直线电机使用手册

合集下载

直线电机技术手册

直线电机技术手册直线电机是一种将电能转换为直线机械运动的电机。

它具有结构简单、体积小、可调速、低噪音、高效率等优点，被广泛应用于自动化设备、机器人、医疗器械等领域。

本技术手册将介绍直线电机的基本原理、分类、工作原理、应用以及性能参数等内容。

第一篇：直线电机的基本原理直线电机是由电力驱动产生直线运动的装置。

它主要由定子和活子构成，其中定子固定在机械结构上，活子则与定子直接相连接并作为可移动部分。

根据运动方式的不同，直线电机可分为平面直线电机和圆柱直线电机两种。

平面直线电机主要用于平面直线运动，而圆柱直线电机则用于圆柱直线运动。

第二篇：直线电机的分类直线电机根据工作方式的不同可分为直线感应电机、直线同步电机、直线步进电机等。

直线感应电机是利用电磁感应原理工作的，它通过交流电产生的感应电磁场来产生运动。

直线同步电机则是利用电磁场和永磁体之间的作用力来进行直线运动。

直线步进电机则是利用电磁铁和永磁铁之间的吸引力和排斥力来产生直线运动。

第三篇：直线电机的工作原理直线电机的工作原理与旋转电机类似，都是利用电磁感应或者磁场作用力来产生直线运动。

直线电机通过一个交流电源来产生电磁感应场或者磁场，然后利用电磁感应场或者磁场和永磁场之间的作用力来进行直线运动。

直线电机的运动速度可以通过改变电源频率或者改变磁场强度来调节。

第四篇：直线电机的应用直线电机具有结构简单、体积小、可调速、低噪音、高效率等优点，因此被广泛应用于自动化设备、机器人、医疗器械等领域。

在工业自动化领域，直线电机通常用于驱动输送带、自动检测设备、机械臂等。

在医疗器械领域，直线电机通常用于驱动高精度位置调整系统、手术机器人等。

第五篇：直线电机的性能参数直线电机的性能参数包括最大力矩、最大速度、加速度、精度等。

最大力矩是指直线电机产生的最大驱动力；最大速度是指直线电机能够达到的最大运动速度；加速度是指直线电机的加速能力；精度是指直线电机能够实现的运动精度。

美国LinMot直线电机用户手册

User Manual Rel. 1.0Tel.: +41 (0) 1 445 2282Fax: +41 (0) 1 445 2281Email: office@ Homepage: LinMotSulzer Electronics AGTechnoparkstrasse 1CH-8005 Zürich© 1999 Sulzer Electronics AGThis work is protected by copyright.Under the copyright laws, this publication may not be reproduced or transmitted in any form, electronic or mechanical, including photocopying, recording, microfilm, storing in an information retrieval system, not even for didactical use, or translating, in whole or in part, without the prior written consent of Sulzer Electronics AG.LinMot® is a registered trademark of Sulzer Electronics AG.NoteThe information in this documentation reflects the stage of development at the time of press and is therefore without obligation.Sulzer Electronics reserves itself the right to make changes at any time and without notice to reflect further technical advance or product improvement. Please refer to the latest edition of our “General business terms”Version 1.01 / Rev. 3 October 8th 19991.Introduction__________________________________________1-11.1Used symbols__________________________________________1-22.Safety notes__________________________________________2-12.1Installation____________________________________________2-23.System Overview_______________________________________3-1 3.1Drive system LinMot®___________________________________3-13.1.1Actuator: Linear drive LinMot®P___________________________3-23.1.2Actuator: stepper motor LinMot®Step________________________3-23.1.3Actuator: electromagnet LinMot® Magnet_____________________3-2 3.2LinMot® P: a new construction element____________________3-2 3.3Substitution possibilities of LinMot® P_____________________3-3 3.4Technical properties of LinMot® P________________________3-4 3.5Application fields of LinMot® P___________________________3-4 3.6Driving and operating modes of LinMot®___________________3-53.6.1Driving concept__________________________________________3-53.6.2Operation modes_________________________________________3-53.6.3Connection to higher-level control systems____________________3-8 3.7Protection and error behavior____________________________3-93.7.1Internal protection functions________________________________3-93.7.2Monitoring functions_____________________________________3-93.7.3Emergency stop possibilities________________________________3-93.7.4Emergency stop through supply interruption___________________3-9 3.8Operation and configuration____________________________3-103.8.1System configuration____________________________________3-103.8.2Curve generation________________________________________3-113.8.3Monitoring function (digital Oscilloscope)___________________3-123.8.4Error logbook__________________________________________3-133.9Customer specific applications___________________________3-144.Design and Installation_________________________________4-1 4.1Operating modes_______________________________________4-14.1.1Analog position setting____________________________________4-24.1.2Analog current setting____________________________________4-34.1.3Two point run___________________________________________4-34.1.4Running reference curves__________________________________4-44.1.5Set values through the serial interface________________________4-5 4.2Operating states_______________________________________4-64.2.1Operating state “Setup”___________________________________4-74.2.2Operating state “Wait for Disable”___________________________4-74.2.3Operating state “Disable”__________________________________4-74.2.4Operating state “Drive Init”________________________________4-74.2.5Operating state “Run”_____________________________________4-84.2.6Operating state “Stop”____________________________________4-84.2.7Operating state “Error”____________________________________4-8 4.3Position monitoring_____________________________________4-94.3.1Following error monitoring________________________________4-94.3.2Position range monitoring________________________________4-104.4Initialization__________________________________________4-114.4.1Linear motors of the LinMot® P series_______________________4-114.4.2Stepper motors_________________________________________4-13 4.5Signal interfaces______________________________________4-144.5.1SYS1 interface_________________________________________4-144.5.2SYS2 connector_________________________________________4-164.5.3COM connector_________________________________________4-17 4.6Actuator interfaces____________________________________4-184.6.1Connection of LinMot® P linear motors______________________4-184.6.2Connecting stepper motors________________________________4-194.6.3Connecting inductive loads________________________________4-19 4.7Connecting the power supply____________________________4-204.7.1E100/E200/E400 supply__________________________________4-204.7.2E1000/E2000/E4000 supply_______________________________4-21 4.8HW configuration of the electronic units__________________4-234.8.1Signal board configuration________________________________4-23 4.9Mechanical installation_________________________________4-254.10Constructive notes on the installation of the linear motors____4-265.Configuration Software_________________________________5-1 5.1Installation requirements________________________________5-1 5.2Installation of the configuration software___________________5-2 5.3Introduction___________________________________________5-3 5.4Login________________________________________________5-3 5.5Commander___________________________________________5-4 5.6Control Panel_________________________________________5-4 5.7Parameter Inspector____________________________________5-55.7.1Editing the parameters____________________________________5-65.7.2Saving and loading parameter sets___________________________5-75.7.3Copy and Paste__________________________________________5-75.7.4Verifying parameter