IDAM_L1_linear_motors_EN — 抽出レビュー

IDAM

INA DRIVES & MECHATRONICS

- LDDM

Linear Direct Drive Motors

- L1 Series

SCHAEFFLER GROUP

The Perfect Drive for Every Application

INA - Drives & Mechatronics GmbH & Co. oHG, a company of the Schaeffler Group, specializes in linear and rotary direct drives. These products are supplemented by directly driven positioning systems and related controllers and mechatronics assemblies.

The direct connection between motor and accelerated mass increases dynamic and static rigidity, reduces elasticity and therefore enables an extremely high level of positioning performance. Direct drives are non-wearing, as a result of which maintenance and operating costs can be reduced whilst simultaneously increasing availability. In the industries of machine tools and production machinery, automation, productronics/semicon, measuring technology and medical technology, teams at IDAM have been developing direct drives and complex drive systems since 1990.

The development of the direct drives and the positioning systems is efficiently supported by the integration of models and simulations.

IDAM employs a state-of-the-art quality management system. At IDAM, quality management is a dynamic process which is examined on a daily basis and is thus continuously improved. IDAM is certified according to standard DIN EN ISO 9001:2008.

In addition to standard products, IDAM also develops and produces customized drive solutions.

Due to the increasing demands in terms of dynamic performance, precision and cost reduction, direct drives are becoming increasingly more popular in modern machinery and equipment.

Specially developed software are used for the development and design of the motors, including tools for mechanical and thermal simulations. The results of these simulations are available to IDAM customers to help them optimize the assembling designs.

Detail of a FEM model

CAD model

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Table of Contents

Technical Principles

Advantages of Linear Direct Drives 4

Overview of Linear Motor Series 6

General Motor Parameters - Efficiency Criteria 7

Force-Speed Characteristic...9

Force-Current Characteristic...10

Thermal Motor Protection 11

Electrical Connections...13

Commutation...14

Insulation Resistance 14

Dependency of Characteristic Data on the Supply Temperature of Cooling Medium...16

L1A Linear Motors 24

L1B Linear Motors 34

L1C Linear Motors 48

Technical Information and Consulting Services 68

IDAM Worldwide 69

Glossary...70

3

Advantages of Linear Direct Drives

Performance

1. No conversion of motion form

- The drive train is free of elasticity, backlash, friction and hysteresis caused by transmission or coupling elements.

2. Compact motor

- Thanks to the large feed force with relatively low accelerated mass, very high acceleration performance is achieved. The force can be used from speed 0 right up to the limit speed.

3. Direct measurement of position

- Thanks to direct position measurement and the rigid mechanical structure, positioning is performed dynamically and highly accurate.

Operating costs

1. No additional moving parts

- Assembly, adjustment and maintenance work for the drive assembly is reduced.

2. No wear in the drive train

- Even under high and frequently alternating loads the drive train is extremely durable.

- Machine downtimes drop as a result.

3. High availability

- In addition to increased service life and reduced wear, the robustness of the linear motors increases the system availability.

- Mechanical overload in the drive train does not cause damage as is the case with geared motors.

Design

1. Compact installation space

- The compact design results in drive modules with small space requirements.

2. Low number of components

- The mature design facilitates the integration of the motor parts in the overall machine concept.

- Fewer and more robust parts result in a low failure rate (high MTBF*).

3. Versatile design variants

- Facilitate an optimized integration of the motor parts into the overall machine design concept.

*MTBF: Mean Time Between Failures

4

1. No conversion of motion form

● The drive train is free of elasticity, backlash, friction and hysteresis caused by transmission or coupling elements.

2. Compact motor

● Thanks to the large feed force with relatively low accelerated mass, very high acceleration performance is achieved. The force can be used from speed 0 right up to the limit speed.

3. Direct measurement of position

● Thanks to direct position measurement and the rigid mechanical structure, positioning is performed dynamically and highly accurate. 1. No additional moving parts

● Assembly, adjustment and maintenance work for the drive assembly is reduced.

2. No wear in the drive train

● Even under high and frequently alternating loads the drive train is extremely durable.

● Machine downtimes drop as a result.

3. High availability

● In addition to increased service life and reduced wear, the robustness of the linear motors increases the system availability.

● Mechanical overload in the drive train does not cause damage as is the case with geared motors. 1. Compact installation space

● The compact design results in drive modules with small space requirements.

2. Low number of components

● The mature design facilitates the integration of the motor parts in the overall machine concept.

● Fewer and more robust parts result in a low failure rate (high MTBF*).

3. Versatile design variants

● Facilitate an optimized integration of the motor parts into the overall machine design concept.

Characteristics of Linear Motors

Direct drives enable a linear motion to be performed without motion converter or intermediate gears.

Linear motors comprise a primary part and, generally, a system of permanent magnets which is arranged opposite the primary part and is referred to as the secondary part. A distinction is made between slotted, slotless and ironless direct drives as well as stepper (synchronous reluctance hybrid motor) motors.

