø 70 Top Mounting M x 39 Np x 3 LM-MB-80 Lp Ns X Mounting Hole Ø. thru 0.mm Stainless or Epoxy cover (Optional) 80 (ir gap) 9 80 (ssembly width) (ssembly Height) LM-B-80 LM-MB-80 () Np Lp Ns () LM-B-80 LM-MB0-80 (3) LM-B LM-MB-80 0 LM-B LM-MB

22 urrent VS Force. Force Linear Saturation When the motor its operating in its linear regin, its thrust output is directly proportional to input current and the force constant is fixed. When operating in the saturation regin,output thrust is not linearly proportional due to magnetic saturation,resulting in less thrust increase than expected. urrent LM-B- series LM-B- LM-B- Model Top Mounting M x 39 Np X 3 Model Performance () (N) ()(3) Force with heat sink(n) ()() Force without heat sink(n) ()(3) in linear range(n) ttraction Force(N) Peak power(w) () power(w) ()() Pole pitch(mm) Electrical () urrent with heat sink(pk) ()() urrent without heat sink(pk) ()(3) ()(3) in linear range(n) Force onstant(n/pk) () Back EMF onstant(v/m/s) () Thermal Resistant with heat sink( o /W) ()() LM-B- P P P LM-B LM-B Power able Ø8. Hall Sensor Wire and ThermalProtection Wire Ø 0 LM-MB- Ns X Mounting Hole Ø. thru Lp 0.mm Stainless or Epoxy cover (Optional) (ir gap) 9 (ssembly width) (ssembly Height) LM-B- LM-MB- () Np Lp Ns () LM-B- LM-MB0- (3) LM-B- 3 0 LM-MB- 0 LM-B6-370 LM-MB

23 urrent VS Force. Force Linear Saturation When the motor its operating in its linear regin, its thrust output is directly proportional to input current and the force constant is fixed. When operating in the saturation regin,output thrust is not linearly proportional due to magnetic saturation,resulting in less thrust increase than expected. urrent LM--6 series LM--6 LM--6 Model Top Mounting 6 (ssembly width) Model Performance () (N) ()(3) Force(N) ()() Force without heat sink(n) ()(3) in linear range(n) ttraction Force(N) Peak power(w) () power(w) ()() Pole pitch(mm) Electrical () urrent with heat sink(pk) ()() urrent without heat sink(pk) ()(3) ()(3) in linear range(n) Force onstant(n/pk) () Back EMF onstant(v/m/s) () Thermal Resistant with heat sink( o /W) ()() P LM--6 LM--6 LM-6-6 P P Power able Ø8. Hall Sensor Wire and ThermalProtection Wire Ø M6 x 6 7 Np x LM-M-6 9 Lp Mounting Hole Ø6.6 thru Ns x 0.mm Stainless or Epoxy cover (Optional) (ir gap) 9 (ssembly Height) LM--6 LM-M-6 () Np Lp Ns () LM--6 6 LM-M0-6 (3) LM LM-M-6 7 LM LM-M-6 6

24 urrent VS Force. Force Linear Saturation When the motor its operating in its linear regin, its thrust output is directly proportional to input current and the force constant is fixed. When operating in the saturation regin,output thrust is not linearly proportional due to magnetic saturation,resulting in less thrust increase than expected. urrent LM--8 series LM--8 LM--8 Model Performance () (N) ()(3) Force with heat sink(n) ()() Force without heat sink(n) ()(3) in linear range(n) ttraction Force(N) Peak power(w) () power(w) ()() Pole pitch(mm) Electrical () urrent with heat sink(pk) ()() urrent without heat sink(pk) ()(3) ()(3) in linear range(n) Force onstant(n/pk) () Back EMF onstant(v/m/s) () Thermal Resistant with heat sink( o /W) ()() Model P LM P LM P LM Power able Ø8. Hall Sensor Wire and ThermalProtection Wire Ø Top Mounting M6 x 6 7 Np x LM-M-8 Lp Mounting Hole Ø6.6 thru Ns x 0.mm Stainless or Epoxy cover (Optional) 8 0 (ir gap) 8 (ssembly width) 9 (ssembly Height) LM--8 LM-M-8 Np Lp Ns () () LM--8 6 LM-M0-8 (3) LM LM-M-8 7 LM LM-M-8 6 3