settings________________________________5-85.7.5Printing parameter sets____________________________________5-85.7.6Write-protected parameters_________________________________5-95.7.7Online mode____________________________________________5-95.7.8Offline mode____________________________________________5-9 5.8Curve Inspector______________________________________5-105.8.1User interface of the Curve Inspector________________________5-105.8.2Operational elements of the Curve Inspector__________________5-105.8.3Curve Editor interface____________________________________5-135.8.4Operational elements of the Curve Editors____________________5-145.8.5Creating curves with the wizards___________________________5-165.8.6Defining reference curves in Excel__________________________5-17 5.9Oscilloscope__________________________________________5-185.9.1Setting the recording variables_____________________________5-195.9.2Setting the trigger mode__________________________________5-195.9.3Determining the sample rate_______________________________5-205.9.4Adjusting the display____________________________________5-215.9.5Starting and stopping the Oscilloscope_______________________5-215.9.6Printing recorded curves__________________________________5-215.10Error Inspector_______________________________________5-225.10.1Operational elements of the Error Inspectors__________________5-22 5.11Tutorial A: First Steps________________________________5-245.11.1Commissioning example__________________________________5-24 5.12Tutorial B: Operating the Oscilloscope___________________5-255.12.1Creating a curve________________________________________5-255.12.2Configuring the electronic unit_____________________________5-255.12.3Oscilloscope configuration for the recording of the position set value5-265.12.4Oscilloscope configuration for the following error monitoring____5-275.12.5Final remark___________________________________________5-28 5.13Tutorial C: Generating reference curves_________________5-295.13.1"Linear Out" curve______________________________________5-305.13.2"Hold" curve___________________________________________5-325.13.3"Jump Back" curve______________________________________5-335.13.4Saving curves__________________________________________5-345.13.5Merging curves_________________________________________5-345.13.6Writing curves to the electronic unit________________________5-365.14Tutorial D: Defining curves with Excel___________________5-376.Parameters___________________________________________6-17.Service______________________________________________7-11. IntroductionThis manual is organized as follows:Please take a moment to read and get accustomed with the safety instructions. Thisinformation is intended for your personal safety and should help in protecting the electronic units and linear motors from possible damage.Gives an overview of the properties and features of the single LinMot ® components and their operation.Here you will find a description of the functionality, the different operation modes and the technical data of the electronic unit. Further, the interfaces and the installation are described in this chapter. This information helps you optimally embed the LinMot ®products in your application.In this chapter you will get accustomed with the functionality and possibilities of the PC software for the configuration of the LinMot ® electronic unit. Further, you will find examples that will make the first commissioning of the system easy.This chapter gives an in-depth description of all the parameters to which you have access during the configuration of the LinMot ® electronic unit.Explains the error messages that are displayed by the LEDs and helps you in the troubleshooting.Safety notes System description Design and installation Configuration software Parameters Service1.1 Used symbolsImportant notes or tips in this manual are marked with the following symbols:Tips, notesUseful information that should make operating the devices easier is given here.CautionNon observance of these warnings can represent a danger for health or life and lead todamage or destruction of the devices and other objects.Strong magnetic fieldsWarning about magnetic materials that could cause damage to magnetic data mediumslike diskettes, credit cards, etc.2. Safety notesThe LinMot®linear drives are resources meant to be built into an electrical systems ormachines. During operation these resources have moving parts and hot surfaces fromwhich a danger of health or material damage could arise.The commissioning (putting the device into operation as specified in the application)of the linear motors is prohibited, as long as the machine does not comply with therelevant safety prescriptions.Those responsible for the safety of the plant or machine must guarantee that onlyqualified personal accustomed to working with electrical drive equipment is allowed towork on the devices in order to prevent and avoid injuries to persons and damage tothe equipment.Qualified personal are those who, as a result of their training, experience andinstruction as well as their knowledge of the relevant norms, regulations, accidentprevention prescriptions and service conditions have been entitled by the responsiblefor the safety of the plant to execute the necessary work and thereby recognize andprevent possible danger.The operation manual as well as any further manuals in the documentation of theproduct are to be followed consequently when executing the respective operations.Only tested and potential separated power supplies are allowed to be used for thevoltage supply of the LinMot® electronic units and other accessories.The electrical installation is to be done according to the relevant prescriptions. Anyfurther prescription contained in the documentation is to be observed.The linear drives must be protected from loads in excess of the specifications.Particularly during transportation great care must be taken in order to preventexcessive load or even bending of any part.Electronic devices are basically not fail-safe. The user is responsible for driving thelinear drive in a safe state in case of a failure.Inside the sliders of the linear motors are strong permanent magnets. These can causedamage or corruption to magnetical data mediums such as diskettes, credit cards, etc.These safety notes imply no claims regarding completeness. For questions andproblems please contact Sulzer Electronics AG.2.1 InstallationThe drive systems described in this operation manual are components and notserviceable or connection-ready devices or machines in terms of the device safety laws,the EMC laws or the CE machinery guidelines.The components are intended to be embedded in other machines. The ultimate mode ofaction is only defined once these components have been embedded in the