The motor develops a uniform and high typical force across a specific speed range. The force is determined by the active air gap surface between the primary and secondary part.

If a current is applied to the primary part, the electromagnetic field around the motor coils produces a force which acts on the secondary part and generates linear motion.

For a linear axis system a suitable guidance system is required in order to maintain the air gap between primary part and secondary part, as is a linear measuring system which detects the position of the motor.

Every series of motors comprises a selection of different lengths and widths in order to meet the different force and installation requirements and a range of installation and connection variants is also available.

Type L1, primary part

Type L2U, primary part

Type ULIM, primary and secondary part

5

Overview of Linear Motor Series

6

General Motor Parameters - Efficiency Criteria

Depending on motor size, the forces and the power losses incurred in the process (copper losses) are fixed for different operating points which are independent on the winding design. As linear motors also generate high forces at standstill without outputting any mechanical power, it is not meaningful to quote the efficiency factor here.

The motor constant kₘ can be used as a way of comparing the efficiency of motors. A high motor constant represents a more efficient conversion of

current into holding or feed force. It expresses the quadratic dependency of the generated power loss or heating on the load-independent current. This applies exactly to the linear dynamic range at standstill and at room temperature.

Pₗ = (F / kₘ)²

Pₗ: Power loss [W]

F: Force [N]

kₘ: Motor constant[N/√W]

As the motor warms up, its efficiency decreases as a result of an increase in the winding resistance (refer to the diagram).

With increasing speed, the power loss Pₗ are supplemented by frequency-dependent magnetic reversal losses and eddy current losses which are not covered by the motor constant kₘ, but which become relevant in the limit-speed range and must hence be taken into account. The motor constant kₘ relates to the linear region of the force-current characteristic.

The motor constant kₘ depends on the ohmic resistance and therefore on the winding temperature of a motor. In the motor data sheets, kₘ is specified for 25 °C. The diagram shows the dependency between referenced motor constant and temperature.

Motor constant vs. temperature

7

Winding Designs and Dependencies

The achievable limit speed of any linear motor depends to a large degree on the winding design and the link voltage (U_DCL). Internal voltage drops within the motor increase the voltage demand with increasing speed. At the specified limit speeds, the voltage demand with field-oriented control corresponds to the link voltage of the servo converter. After this point the speed decreases quickly.

The higher the link voltage and the smaller the winding-related voltage constants (kᵤ), the higher the achievable limit speeds will be. Due to the correlation between voltage constants and force constants, the current demand increases with higher speeds at the same forces.

For the winding data, a standard winding WM was predefined for each motor size for medium dynamic requirements

(winding variants WL and WH for lower and higher dynamic requirements respectively are available on request). At lower link voltages the limit speed is reduced almost proportionally. The force-current characteristic describes the force at various operating points. The force-speed characteristic presents the relationship between force and speed at different operating points.

L1 linear motors

8

Force-Speed Characteristic

The F(v) characteristics of the permanent magnet synchronous motors are virtually speed-independent at low speeds. This applies to Fp, Fcw and Fc up to the associated corner speeds vlp, vlcw and vlc. At higher speeds, the motor force is reduced as a result of the effects of the back EMF*, ultimately right down to zero.

With higher link voltages it is possible to compensate for greater back EMF and achieve higher speeds.

The motor can be operated at any operating point under the F(v) characteristic under the following conditions:

- up to Fc in non cooled continuous operation

- up to Fcw in water cooled continuous operation

- up to Fp in periodic intermittent duty (S3**).

Closed-loop controlled motor movements require a suitable distance between potential operating points and the decreasing portion of the F(v) characteristic. Typically, approximately 0.2 times the maximum speed should be applied for this distance (control reserve).

Force vs. speed

L1A motor with cable connection

Force at v = 0 m/s

When using a continuous force at standstill (Fs), e.g. in a Z-axis without mass compensation, it needs to be taken into account that a maximum of 70% of the nominal force can be used. Partial overloading of the motor may occur if this reduced value is exceeded.

*Back EMF: Back electromagnetic force

**S3: Operating mode according to standard VDE 0530

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Force-Current Characteristic

The virtually linear portion of the characteristic from origin (0,0) to point (F_pl, I_pl) is characterised by force constant k_f: F = I · k_f. The operating points of the motor for non cooled operation (F_c, I_c) and cooled operation (F_cw, I_cw) fall within this area.

The nonlinearity of the F-I characteristic at large currents results from saturation

of the magnetic circuits of a motor. This portion of the characteristic, which is naturally curved, is described in the data sheet and in the diagram by the force-current points (Fₚ, Iₚ) and (Fᵤ, Iᵤ). It has a variable slope which is much flatter than k_f.