25 urrent VS Force. Force Linear Saturation When the motor its operating in its linear regin, its thrust output is directly proportional to input current and the force constant is fixed. When operating in the saturation regin,output thrust is not linearly proportional due to magnetic saturation,resulting in less thrust increase than expected. urrent LM-- series LM-- LM-- Model Top Mounting M6 x 6 7 Np x Model Performance () (N) ()(3) Force with heat sink(n) ()() Force without heat sink(n) ()(3) in linear range(n) ttraction Force(N) Peak power(w) () power(w) ()() Pole pitch(mm) Electrical () urrent with heat sink(pk) ()() urrent without heat sink(pk) ()(3) ()(3) in linear range(n) Force onstant(n/pk) () Back EMF onstant(v/m/s) () Thermal Resistant with heat sink( o /W) ()() LM LM-- P P P LM Power able Ø8. Hall Sensor Wire and ThermalProtection Wire Ø LM-M- Lp Ns x 0 (ir gap) (ssembly width) 9 (ssembly Height) Mounting Hole Ø6.6 thru 0.mm Stainless or Epoxy cover (Optional) LM-- LM-M- () Np Lp Ns () LM-- 6 LM-M0- (3) LM LM-M- 7 LM-6-66 LM-M- 6 6

26 Sizing Example ondition : Motion profile containing cruising section river maximum output voltage 0 V river continuous output current river peak output current Max. velocity Vmax = [m/s] ruising time t = 3 [s] Load mass m= [kg] ecelerating time t3 = 0. [s] cceleration a = 0 [m/s] well time t = [s] ccelerating time t = 0. [s] Friction Force f = [N] V,Velocity F = ma + f = x 0 + = [N] F = f = [N] F3 = ma f = x 0 - = [N] F = 0 [N] Frms = F x t+ F x t + F3 x t3 + F x t t + t + t3 + t = x 0. + x 3 + x =. [N] Motor required peak force needs to be greater than Fmax x. = x. = 8. [N] Motor required continuous force needs to be greater than Frms x. =. x. =.3 [N] Hence choose LM-P-X (= 3.8[N], force = 3[N]) Step: Wiring selection ondition : Motion Profile without cruising velocity section river maximum output voltage 80V river continuous output current river peak output current Load mass [kg] Moving Time T = [s] Stroke S = [m] Friction Force f = [N] Vmax If W model is chosen Vmax Irms = Frms / Kf =.3 / =. [] Imax = Fmax / kf = 8. / =.8 [] t, Time t, Time Required voltage = Vmax x Ke + Imax x R t t t3 t T t = x +.8 x 7 =.6 [V] Take safety factor =.3 Symbol Parameter Metric Imperial Required supply voltage.6 x.3 = 8. [V] Symbol Parameter Metric Imperial t ccelerating time river t Stop time s s t ruising time output current >. T Moving time s s t3 ecelerating time Peak output current >.8 Vmax Max. velocity m/s in/s t well time Max. output voltage 0 V > 8.V a cceleration m/s in/s Vmax Max. velocity W model matches requirements. s Stroke m in LM-P-X-W will be applicable. Step: Thrust force calculation V,Velocity a =S/T = x / = m/s F = ma + f = x + = [N] F = ma f = x = [N] F3 = 0[N] Frms = Frms = Step: Thrust force calculation F x t+ F x t + F3 x t3 t + t + t3 x 0. + x = 8.8 [N] Motor required peak force needs to be greater than Fmax x. = x. =37. [N] Motor required peak force needs to be greater than Frms x. = 8.8 x. = 8. [N] Hence choose LM-P-X (=.[N] force = 37.8[N]) Step: Wiring selection If W model is chosen Irms = Frms / Kf = 8.8 / 3. = 0. [] Imax = Fmax/ Kf = / 3. = 0.73 [] Vmax = T/ x a =/ x = [m/s] Required voltage = Vmax x Ke + Imax x R = x x 3 = 0.8 [V] Take safety factor =.3 Required supply voltage 0.8 x.3 = 36. [V] river output current > 0. Peak output current > 0.73 Max. output voltage 80V < 36.V Max. velocity cannot be reached with W. If W model is chosen Irms = Frms / Kf = 8.8/ = [] Imax = Fmax / Kf = / =. [] Required voltage = Vmax. x Ke + Imax x R = x +. x 8. =.3 [V] Take safety factor =.3 Required supply voltage.3 x.3 = 68 [V] river output current > Peak output current >. Max. output voltage 80V > 68V W model matches requirements. LM-P-X-W will be applicable. Fmax = F = [N] Safety factor =. Fmax = F = [N] Safety factor =. Note: For other calculation constraints or special requirements please contact cpc. 7 8