user’smachine or plant. The conformity of the construction with the existing prescriptionsand laws lies under the sole responsibility of the user.The commissioning of the components is only permitted in machines or plants thatcomply with the CE machinery guidelines and/or with the relevant safety prescriptionsof the respective country.System Overview 3. System Overview3.1 Drive system LinMot®LinMot® is a modular built servo drive system that can be operated as ‘stand-alone’orin connection with commercial PLCs, PCs or other higher-level control systems.LinMot® incorporates the basic idea of the peripheral drive elements: the referencevalues are given directly by the higher-level control system in form of position setvalues, while the actual motion profiles and position control are calculated andexecuted peripheral in the LinMot® electronic unit. MS-Windows based configurationand commissioning programs release the engineers and draftsmen fromelectrotechnical detail questions and allow for quick and function oriented work.Among the actuators connectable to the LinMot® electronic units, the electromagneticdirect linear drives LinMot® P take a special position, as they offer completely newpossibilities in the machine construction and mechatronic system concept.The notions LinMot® Step and LinMot® Magnet refer to complementary drive familiesconsisting of the combination of commercially available stepper motors and magnets asactuators and LinMot® electronic units. Both stepper motors and electromagnets can beused in mixed system configurations with the LinMot® linear drives.Figure 3-1: Mixed system configuration consisting of two linear motors LinMot®P, a LinMot®E electronic unit as well as a stepper motor and an electromagnet.3.1.1 Actuator: Linear drive LinMot®PLinMot® P s are electromagnetic direct linear drives with integrated position sensingand bearing. LinMot® P linear motors are intrinsically free of mechanical play, gearingor belt wear. The enormous dynamic properties and compact construction of LinMot®P make a variety of applications and novel constructions possible.Figure 3-2: Electromagnetic direct linear motor LinMot® P3.1.2 Actuator: stepper motor LinMot®StepLinMot® Step allows the open-loop operation of commercially available two-phasestepper motors with LinMot®E electronic units.3.1.3 Actuator: electromagnet LinMot® MagnetLinMot® Magnet allows the intelligent control of electromagnets as used in short-stroke positioning elements or valves. Compared to the conventional voltage controlledoperation of electromagnets, the pull-in and release times of such elements can begreatly reduced with the use of LinMot® Magnet, by driving them over-excited duringthe transient.3.2 LinMot® P: a new construction elementMost commercially available servo drive systems only dispose of rotating motors,where the speed and in some cases the angular position are controlled. However, manyapplications don’t only need rotational movements, but linear movements too. Theconventional solution is to realize mechanical constructions based on levers, cam disks,spindles, belts etc. In which the rotational movement of the servo motor is translated ina linear movement. This way the servo drive serves basically as a ‘controlled energysource’.In this sense the LinMot® P linear drives are more than just ‘controlled energysources’: LinMot® P executes dynamic controlled and position controlled linearmovements directly, with no need for additional mechanical gearing elements.LinMot® P fulfills the mechatronic basic idea according to which the movementfunctions are executed directly, with minimal mechanical elements and right in theplace where they are needed. The motion control, i.e. the actual machine functionalityas well as the motion parameters are defined exclusively in the software and can beadjusted at any time with no need for intervention in the mechanic.3.3 Substitution possibilities of LinMot® PDepending on the application, LinMot® P can substitute the following conventionalsolutions and extend them with additional functionality due to its complete electroniccontrol:Spindle drives Cam disksMechanical levers Belt drivesPneumatic cylinders Rack-and-pinion drives3.4 Technical properties of LinMot® PThe linear drives LinMot® P are characterized by the following properties:•Connection to commercially available PLC and PC control systems•Position controlled and curve-driven operation•Dynamic properties of the drive adjustable ( v max, a max)•Extremely high dynamic specification (e.g.: continuous cyclical operation >15 Hz)•Compact, connection-ready construction with integrated sensing and bearing•Suitable for operation in rough industrial environments3.5 Application fields of LinMot® PThe linear drives LinMot® P can be used both as stand-alone systems or in connectionwith highly complex machines. The following list of application examples is thereforenot complete and gives only an insight in the variety of the possible applications:•Textile machinesWeaving machines, knitting machines, carpet machines, winding machines•Packaging machinesFood: pastries, coffee, tee, sweetsConsumer goods: office material, toysCosmetics: soap, tubesPharmaceutical: tablets, pills•Printing machinesOffset and tampon printing machines•Assembly systems•Winding machines•Handling machines•Robotics•Laboratory automation•Folding machines•Labeling machines•Newspaper and paper machines•Sorting machineryParcel and letter sorting systems, material sorting machines•….3.6 Driving and operating modes of LinMot®3.6.1 Driving conceptThe basic idea of LinMot® P consists in having the control tasks executed as peripheralas possible in order to free the higher-level control systems from unnecessary andcalculation-intensive ballast. The system configuration is therefore accordingly simple,as the higher-level control system just outputs the actual target value and monitorssome feedback information. The following sections will implicitly refer to LinMot® Plinear motors as actuators when no specific indication is provided. In this case thetarget value consists in the position set value to which the drives should move, whilethe feedback information typically represents a following error message. In the case ofstepper motors and electromagnets these statements can be interpreted by analogy.Ref. positionError messageSignal circuitry supplyPower circuitry supplyFigure 3-3: LinMot®’s peripheral position control frees the higher-level controlsystem from calculation intensive tasks.3.6.2 Operation modesDifferent modes of operation are available to the user. These allow optimal embeddingof the actuators in the control concept of the machine and the respective application.The LinMot® AT software currently supports the following modes of operation:•direct digital