The motor can be run for short periods (cyclically for <3 s) up to operating point

(Fₚ, Iₚ) provided the average thermal power losses are taken into account. For acceleration processes this is the maximum operating point that should be used.

The limit point (Fᵤ, Iᵤ) must never be exceeded, as otherwise there is a risk of overloading the motor.

Force vs. current

L1A motor with terminal

All parameters are explained in the glossary.

10

Thermal Motor Protection

Monitoring circuit I

L1B motor with cable connection

Direct drives are often being operated at their thermal performance limits. In addition, unforeseen overloads can occur during operation which result in an additional current load in excess of the permissible nominal current. For this reason, the servo controllers for motors should generally have an overload protection in order to control the motor current. Here, the effective value (root mean square) of the motor current must only be allowed to exceed the permissible nominal current of the motor for a short time. This type of indirect temperature monitoring is very quick and reliable.

IDAM motors are equipped with temperature sensors (PTC and KTY) which should be used for thermal motor protection.

Monitoring circuit I

The three phase-windings are equipped with three series-connected PTCs to ensure motor protection. A PTC is a positive temperature coefficient thermistor. Its thermal time constant when installed is below 5 s.

PTC temperature characteristics

In contrast to a KTY, its resistance increases very sharply when the nominal response temperature Tₙ is exceeded, increasing to many times the cold value in the process.

With three PTC elements connected in series, this behaviour also generates a clear change in the overall resistance even if only one of the elements exceeds the nominal response temperature Tₙ.

The use of three sensors ensures that, even if the motor is at a standstill under an asymmetric phase load, there is a signal for a safe shut-down. A commercially available motor protection tripping device which is connected downstream will typically trigger between 1.5 and 3.5 kOhm. In this way, overtemperature is detected to within a discrepancy of a few degrees for every winding.

The tripping devices also react if the resistance is too low in the PTC circuit, which usually indicates a defect in the monitoring circuit. It also ensures secure electrical separation between the controller and the sensors in the motor. The motor protection tripping devices are not included in the scope of supply.

PTCs are not suitable for temperature measurements. The KTY should be used here if required.

Further monitoring sensors can be integrated at the customer's request.

As a rule, PTC sensor signals must be monitored for protection against overtemperature.

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Thermal Motor Protection

Monitoring circuit II

Standard connection of PTC and KTY

Monitoring circuit II

On one phase of the motor there is an additional KTY84-130. This sensor is a semiconductor resistor with a positive temperature coefficient.

In order to protect the motor against overtemperature, a shut-off limit is defined in the controller. When the motor is at a standstill, constant currents flow through the windings, with the current depending on the respective pole position.

As a result, the motor does not heat up uniformly, which may cause overheating of non-monitored windings. The PTC and KTY sensors have a basic insulation to the motor. They are not suitable for direct connection to PELV/SELV circuits according to standard DIN EN 50178.

A temperature-equivalent signal is generated with a delay which depends on the motor type.

The KTY sensor monitors a single winding. Its signal can be used to watching the temperature or issue a warning. Exclusive use for switching off is not permissible.

Temperature characteristics KTY

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Electrical Connections

The standard connections of the IDAM motors are routed through the face end. The standard cable length from the point where the cable emerges from the motor is 1000 mm. Different lengths are available upon request. The cross-section of the power cable depends on the continuous motor current and is documented in the catalogue drawing. As standard, the dimensions are laid out

for the continuous current I_c at Pₗ (non cooled) for L1A and L1B and continuous current I_cw at P_lcw (cooled) for L1C. Motor cables are available from 4G0.75 mm². The sensor cable 4 x 0.14 mm² (d = 5.1 mm) allows temperature monitoring via PTC and KTY. The wire ends are open and fitted with end sleeves. The cables which are used are UL approved and suitable for cable chains.

Motor versions with terminals (type WAGO series 236) for wires up to 1.5 mm² with end sleeves are available as an option. The cable outlets or terminals are shown in the data sheets. For terminals there is a restriction to variants without water cooling and with a continuous current of up to 16 A.

Terminal assignments

Positive direction of motor motion

On all three-phase motors the electrically positive direction of motion corresponds to a right-handed rotary field, i.e. the phase voltages are induced in the sequence U, V, W. On IDAM motors, this positive direction of motor motion is

Direction of motion with positive current feed, example: cable outlet

- in the direction of the side without cable(s)

- in the direction of the side without terminal(s).

Direction of motion with positive current feed, example: terminal

Dimensioning of motor cables

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Commutation

Synchronous motors are preferably run in commutated operation. As standard, IDAM linear motors are not equipped with Hall sensors. IDAM recommends measuring system-related commutation.

L1 motors

Insulation Resistance

Insulation resistance for link voltages of up to 600 VDC

IDAM motors comply with EC directive 73/23/EEC and European standards EN 50178 and EN 60204.

Prior to delivery they are tested with differentiated high voltage testing methods and casted under vacuum.