27 Sizing Form Sizing Form ustomer Name / Filling ate /MM/YER ustomer Name / Filling ate /MM/YER ontact Person Telephone ontact Person Telephone / Fax / Fax. Point-to-Point Motion without constant velocity section Property: Specific travel distance in specific time pplication: Pick and place, carriage etc.. Point-to-Point Motion without constant velocity section Property: Specific travel distance in specific time pplication: Pick and place, carriage etc. a. Known Motion ondition Velocity a. Known Motion ondition Velocity Load Mass kg Load Mass kg Effective Stroke m Effective Stroke m 3 Moving Time s 3 Frequency Hz well Time s Stroke well Time s Stroke b. river ondition Max. Output Voltage urrent V Moving Time well Time ycle Period / Time b. river ondition Max. Output Voltage urrent V Moving Time well Time ycle Period / Time 3 3 c. Encoder nalog igital Resolution m d. Working Environment Room Temperature onstant Temperature 3 Vacuum Torr lean Room Level f. Motion irection Horizontal Vertical 3 Tilt egrees g. Installation Method Lying Flat Vertically standing 3 Wall Mount c. Encoder nalog igital Resolution m d. Working Environment Room Temperature onstant Temperature 3 Vacuum Torr lean Room Level f. Motion irection Horizontal Vertical 3 Tilt egrees g. Installation Method Lying Flat Vertically standing 3 Wall Mount e. Motion Precision h. Space Restrictions e. Motion Precision h. Space Restrictions Positioning ccuracy m None Positioning ccuracy m None Repetitive ccuracy m Yes Repetitive ccuracy m Yes 9

28 Sizing Form Sizing Form ustomer Name / Filling ate /MM/YER ustomer Name / Filling ate /MM/YER ontact Person Telephone ontact Person Telephone / Fax / Fax 3. Point-to-Point Motion without constant velocity section Property: Specific travel distance in specific time pplication: Pick and place, carriage etc.. Point-to-Point Motion with constant velocity section Property: Work performed under constant velocity pplication: Scanning, inspection, cutting etc. a. Known Motion ondition Velocity a. Motion ondition Velocity Load Mass kg Load Mass kg Effective Stroke m Effective Stroke m 3 cceleration m/s 3 Moving Time s well Time b. river ondition Max. Output Voltage urrent 3 s V Stroke Moving Time well Time ycle Period / Time well Time cceleration b. river ondition Max. Output Voltage urrent 3 s m/s V Stroke Moving Time well Time ycle Period / Time c. Encoder nalog igital Resolution m f. Motion irection Horizontal Vertical c. Encoder nalog igital Resolution m f. Motion irection Horizontal Vertical d. Working Environment Room Temperature onstant Temperature 3 Vacuum Torr lean Room Level 3 Tilt egrees g. Installation Method Lying Flat Vertically standing 3 Wall Mount d. Working Environment Room Temperature onstant Temperature 3 Vacuum Torr lean Room Level 3 Tilt egrees g. Installation Method Lying Flat Vertically standing 3 Wall Mount e. Motion Precision h. Space Restrictions e. Motion Precision h. Space Restrictions Positioning ccuracy m None Positioning ccuracy m None Repetitive ccuracy m Yes Repetitive ccuracy m Yes

29 Sizing Form Sizing Form ustomer Name / Filling ate /MM/YER ustomer Name / Filling ate /MM/YER ontact Person Telephone ontact Person Telephone / Fax / Fax. Point-to-Point Motion with constant velocity section Property: Work performed under constant velocity pplication: Scanning, inspection, cutting etc. 6. Point-to-Point Motion with constant velocity section Property: Work performed under constant velocity pplication: Scanning, inspection, cutting etc. a. Motion ondition Velocity a. Motion ondition Velocity Load Mass kg Load Mass kg Effective Stroke 3 Max. Velocity m m/s Max. Velocity Effective Stroke 3 Moving Time m s Max. Velocity cceleration Time well Time s s Stroke well Time Time cceleration well Time m/s s Stroke well Time Time b. river ondition cceleration eceleration b. river ondition cceleration eceleration Max. Output Voltage V ycle Period / Max. Output Voltage V ycle Period / urrent urrent 3 3 c. Encoder nalog igital f. Motion irection Horizontal c. Encoder nalog igital f. Motion irection Horizontal Resolution m Vertical Resolution m Vertical 3 Tilt egrees 3 Tilt egrees d. Working Environment d. Working Environment Room Temperature g. Installation Method Room Temperature g. Installation Method onstant Temperature Lying Flat onstant Temperature Lying Flat 3 Vacuum Torr Vertically standing 3 Vacuum Torr Vertically standing lean Room Level 3 Wall Mount lean Room Level 3 Wall Mount e. Motion Precision h. Space Restrictions e. Motion Precision h. Space Restrictions Positioning ccuracy m None Positioning ccuracy m None Repetitive ccuracy m Yes Repetitive ccuracy m Yes 3