reference value setting•setting two target values depending on a high/low signal•executing two predefined curves based on a trigger signal•continuous operation, e.g. periodical execution of a curveIn all these modes a filter can be connected in order to limit the derived signals like forexample the speed or acceleration. The following table shows typical applicationexamples for the different modes of operation.3.6.3 Connection to higher-level control systemsThe electronic units LinMot®E can be controlled by higher-level control systemsdirectly by means of analog or digital input/output signal lines. The necessaryparameterisation is done with the LinMot® Talk software via an RS-232 connection.Networking via CAN-bus or RS-232 is also possible on specific customer request.Figure 3-4: Connecting LinMot® to an higher-level control system3.7 Protection and error behavior3.7.1 Internal protection functionsThe integrated sensors and complex monitoring programs allow the detection andhandling of thermal overloading of the LinMot®E and P components by means ofwarning and/or error messages. There is further the possibility to monitor the voltagesupply of the LinMot®E electronic units for overvoltage and undervoltage. If thehigher-level control system does not respond to the warning and error messages, theactuators will be shut down for safety reasons.3.7.2 Monitoring functionsThe so-called following error monitoring and the position range monitoring offer twopowerful functions for the monitoring of the actual movement processes.Following error monitoring Position range monitoring3.7.3 Emergency stop possibilitiesFrom the point of view of the higher-level control system there are two ways to handlethe LinMot® actuators in case of an emergency stop:•With the so-called FREEZE signal the drives can be stopped and maintained intheir current position. The movement is resumed when the FREEZE signalbecomes inactive again.•By means of the STOP signal the drives can be driven to a predefined emergencystop position or shut down.3.7.4 Emergency stop through supply interruptionAs the LinMot® electronic units feature separate supplies for the signal circuitry andthe power circuitry, an emergency stop can also be forced by directly interrupting thepower supply to the power circuits. As long as the signal circuitry remains powered,the initialization and actual position of the LinMot® P actuators are not lost. Thereforeit is possible to resume operation without needing to re-initialize the drives.3.8 Operation and configuration3.8.1 System configurationThe configuration and commissioning of the LinMot ® systems is done by means of the MS-Windows based software LinMot ® Talk . All the parameters can be displayed clearly, selected and edited with LinMot ® Talk by simple clicking with the mouse. As all the parameters are stored in the electronic unit, they can be recalled, analyzed and changed at any time. Creating duplicates of parameters and parameter files to be archived is equally easy. Password protection protects the data from illegitimate access.Figure 3-5: Parameter Inspector windowPrintPathActual parameter Value of the parameter Update button3.8.2 Curve generationPredefined reference curves can be executed on trigger signals in different operatingmodes. The shapes of these curves can be generated automatically by means of theCurve Creator, or can be edited manually point by point as Excel tables.Edit buttons Close buttons Graph buttonsFigure 3-6: Reference curves can be generated semi-automatically3.8.3 Monitoring function (digital Oscilloscope)Quick commissioning and optimization of a LinMot ® system is supported by the built-in monitoring function. With it, the reference curves can be compared with the movements actually executed with no need for additional sensors, etc. The differences between the two curves can give indirect hints on counteracting forces and friction forces which can be useful when adjusting the controller parameters. The operation and look of the monitoring function correspond to those of modern digital oscilloscopes.Figure 3-7: Motion analysis with the integrated digital Oscilloscope Variablespanel Trigger panel Sample rate panel Display panel3.8.4 Error logbookThanks to the system clock built in the LinMot®E electronic units the errors that haveoccurred during operation can be logged on a time basis. The information is stored inthe non volatile memory and allows a later reconstruction of the events.Figure 3-8: Error messages are saved to the logbook for later analysis.3.9 Customer specific applicationsThe goal in the basic philosophy of LinMot® is to be able to cover the broadest rangeof applications simply by configuring the basic system, without special customerspecific adjustments. In some cases (big series, special system environments) howevercustomer specific adjustments can make sense. In these cases the necessaryinterventions have to be carried out by the manufacturer.In most cases the customer specific changes will be realized in the software of theelectronic unit (‘Customized Application Software’). In most cases this will relate tothe following two requirements:•Additional control functions•Networking with customer specific bus systems ( CAN-Bus, RS-232)Figure 3-9: Structure of the LinMot®software: The manufacturer can realizespecial customizations in a special software segment (‘Customized ApplicationSoftware’).4. Design and InstallationThis chapter discusses the different possibilities for driving the LinMot®products froma higher-level control system as well as the operating states of the control electronicunit in detail. Further, the interfaces and the installation are described in order to getfamiliar with the possibilities of the LinMot® products and be able to optimally embedthem in the application.This chapter shows the basic functions of the LinMot system explaining the –ATfunctionality as an introduction. For extended functionality of –MT and –DP electronicunits, please read the manual for SW Rel. 1.3.4.1 Operating modesA wide range of operating modes are available for driving (setting the referencevalues) the actuators connected to the electronic unit. The desired set values can begiven directly through an analog interface, or else they can be stored in the electronicunit in form of curves and tables, that can be run on a digital trigger signal from thehigher-level control system.Figure 4-1: Operating modes of the LinMot electronic unitA detailed description of the operating modes that can be configured for eachconnected motor individually is given in the following chapters. The operating modesdiffer according to the different actuators linear motor LinMot® P, stepper motor andinductive load (magnet, valve, ...) and are therefore treated separately.。