Please make sure that the type-related operating voltages of the motors are observed.

Overvoltages at motor terminals in converter operation

Due to the extremely fast-switching power semiconductors which generate high du/dt loads, significantly higher voltage peaks than the actual converter voltages may occur at the motor terminals, particularly when longer connecting cables (from a length of about 5 m on) are used between motor and converter. This places a very high load on the motor insulation. The du/dt values of the PWM modules must not exceed 8 kV/μs. The motor connecting cables must be kept as short as possible.

In order to protect the motors, an oscilloscope should always be used in the specific configuration to measure the voltage (PWM) applied to the motor via the winding and in relation to PE. The present voltage peaks should not significantly exceed 1 kV.

From approx. 2 kV on a gradual damaging of the insulation should be expected. IDAM engineers will assist you with your application and help you to determine and reduce excessive voltages.

Please observe the recommendations and configuration notes provided by the manufacturer of the converter.

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Cooling and Cooling Circuits

Power losses and thermal losses

In addition to the power losses defined by the motor constant kₘ, motors are also subject to frequency-dependent losses occurring especially at higher control frequencies (above 50 Hz). These losses jointly cause the motor and other system assemblies to heat up.

The following rule applies at low control frequencies (<80 Hz) of the motors: Motors with a high motor constant kₘ produce lower power losses in relation to comparable motors with a lower motor constant.

The power losses generated during motor operation are transmitted via the motor assembly to attached components. The overall system is carefully designed to control the way in which this heat distribution is influenced and controlled through convection, conduction and radiation.

For the L1C motors, a cooling system is available as an accessory in order to improve heat dissipation.

The continuous forces of liquid-cooled motors are around twice as high as those of non cooled motors.

Motors must be designed and integrated into the machine concept in accordance with the requirements for installation space, accuracy and cooling.

Active cooling should be preferably used on machines with high performance and on equipment with highly dynamic operation and correspondingly high bearing loads.

If complete thermal separation of motor and machine is required (e.g. in order to prevent thermal distortion of the machine construction in high-precision machinery),

then an additional thermal insulation to the machine bed and/or precision cooling is required. The actual cooling is then referred to as the main cooling or power cooling system. The motor cooling system is realized as a cooling plate between motor and machine table and should be connected by the customer to the cooling circuit of a cooling device. Thermal insulation and cooling plates can be supplied as motor parts as an option, or they may already be an integral part of the customer's machine design. The cooling medium passes through internal copper pipes from the inlet to the outlet. Inlet and outlet connections can be assigned to the two water ports as required. The connections have an internal thread G 1/8. When using water as the coolant, additives must be used which prevent corrosion and biological deposits in the cooling circuit.

Cooling plate for water cooling

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Dependency of Characteristic Data on the Supply Temperature of Cooling Medium

The continuous current I_cw indicated in the data sheet for water cooled operation can be achieved at a rated supply temperature θ_nV of 25 °C. Higher supply temperatures θ_V result in a reduction of the cooling performance and therefore also the nominal current. The reduced continuous current I_c red can be calculated by the following quadratic equation:

(I_c red) / I_cw = \sqrt{(ϑₘₐₓ - ϑ_V) / (ϑₘₐₓ - ϑ_nV)}

I_c red Reduced continuous current [A]

I_cw Continuous current, cooled at θ_nV [A]

Relative continuous current I_c red / I_cw vs. supply temperature θ_V (θ_nV = 25 °C)

θ_V Current supply temperature [°C]

θ_nV Rated supply temperature [°C]

θ_max Maximum permissible winding temperature [°C]

(applies to a constant motor current)

L1C motor with terminal

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I c red Reduced continuous current [A]

I cw Continuous current, cooled at ϑ nV [A]

ϑ V Current supply temperature [°C]

ϑ nV Rated supply temperature [°C]

ϑ max Maximum permissible winding temperature [°C]

(applies to a constant motor current) (applies to a constant motor current)

Selection of Direct Drives for Linear Motions

Cycled applications

In cycled operation, sequential positioning movements are interspersed with pauses during which no motion takes place.

followed by a deceleration (negative acceleration of usually the same magnitude, in which case acceleration and deceleration time are equal). The maximum speed v_max is reached at the end of an acceleration phase.

A simple positioning sequence takes the form of a positively accelerated motion

A cycle is described in the v(t) diagram (v: speed, t: time). The diagram shows a forward-backward movement with pauses (t_M: motion time, t_P: dwell time with no load).

v-t diagram for cycled operation

This yields the following a(t) diagram as well as the curve for the force required for the motion: F = m · a

(F: force in N, m: mass in kg, a: acceleration in m/s²).

The motor is selected according to three criteria in accordance with the force curve for a desired cycle:

- maximum force in the cycle ≤ F_P according to the data sheet - effective force in the cycle ≤ F_c (motor non cooled) or F_cw (motor water-cooled) according to the data sheet - maximum speed in the cycle ≤ v_lp according to the data sheet

a-t diagram for cycled operation

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The effective force is equal to the root mean square of the force curve (here: six force cycles) in the cycle.