泰晤士线性电机M-Track系列产品说明说明书

M-Track FeaturesLight Duty ActuatorsIntegral end of stroke limit switches standard. No clutch required.Integrated rear clevis for easy pin-to-pin mountingThermal overloads in windings protect the motorOptional potentiometer assures accurate, consistent positioning feedbackKey Features• Compact size • Efficient design• Easy to use and installDual quad ring bearing provides double protection and rod supportLightweight aluminum extension rodCompact spur gear design allows compact space requirementsStandard ModelsM1Unique Hi-Load solid thrust ringSealed limit switchesIP69K and Temporary ImmersionNeoprene Sealing Boot available upon request.Please see pages 9 & 10 for dimensional information. Consult factory for ordering details.M-Track Configurator How To SelectStep 1 – Determine Load and Stroke length requirementsUse the Quick Selection guide to identify the model that will provide the load capacity and stroke length needed for your application.Step 2 – Identify motor type and voltageSelect DC motor and motor voltage.Step 3 – Confirm Speed and Current draw requirements Using the charts provided, confirm that unit speed and current draw is appropriate for the intended use.Step 4 – Confirm the application Duty CycleAt full load capacity, actuators have a 25% duty cycle.Duty cycle is the amount of on-timeon-time + off-timeA unit that runs for 15 seconds should be off for 45 seconds.Side loading and shock loads must be considered in actuator applications. Side loading and cantilevered mounting should be eliminated through proper machine design. Side loading will dramatically reduce unit life. While actuators can withstand limited shock loads, it is recommended that shock loading be avoided wherever possible. (See General Mounting Information on page 71)Step 5 – Unit OptionsM-Track units include end-of-travel limit switches as a standard feature. For positional feedback, a 12K linear membrane potentiometer can be factory installed. The changing potentiometer value provides unit movement feedback for units that are not visible to the machine operator.Scan to watch!Linear Actuator Basic Selection Video https:///ydtpk6M-Track 1DC Motor Acme ScrewUp to 165 lb. (734 N) Rated LoadUp to 1.75 in. (45 mm)/sec. Travel SpeedM-Track 1 compact units are completely self-contained and sealed to allow use in small spaces without sacrificing power or capability. The load and length capabilities provide solutions for a diverse range of intermittent duty applications.Functionally, M-Track 1 actuators are easily interchanged with comparable size hydraulic or pneumatic cylinders on intermittent duty applications. The actuator provides consistent, repeatableperformance even for applications with operating conditions including temperature extremes, high humidity, or significant dust.Features• An Acme Screw drive delivers up to 165 pounds (734 N) of force at a minimum extension rate of 0.25 inches (6.35 millimeters) per second.• The anodized aluminum alloy housing resists corrosion and provides protection from dirt, dust and humidity.• Temperature operating range of –20º F to +150º F (-26º to +65º C). –40º F to +185º F (-40º to +80º C) available.• Standard stroke lengths of 1, 2, 4, 6, 8, 10, 12 inches (50, 100, 150, 200, 254, 300 millimeters) are available.• Internal limit switches automatically shut off the unit at end of stroke.• Optional potentiometercan provide positional location feedback.• IP69K Static, IP65 Dynamic• Temporary Immersion with protective boot (see page 10).• Rod is non rotating during operation, can be rotated for mounting purposes.Typical ApplicationsLight load and short distance applications such as:• Valve and vent adjustments • Light weight tilt or lift positioning • Vise and clamp operations.65Ø.785-.002+.00019.94-0.0510Ø.259.2536.586.43.259.253355[ ][ ]M-Track 1• Stroke and its tolerance are based on a unit with no attached load operating at rated voltage +/-.5VDC, 70° F controlled temperature environment. Note normal wear,temperature changes and load variations all affect the stroke tolerance. If stroke tolerance is critical it is advisable that the selected unit be evaluated for performance in the specific application.• The retract pin to pin dimension and its tolerance are based on a unit with no attached load operating at rated voltage +/-.5VDC, 70° F controlled temperature environment. Note normal unit wear, temperature changes and load variations all affect the stroke tolerance. If the retract pin to pin dimension is critical it is advisable that the selected unit be evaluated for performance in the specific application. • Rotation of the extension tube is allowed up to one full turn to aid mounting. Rotate rod clockwise until it is fully seated in the unit. Rotate counterclockwise no more than one full turn to align clevis pins.• Mounting points in the application must allow the actuator to reach full-extend and full-retract to ensure the internal limit switches are activated. If this is not possible another method for shutting off the actuator must be employed.• If the actuator encounters an obstruction at mid-stroke and is not allowed to reach the internal limit switches the actuator will stall. An internal thermal circuit breaker isdesigned to protect the motor from damage during stalling and/or overheating due to exceeding duty cycle. If tripped it will self reset after a short period of time. The thermal is rated to protect the motor in the event of a stall condition. It is not designed to protect any other device in the circuit. • Warner Linear recommends an externally mounted fuse of 6 AMPs max for 12VDC and 3 AMPs max for 24VDC circuit protection. Anything connected to the actuator must be sized to withstand the actuator’s power consumption orindependently isolated from the circuit.8911773 BODY6294511 TERMINALS (2)TO EXTEND ACTUATORNO CONNECTOR ON POTENTIOMETER UNIT["A"]THRU ALL DIMENSIONS ARE NOMINALUNLESS OTHERWISE SPECIFIEDMeasurements in inches, metric in brackets.。

DMC-9940直线电机调试指南

入门指南We M o v e t h e Wo r l dDMC-9940Manual Rev. 1.0cBy Powerly Motion TechnologiesRev 06-03第一章简介-----------------------------------------------------------------------------------------------错误！未定义书签。

一. 楔子--------------------------------------------------------------------------------------------------------------------------2二. 推荐 DMC-9940-----------------------------------------------------------------------------------------------------------2三. 介绍 DMC-9940-----------------------------------------------------------------------------------------------------------2 第二章快速入门-----------------------------------------------------------------------------------------错误！未定义书签。

一. 所需的组件:----------------------------------------------------------------------------------------------------------------5二. 安装:-------------------------------------------------------------------------------------------------------------------------5三. 使用软件：-----------------------------------------------------------------------------------------------------------------7 第三章硬件连接-----------------------------------------------------------------------------------------错误！未定义书签。

直线电机文档

直线电机简介直线电机是一种特殊的电机，与传统的旋转电机不同，直线电机将转动运动转化为直线运动。

它的工作原理是利用电磁力在线性定子和直线电磁体之间产生相互作用，从而实现直线运动。

直线电机具有结构简单、效率高、响应快等优点，在现代工业生产中得到了广泛的应用。

工作原理直线电机的工作原理可以简单描述为：通过施加电流到定子上，定子产生的电磁力将直线电磁体推动在定子上直线运动。

这种电磁力的产生主要依靠磁场和电流之间的相互作用。

直线电机的定子和直线电磁体之间有多个电磁铁柱，通过这些铁柱，直线电机可以施加不同的力和速度来实现不同的运动需求。

直线电机的定子由包含线圈的铁柱组成，当电流通过线圈时，产生的磁场将影响铁柱上的直线电磁体。

直线电磁体由包含磁铁的铁柱组成，当直线电磁体运动时，就会在定子上产生电流，从而形成闭环。

优点直线电机相较于传统的旋转电机有多个优点：1.结构简单：直线电机的结构相对简单，由定子和直线电磁体组成，没有传统电机的转子和机械传动部分。

2.效率高：由于没有机械传动损耗，直线电机的效率相对较高，能够将电能有效地转化为直线运动。

3.响应快：直线电机的启停和反向运动非常快速，响应时间短。

4.精度高：直线电机的定位精度较高，能够实现对位置的准确控制。

5.可调节性强：通过改变电流大小和方向，可以调节直线电机的力和速度，适应不同的应用需求。

应用领域直线电机在工业生产中有着广泛的应用，特别是在需要进行直线运动、定位和控制的场景。

以下是直线电机的几个主要应用领域：1.自动化生产线：直线电机可以用于自动化生产线上的物料搬运、定位和组装。

2.机械加工：直线电机可以用于机械加工设备上的切割、切割和打磨等工序，实现精确的定位和控制。

3.包装机械：直线电机可以用于包装机械上的拨盘、送料和定位等控制任务，提高包装效率和精度。

4.输送系统：直线电机可以用于输送系统上的物料搬运和定位，如物流仓储系统中的货物输送和分拣等。

5.医疗设备：直线电机可以应用于医疗设备上的医疗机器人、X光机和CT扫描仪等，实现精确的定位和控制。

科尔摩根KBM(S)系列无刷直线电机安装指南说明书

MOUNTINGANDINSTALLATIONGUIDELINES34Important Note:The recommendations included in this Kollmorgen Selection Guide are intended to serve as general installation guidelines, and are for reference purposes only. Kollmorgen assumes no responsibility for incorrect implementation of these techniques, which remain the sole responsibility of the user.KBM(S) series motors, as well as any other Kollmorgen frameless brushless motors that are supplied as 2-piece rotor/stator kits, should be installed by the user according to the general guidelines below.User Interface ResponsibilitiesTo assure proper performance and reliability of the motor when installed in the system, the user is responsible for designing the mounting interface in the following manner:BearingsThe user-supplied bearing system in the motor application must exhibit sufﬁcient stiffness to maintain a rigid, uniform clearance gap between the rotor and the stator under all operating conditions. Concentricity requirements noted on each model-speciﬁc Kollmorgen outline drawing should be considered by the user when sizing and selecting bearings for appropriate radial and preload forces to achieve desired motor running gap clearance and total runout. Bearings with the lowest possible friction and high quality lubricant should be chosen to minimize overall system friction, which allows optimal motor operation.Stator Mounting MaterialsA metallic housing/clamp structure is suggested to rigidly mount the stator to assure best conductive heatsinking path and proper structural integrity. Aluminum alloys are preferred due to their superior thermal conductivity and strength-to-weight ratio, although stainless steel alloys (300 series or equivalent) are an acceptable alternative for applications that are less thermally critical. Carbon steel, cast iron, 400 series stainless alloys and other magnetic ﬂux-conducting ferrous metals are the least desirable choices for stator mounting, but can certainly be used in some cases if proper design choices are considered. Consult a Kollmorgen Engineerfor assistance if such metals must be used. Plastics or other similar thermally isolating materials are not recommended, since they adversely affect the heatsinking capacity of the system, making it necessary to signiﬁcantly de-rate the motor’s performance.Rotor Mounting MaterialsThe magnetized rotor may be mounted to any metallic shaft of the user’s choice. Carbon steel and stainless steel are the most commonly used shaft materials, although aluminum alloys are occasionally used if properly designed for the intended torqueand thermal operating range. The user’s intended method of attaching the rotor to the shaft may inﬂuence the optimum material and tolerance choices for the shaft. The user’s shaft does not need to carry ﬂux or function as a portion of the magnetic circuit to achieve rated performance when using a Kollmorgen brushless motor.GroundingWhen mounted in the application, the laminated stack (or bare metal outer sleeve) of the stator must be at the same electrical ground potential as the system chassis and the drive ampliﬁer chassis. If this common ground path is not ensured, the application may exhibit electrical noise and also create an electrical shock hazard. The risk of shock is particularly prevalent when using high pole-count motors with large capacitance characteristics. Typically, if the stator is mounted using electrically conductive metallic components, then a robust ground path between stator stack and machine chassis is inherently achieved. Kollmorgen suggests performing a continuity check to conﬁrm proper ground path before enabling the motor system. In some applications, depending on mounting conﬁguration and materials chosen by the user, a separate conductive ground strap may be required. In such cases, the user is responsible for installation of the ground path and electrical veriﬁcation.Mounting and Installation Guidelinesw w w.k o l l m o r g e n.c o mM O U N T I N G A N D I N S T A L L A T I O N G U I D E L I N E S35WiringKBM(S) series motors are supplied with UL-compliant unterminated ﬂying leadwires. The user is responsible for proper leadwire routing and connection per the diagrams shown on Kollmorgen drawings. Avoid routing wires across sharp corners, pinch points or edges that may pierce the insulation. Clamp or otherwise secure wire bundle in high vibration applications and avoid wirecontact with moving/vibrating surfaces that may abrade the insulation. Provide strain relief for all wire bundles and allow room for a generous bend radius. User assumes responsibility for connector installation, crimping, soldering, shielding, sleeving or any other wire bundling or electrical interface enhancement beyond the conﬁguration shown on the Kollmorgen outline drawing.Stator MountingKollmorgen suggests the following options for installation of the motor stator depending on torque, vibration and thermal characteristics of the application, as well as cost, ease of assembly and serviceability desired by the user.Adhesive BondIn most cases, motors in the general peak torque range up to 750 N-m may have the stator bonded in place using a structural epoxy, such as Hysol ® EA934NA, 3M ™ Scotchweld ™ 2214 or other similar adhesives. Bonding is a preferred installation technique for the KBM(S)-10XXX through KBM(S)-57XXX size stators, although shrink ﬁtting as described in the next section is also an acceptable option. Bonding can certainly be used to secure stators larger than the aforementioned size range if desired, butrequires additional design and process considerations. To successfully utilize adhesive bonding, the user’s stator enclosure should be designed as a cylindrical cup, as shown in the illustration below, with a small shoulder for axial positioning at one end and open at the opposite