F_eff = √((F₁² · t₁ + F₂² · t₂ + \dots + F₆² · t₆) / (t₁ + t₂ + \dots + t₆))

The safety factor 1.4 in the sample calculation (page 19) also takes into account the operation of the motor in the non-linear region of the force-current characteristic, for which the formula for calculating F_eff only applies approximately.

The forces

F₁ = F; F₂ = -F; F₃ = 0; F₄ = -F;

F₅=F;F₆=0 and the times

t₁ = t_M/2; t₂ = t_M/2; t₃ = t_P; t₄ = t_M/2;

t₅=t_M/2;t₆=t_P are used to calculate the effective force.

F_eff = F · √(t_M / (t_M + t_P))

This formula applies to the effective force only if all the forces acting in the cycle have the same magnitude (masses and accelerations are constant). Here, the term under the square root is the “sum of motion times divided by the total sum of motion times plus pause times”. The denominator is therefore the cycle time.

Acceleration and maximum speed of a positioning motion are calculated with the following formulas:

a = (4 · x) / t_M²

vₘₐₓ = (2 · x) / t_M

x Total stroke in m

t_M Motion time in s

a Acceleration in m/s²

vₘₐₓ Maximum speed in m/s

The described positioning motion is performed with a (theoretically) infinite rate of jerk. If jerk limitation is programmed into the servo converter then the positioning times are extended accordingly. In this case, greater acceleration would be needed in order to maintain unchanged positioning times.

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x Total stroke in m

tM Motion time in s

a Acceleration in m/s²

vmax Maximum speed in m/s

Example: Cycled applications

Preset values:

Calculation:

Maximum speed

vₘₐₓ = (2 · 0.7) / 0.3 m/s = 4.67 m/s

Acceleration

a = (4 · 0.7) / 0.3² m/s² = 31.1 m/s²

Together with the friction force and the safety factor, this yields: maximum force

Fₘₐₓ = (10.0 kg · 31.1 m/s² + 5 N) · 1.4 = 442.4 N

Effective force

F_eff = (10.0 kg · 31.1 m/s² · √((0.3 s) / (1.3 s)) + 5 N) · 1.4 = 216.2 N

Motor selection, without water cooling

Compliance with conditions:

Fₘₐₓ ≤ Fₚ and F_eff ≤ F_c

The L1A-3P-200-75-WM meets both conditions.

The speed can be achieved with a link voltage of 600 V.

Motor selection, with water cooling

Compliance with conditions:

Fₘₐₓ ≤ Fₚ and F_eff ≤ F_cw

The cooling plate increases the accelerated mass by 500 g, and taking the additional mass into account the L1C-3P-100-75-WM with water cooling meets both conditions. The speed can be achieved with a link voltage of 600 V.

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L1 Linear Motors

Sizes L1A, L1B

ページ 24 to 33

ページ 34 to 47

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L1 Linear Motors

Sizes L1C

An overview of peak and continuous forces for the individual motor series can be found on the inside of the back cover.

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L1 Linear Motors

Features

L1 linear motors are slotted, permanent magnet-excited AC synchronous motors. The coils of the primary part are fitted in slots on the armature stamping. The secondary part comprises an iron base onto which permanent magnets are fastened.

L1 motors are optimised for ultimate efficiency, which means: maximum force in the available installation space at nominal speed with low power losses.

They excel by low accelerated mass and compact dimensions.

The benefits of the L1 motors include an optimal design and thermal integration into the peripheral structure as well as comprehensive adjustment to the overall requirements of the drive system.

Linear motor: L1A

- Installation height of only 31 mm

- Very compact design

- Excellent force-to-mass ratio

Linear motor: L1B

- Installation height of only 39 mm

- Applications with optimised thermal power loss in comparison to L1A

- Higher continuous force than L1A with the same heat generation

Linear motor: L1C

- Installation height 53.5 mm (without cooling plate), 65.5 mm (with cooling plate) or 66.5 mm (with cooling plate and thermal insulation)

- Applications with optimised thermal power loss in comparison to L1B

- Higher continuous force than L1B with equal heat generation

- Cooling options: Cooling plate, thermal insulation to machine bed

L1 motor with cable connection

L1 motor with terminal

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• Installation height of only 31 mm

• Very compact design

• Excellent force-to-mass ratio

Linear motor: L1B

• Installation height of only 39 mm

• Applications with optimised thermal power loss in comparison to L1A

• Higher continuous force than L1A with the same heat generation

Linear motor: L1C

• Installation height 53.5 mm (without cooling plate), 65.5 mm (with cooling plate) or 66.5 mm (with cooling plate and thermal insulation)

• Applications with optimised thermal power loss in comparison to L1B

• Higher continuous force than L1B with equal heat generation

• Cooling options: Cooling plate, thermal insulation to machine bed

L1 Linear Motors

Areas of use, applications, advantages

Areas of use

- Semiconductor industry

- Printed circuit-board processing

- Packaging industry

- Food industry

- Machine tools

- Placement at production lines

- Assembly and handling technology

Applications

Applications with high requirements in terms of accuracy and dynamic performance, plus with limited installation space

- Feed systems

- Laser/water jet cutting systems

- Manipulator operation

- PCB handling systems

- Wafer positioning systems

- AOI systems

Advantages

- High acceleration and deceleration capacity thanks to a significantly better force-to-mass ratio than conventional motors

- Higher speed than conventional motors

- High static and dynamic load rigidity

- Accurate positioning without overshooting

- Excellent constant-velocity properties

- Compact design

- Maintenance-free drive with zero backlash

- Active cooling options

LDDS60 push rod system with a stroke of 170 mm

MKUVS42-LM - high-speed handling

Handling system precision blanking with direct drives

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● Semiconductor industry Applications with high requirements ● High acceleration and deceleration

capacity thanks to a significantly

better force-to-mass ratio than

conventional motors

● Printed circuit-board processing in terms of accuracy and dynamic per-

● Packaging industry formance, plus with limited installation

● Food industry space

● Machine tools ● Feed systems ● Higher speed than conventional

motors

● Assembly and handling technology ● Laser/water jet cutting systems

● Manipulator operation ● High static and dynamic load rigidity

● PCB handling systems ● Accurate positioning without

overshooting

● Wafer positioning systems

● AOI systems ● Excellent constant-velocity properties

● Compact design

● Maintenance-free drive with zero

backlash

● Active cooling options

• Semiconductor industry

• Printed circuit-board processing

• Packaging industry

• Food industry

• Machine tools

• Placement at production lines

• Assembly and handling technology Applications with high requirements

in terms of accuracy and dynamic per-

formance, plus with limited installation

space

• Feed systems

• Laser/water jet cutting systems

• Manipulator operation

• PCB handling systems

• Wafer positioning systems

• AOI systems • High acceleration and deceleration

capacity thanks to a significantly

better force-to-mass ratio than

conventional motors

• Higher speed than conventional

motors

• High static and dynamic load rigidity

• Accurate positioning without

overshooting

• Excellent constant-velocity properties

• Compact design

• Maintenance-free drive with zero

backlash

• Active cooling options

L1A Linear Motors

Type designation for primary parts

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L1A - 3P - L - B - X - X - X - X - PRIM

Type, design L1 Linear motor (primary part), laminated

A Flat L1A

Number of motor phases 3P 3-phase 3P

Length classification of coil system 100 mm, 200 mm L

Width of magnetic track 25 mm, 50 mm, 75 mm B

Winding design WM Standard

WX Special variant X

Cooling variant O Standard (without)

S Special variant X

Temperature monitoring O Standard (PTC triple sensors at the phases U, V, W,

KTY84-130 on one phase)

S Special variant X

Connection variant G Standard, fixed cables for motor and sensor

Cable length 1.0 m

W Terminal

S Special variant X

Motor part PRIM Primary part PRIM

L1A Linear Motors

Type designation for secondary parts for L1A and L1B

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L1A Linear Motors

Standard: Primary part with cable connection, secondary part with through-bore (variant 2)

⊕ ∅ 0.1

Dimensions of secondary part, variant 2

Through-bore for screw M5

Tapped bores and threads to be provided by customer

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L1A Linear Motors

Primary part with terminal, secondary part with tapped bore (variant 1)

Dimensions of secondary part, variant 1

Tapped bore M5 - thread-in length 5 ± 0.5

Tapped bores and threads to be provided by customer

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L1A-3P-100-B

Technical data I

Note: The size specified for the air gap d is an auxiliary dimension and may fluctuate. The only technically relevant dimension is the specified overall installation height H, which must be complied with. A stainless steel cover can be ordered separately for the secondary parts. (The stainless steel cover is not included in the standard equipment.) Subject to modification without previous notice.

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L1A-3P-100-B

Technical data II

Subject to modification without previous notice.

Tolerance range for values: ±5% • Tolerance range for values “attraction force” and “ripple force”: ±10%

Force vs. speed

The achievable speed limit depends on operating voltage (U_DCL) and current (force).

The diagram shows the idealised envelope with the key operating points at peak current (Fₚ, vₗᵢₘ) and at idle (Fₒ, vₒ).

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L1A-3P-100-B

Technical data III

Subject to modification without previous notice.

Tolerance range for values: ±5% • Tolerance range for values "resistance" and "inductance": ±10%

Force vs. current

Note:

The winding variant WM (standard) described above is suitable for moderately dynamic performance requirements. The winding variants WL and WH suitable for lower and higher dynamic performance requirements are available upon request. The integrated temperature sensors do not display the exact winding temperature. Depending on current load, the winding temperature may be up to approx. 30 K higher.