end. The shoulder serves as a stop point for the stator to bank against when inserted from the open end, and should generally clear the maximum outer diameter of the winding end turn by no less than 1 mm at all circumferential points. A small internal chamfer at the open end of the housing cup simpliﬁes stator insertion. If using a thick structural epoxy, inner diameter of the housing cup should be approximately 0.051 mm - 0.102 mm larger than the maximum outer diameter of the stator. However, the user should consult the adhesive manufacturer for proper bond line thickness, application process and curing instructions. Small grooves shown in the inner diameter of the housing in the illustration below are intended to serve as adhesive reservoirs forthick structural epoxies, but are considered optional featuresper the user’s discretion. If a retaining compound, such asLoctite ® 640™ or other similar adhesive, is preferred instead of a structural epoxy, a much tighter clearance between housing inner diameter and stator outer diameter must be controlled to maintain appropriate bond line thickness. Refer to adhesive manufacturer’s guidelines for recommendations. User assumes responsibility for selecting proper adhesive and for designing housing dimensions per expected thermal growth rate atintended temperature extremes of application. Adhesive curetemperatures should not exceed 155°C to avoid damaging themotor stator. Stator and housing surfaces should be cleanedthoroughly prior to bonding to ensure good adhesion.INSERT STATOR ILLUSTRATION II.A CONCEPTUSER'S STATOR HOUSING CHAMFER 1mm MIN.0.1020.051mmAdhesive Bond IllustrationMOUNTINGANDINSTALLATIONGUIDELINES36Mounting and Installation GuidelinesShrink FitThe user’s housing may be designed with an inner diameter that is slightly smaller than the outer diameter of the motor stator, providing an interference ﬁt when installed. Pressing the stator into the housing at normal room temperature is not recommended because ofits laminated construction. Instead, heating the housing to achieve enough thermal growth to freely slide the stator inside is a more common technique that achieves the desired interference ﬁt when the housing cools. Aluminum or steel housings may be used effectively to shrink ﬁt stators across a broad peak torque range, generally from <1 N-m up to thousands of N-m. It is generally not necessary to shrink ﬁt small diameter motors where bonding is a simpler and equally effective option, although it is acceptable to do so at the user’s discretion. For KBM(S) series motors, shrink ﬁt is the preferred installation technique for sizes KBM(S)-60XXX throughKBM(S)-118XXX stators. Steel has a lower coefﬁcient of thermalexpansion than aluminum, so a steel housing must be heated to amuch higher temperature than a comparable aluminum housingto achieve the desired diameter growth and stator installationclearance. In contrast, because aluminum grows much morerapidly than steel at elevated temperatures, the user should takespecial design precautions regarding size and tolerances to assurethat an aluminum housing maintains the required interference ﬁt atthe application’s extreme high temperature. It is important to designfor sufﬁcient dimensional interference ﬁt, which can be inﬂuencedgreatly by many application variables and design choices, tosafely reach the motor’s maximum torque while also avoidingcrush damage to the stator. The user assumes all responsibilityfor housing design details, material selection, ﬁt calculations andtolerance analysis for the intended application.Axial ClampingFor low torque applications, or for applications where the stator may need to be repeatedly installed and removed from the system, axially clamping may be an acceptable option. Kollmorgen does not generally recommend this technique for high shock/vibration applications, extreme temperature applications or for peak torques greater than 50 N-m without special design considerations. Thestator enclosure shown in the illustration below is very similar tothe bonding technique example shown in the ﬁrst section, withapproximately 0.051 mm – 0.102 mm slip ﬁt clearance betweenthe inner diameter of the housing and the outer diameter of thestator. When inserted, the stator banks against a shoulder insidethe housing bore that controls axial position and provides a ﬁxedaxial clamping surface. The shoulder should clear the maximumouter diameter of the winding end turn by no less than 1 mm atall circumferential points. A separate clamp ring with the samecircumferential clearance is placed over the opposite end of thestator and bolted (typically 4 – 12 fasteners, equally spaced) to thehousing enclosure.INSERT STATORUSER'S STATOR HOUSING CHAMFER1mm MIN.USER'S STATOR HOUSINGILLUSTRATION II.C CONCEPTINSERT STATOR1mm MIN.0.1020.051CLEARANCEmmGAP REQUIRED AT ALLTOLERANCE CONDITIONSK O L L M O R G E N Shrink Fit IllustrationAxial Clamping IllustrationM O U N T I N G A N D I N S T A L L A T I O N G U I D E L I N E S37The user should design the enclosure components to ensure that, with the stator installed, an axial clearance gap exists between the clamp ring and the end of housing at all tolerance conditions. Otherwise, the clamp ring could contact the housing before the fasteners are fully tightened, resulting in insufﬁcient axial clamping force against the stator. If desired, the small radial space between the stator outer diameter and the housing inner diameter may be ﬁlled with a thermal compound for more efﬁcient conduction to the heatsink. However, use caution to avoid contaminating the axial clamping surfaces with grease that may reduce clamping force. If the user wishes to evaluate this axial clamping technique for motors with higher peak torque ratings, it may be necessary to increase the total surface area of the clamping regions and increase the number of clamping fasteners.BoltingSizes KBM(S)-163XXX through KBM(S)-260XXX are supplied with the stator installed in an aluminum sleeve with ﬂange and through-holes for bolted mounting. User interfaces for these large motors should be designed per the pilot diameters and hole patterns shown on the Kollmorgen model-speciﬁc outline drawings. Several of the smaller sizes within this motor family, such as KBM(S)-10XXX through KBM(S)-45XXX range, are also supplied with the stator installed inside an aluminum sleeve, but do not include a stepped ﬂange and are not intended to be bolted in place. For the latter range of sizes, bonding, shrinking or clamping techniques described in previous sections are appropriate.Rotor Mounting to ShaftKollmorgen’s KBM(S) series and other frameless brushless motors utilize high-performance rare earth magnets. Use extreme caution when handling or transporting