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L1A-3P-200-B

Technical data I

Note: The size specified for the air gap d is an auxiliary dimension and may fluctuate. The only technically relevant dimension is the specified overall installation height H, which must be complied with. A stainless steel cover can be ordered separately for the secondary parts. (The stainless steel cover is not included in the standard equipment.) Subject to modification without previous notice.

31

L1A-3P-200-B

Technical data II

Subject to modification without previous notice.

Tolerance range for values: ±5% • Tolerance range for values “attraction force” and “ripple force”: ±10%

Force vs. speed

The achievable speed limit depends on operating voltage (U_DCL) and current (force).

The diagram shows the idealised envelope with the key operating points at peak current (Fₚ, vₗᵢₘ) and at idle (Fₒ, vₒ).

32

L1A-3P-200-B

Technical data III

Subject to modification without previous notice.

Tolerance range for values: ±5% • Tolerance range for values “resistance” and “inductance”: ±10%

Force vs. current

Note:

The winding variant WM (standard) described above is suitable for moderately dynamic performance requirements. The winding variants WL and WH suitable for lower and higher dynamic performance requirements are available upon request. The integrated temperature sensors do not display the exact winding temperature. Depending on current load, the winding temperature may be up to approx. 30 K higher.

33

L1B Linear Motors

Type designation for primary parts

34

L1 Linear motor (primary part), laminated

B High

Number of motor phases

3P 3-phase

Length classification of coil system

100 mm, 200 mm

Width of magnetic track

25 mm, 50 mm, 75 mm

Winding design

WM Standard

WX Special variant

Cooling variant

O Standard (without)

S Special variant

Temperature monitoring

O Standard (PTC triple sensors at the phases U, V, W,

KTY84-130 on one phase)

S Special variant

Connection variant

G Standard, fixed cables for motor and sensor

Cable length 1.0 m

W Terminal

S Special variant

Motor part

PRIM Primary part

L1B Linear Motors

Type designation for secondary parts for L1A and L1B

35

L1 B L X X SEK

L1B Linear Motors

Standard: Primary part with cable connection, secondary part with through-bore (variant 2)

⊕ ∅ 0.1

Dimensions of secondary part, variant 2

Through-bore for screw M5

Tapped bores and

threads to be

provided by customer

36

L1B Linear Motors

Primary part with terminal, secondary part with tapped bore (variant 1)

Dimensions of secondary part, variant 1

Tapped bore M5 - thread-in length 5 ± 0.5

Tapped bores and threads to be provided by customer

37

L1B-3P-100-B

Technical data I

Note: The size specified for the air gap d is an auxiliary dimension and may fluctuate. The only technically relevant dimension is the specified overall installation height H, which must be complied with. A stainless steel cover can be ordered separately for the secondary parts. (The stainless steel cover is not included in the standard equipment.) Subject to modification without previous notice.

38

L1B-3P-100-B

Technical data II

Subject to modification without previous notice.

Tolerance range for values: ±5% • Tolerance range for values “attraction force” and “ripple force”: ±10%

Force vs. speed

The achievable speed limit depends on operating voltage (U_DCL) and current (force).

The diagram shows the idealised envelope with the key operating points at peak current (Fₚ, vₗᵢₘ) and at idle (Fₒ, vₒ).

39

L1B-3P-100-B

Technical data III

Subject to modification without previous notice.

Tolerance range for values: ±5% • Tolerance range for values "resistance" and "inductance": ±10%

Force vs. current

Note:

The winding variant WM (standard) described above is suitable for moderately dynamic performance requirements. The winding variants WL and WH suitable for lower and higher dynamic performance requirements are available upon request. The integrated temperature sensors do not display the exact winding temperature. Depending on current load, the winding temperature may be up to approx. 30 K higher.

40

L1B-3P-200-B

Technical data I

Note: The size specified for the air gap d is an auxiliary dimension and may fluctuate. The only technically relevant dimension is the specified overall installation height H, which must be complied with. A stainless steel cover can be ordered separately for the secondary parts. (The stainless steel cover is not included in the standard equipment.) Subject to modification without previous notice.

41

L1B-3P-200-B

Technical data II

Subject to modification without previous notice.

Tolerance range for values: ±5% • Tolerance range for values “attraction force” and “ripple force”: ±10%

Force vs. speed

The achievable speed limit depends on operating voltage (U_DCL) and current (force).

The diagram shows the idealised envelope with the key operating points at peak current (Fₚ, vₗᵢₘ) and at idle (Fₒ, vₒ).

42

L1B-3P-200-B

Technical data III

Subject to modification without previous notice.

Tolerance range for values: ±5% • Tolerance range for values “resistance” and “inductance”: ±10%

Force vs. current

Note:

The winding variant WM (standard) described above is suitable for moderately dynamic performance requirements. The winding variants WL and WH suitable for lower and higher dynamic performance requirements are available upon request. The integrated temperature sensors do not display the exact winding temperature. Depending on current load, the winding temperature may be up to approx. 30 K higher.

43

L1B-3P-300-B

Technical data I

Note: The size specified for the air gap d is an auxiliary dimension and may fluctuate. The only technically relevant dimension is the specified overall installation height H, which must be complied with. A stainless steel cover can be ordered separately for the secondary parts. (The stainless steel cover is not included in the standard equipment.) Subject to modification without previous notice.

44

L1B-3P-300-B

Technical data II

Subject to modification without previous notice.

Tolerance range for values: ±5% • Tolerance range for values “attraction force” and “ripple force”: ±10%

Force vs. speed

The achievable speed limit depends on operating voltage (U_zk) and current (force).

The diagram shows the idealised envelope with the key operating points at peak current (Fₚ, vₗᵢₘ) and at idle (Fₒ, vₒ).

45

L1B-3P-300-B

Technical data III

Subject to modification without previous notice.

Tolerance range for values: ±5% • Tolerance range for values "resistance" and "inductance": ±10%

Force vs. current

Note:

The winding variant WM (standard) described above is suitable for moderately dynamic performance requirements. The winding variants WL and WH suitable for lower and higher dynamic performance requirements are available upon request. The integrated temperature sensors do not display the exact winding temperature. Depending on current load, the winding temperature may be up to approx. 30 K higher.

46

L1 primary and secondary part

47

L1C linear motors

Type designation for primary parts

48

L1C - 3P - L - B - X - X - X - X - PRIM L1C - 3P - L - B - X - X - X - X - PRIM L1C - 3P - L - B - X - X - X - X - PRIM

Type, design Type, design Type, design

L1 Linear motor (primary part), laminated

C With cooling options

Number of motor phases Number of motor phases Number of motor phases

3P 3-phase

Length classification of coil system Length classification of coil system Length classification of coil system

100 mm, 200 mm, 300 mm, 400 mm

Width of magnetic track Width of magnetic track Width of magnetic track

50 mm, 75 mm, 100 mm, 125 mm, 150 mm

Winding design Winding design Winding design

WM Standard

WX Special variant

Cooling variant Cooling variant Cooling variant

O Standard (without)

W Water cooling via additional intermediate plate

T Water cooling and additional thermal insulation

S Special variant on request

Temperature monitoring Temperature monitoring Temperature monitoring

O Standard (PTC triple sensors at the phases U, V, W, KTY84-130 on one phase)

S Special variant on request

Connection variant Connection variant Connection variant

G Standard, fixed cables for motor and sensor Cable length 1.0 m

W Terminal (not with water cooling, Ic ≤ 10 A)

S Special variant on request

Motor part Motor part Motor part

PRIM Primary part

L1C linear motors

Type designation for secondary parts

49

L1C linear motors

Standard: Primary part with cable connection, secondary part with through-bore (variant 2)

50

Primary part:

Thread-in depth without cooling: 7°

Thread-in depth with water cooling: 19°

Thread-in depth with water cooling and thermal insulation: 20°

Standard lengths

⊕ ∅ 0.1

Tapped bores and

threads to be

provided by customer

51

L1C linear motors

Primary part with terminal, secondary part with tapped bore (variant 1)

Note: Primary part with terminal - only variants without water cooling

52

Secondary part:

Thread-in depth: 10³

Tapped bores and

threads to be

provided by customer

53

L1C-3P-100-B

Technical data I

Note: The size specified for the air gap d is an auxiliary dimension and may fluctuate. The only technically relevant dimension is the specified overall installation height H, which must be complied with.

A stainless steel cover can be ordered separately for the secondary parts. (The stainless steel cover is not included in the standard equipment.)

Subject to modification without previous notice.

54

L1C-3P-100-B

Technical data II

Subject to modification without previous notice.

Tolerance range for values: ±5% • Tolerance range for values “attraction force” and “ripple force”: ±10%

Force vs. speed

The achievable speed limit depends on operating voltage (U_DCL) and current (force).

The diagram shows the idealised envelope with the key operating points at peak current (Fₚ, vₗᵢₘ) and at idle (Fₒ, vₒ).

55

L1C-3P-100-B

Technical data III

Subject to modification without previous notice.

Tolerance range for values: ±5% • Tolerance range for values "resistance" and "inductance": ±10%

Force vs. current

Note:

The winding variant WM (standard) described above is suitable for moderately dynamic performance requirements. The winding variants WL and WH suitable for lower and higher dynamic performance requirements are available upon request. The integrated temperature sensors do not display the exact winding temperature. Depending on current load, the winding temperature may be up to approx. 30 K higher.

56

L1C-3P-200-B

Technical data I