to avoid injury and product damage. The attractive forces between magnetized rotors and nearby metallic objects can be extremely powerful. Improper handling can result in sudden unexpected impacts. The strong magnetic ﬁeld can also damage nearby computers, display screens and memory storage devices. Keep the rotor in its shipping container or wrapped protectively until ready to install. This practice will help avoid accidents and prevent contamination such as metallic chips or debris that tend to cling to the magnets.Axial Alignment ControlKollmorgen’s model-speciﬁc outline drawings note axial alignment that must be maintained between rotor and stator whenmounted to ensure proper motor performance. The user is responsible for designing the rotor shaft, stator enclosure and bearing system to achieve the speciﬁed mounting alignment. Machined shoulders on the shaft or grooves for removable retaining rings are common ways of controlling rotor installation position. Maximum diameter of retaining rings or shaft shoulders should be kept below the rotor diameter where magnets are bonded to the steel hub.BondingGenerally, for applications where peak torque does not exceed 750 N-m, rotors can be bonded to carbon steel or stainless steel shafts. Retaining compounds, such as Loctite 640 or other similar adhesives, usually require smooth continuous interface diameters and tight ﬁt tolerances. Structural epoxies generally require slightly larger ﬁt clearance to allow a thicker bond line. Epoxies often beneﬁt from grooves in the shaft/rotor interface that function as adhesive reservoirs and may be enhanced by textured machined surfaces via knurling or grit blasting. Always clean the bond joint surfaces thoroughly to ensure good adhesion. Consult adhesive manufacturer for proper bond line thickness, ﬁt tolerances, process details and curing guidelines. To avoid partial demagnetization of the rotor, do not cure rotor/shaft bond joints at temperatures > 180°F unless rotor is nested inside the matching stator or rotor is completely surrounded by a ferrous metal keeper ﬁxture. Contact a Kollmorgen Engineer if more information is required on this topic. Before bonding rotors to aluminum shafts, consult with adhesive manufacturer for assistance. A highly ﬂexible adhesive with broad thermal properties may be required.K O L L M O R G E NM O U N T I N G A N D I N S T A L LA T I O N G U I D E L I N E S38Mounting and Installation GuidelinesAxial ClampingIf the user’s shaft is designed with a machined shoulder that the rotor can rigidly bank against, the rotor may be axially clamped in place using a locknut. This technique allows the rotor to be installed and removed from the shaft repeatedly, but requires a portion of the shaft to be threaded. Rotors retained by locknuts may be generally suitable for applications up to 400 N-m peak torque, although this estimate may vary greatly depending upon size and type of nut used.BoltingMotors ranging from size KBM(S)-43XXX and larger are provided with hole patterns in the rotor hub to facilitate bolted mounting. User shaft interface should be designed per the diameter, length, axial position and hole pattern noted on the Kollmorgen model-speciﬁc outline drawing.Installing Rotor Inside StatorAs previously described, magnetic forces can be extremely powerful and surprise the user when handling or installing the rotor. Extreme caution is required when placing the rotor inside the stator.Secure the StatorConﬁrm that the stator is securely mounted per the guidelines previously described before attempting to install the rotor. Kollmorgen recommends taping or tying the wiring bundle aside in a safe position to avoid accidental damage.Protect the Running Gap SurfacesIf left unprotected, the outer surface of the rotor may stick or “pole” to the nearest point on the inner bore of the stator due to magnetic attractive forces as the user attempts to install it. The resulting friction as the rotor slides along the inside of the stator can potentially damage the rotor band, magnets, coatings or stator bore surfaces. T o prevent damage and simplify the rotor installation process, Kollmorgen recommends ﬁrst installing a thin layer of shim material, such as Mylar ® ﬁlm, in the stator’s inner bore. See photos below for examples. Mylar (DuPont ® Corp. trade name) is a commonly available polyester ﬁlm, often used as electrical insulation or in laminating processes, and is available in a variety of thicknesses. The Mylar ﬁlm can be installed as a single piece that is wrapped entirely around the circumference of the stator bore and slightly overlapped, or multiple pieces may be inserted axially at equally spaced points. Optimum ﬁlm thickness and number of shim layers required is dependent upon the gap clearance between rotor and stator for the speciﬁc motor size the user is attempting to install. Appropriately thick Mylar ﬁlm shim layer(s) will keep the rotor roughly centered inside the stator bore and provides a slick surface to slide the rotor to its intended mounting position without damage.Single Mylar Shim Multiple Mylar Shimsw ww.k o l l m o r g e n.c o mM O U N T I N G A N D I N S T A L L A T I O N G U I D E L I N E S39Installing the RotorMany of the KBM(S) series rotors are too large to safely lift by hand and the attractive force as the rotor rapidly enters the stator can be too powerful to control by hand. Kollmorgen recommends using a hoist or small overhead crane to lift the rotor into position and stabilize it for safely controlled insertion into the stator. Most large KBM(S) rotors include tapped holes in the steel hub for the user to attach eye bolts to facilitate hoist lifting. Note that swiveled eye bolts, as opposed to ﬁxed ring eye bolts, are recommended for safe lifting with hoist chain and hook interface.Inspect the Running GapAfter the rotor is properly installed and secured, remove all Mylar shim material. Carefully inspect the running gap for any debris or obstructions. If possible, spin the rotor by hand to conﬁrm that it rotates freely.Installation AssistanceCustomers may contact Kollmorgen for assistance with application or installation problems. See rear cover of this selection guide for contact information. If desired, Kollmorgen can also design and supply custom motor installation ﬁxtures for the user’s unique application needs. Fixture solutions are quoted separately on a case-speciﬁc basis.Electrical Wiring Interface。

英威腾SV-DA200系列交流伺服驱动器直线伺服电机技术指南说明书

技术指南SV-DA200 系列交流伺服驱动器——直线伺服电机目录目录 (1)1直线电机专用型驱动器命名 (2)2直线电机调试 (3)2.1 端子接线 (3)2.2 参数设置 (3)2.3 电机相序选择 (3)2.4 磁极检测 (4)1直线电机专用型驱动器命名标识标识说明命名举例① 产品类别 SV ：伺服系统产品 ② 产品系列DA200：产品系列 ③ 功率等级0R1：100W 0R2：200W 0R4：400W 0R7：750W 1R0：1.0kW 1R5：1.5kW 2R0：2.0kW 3R0：3.0kW 4R4：4.4kW 5R5：5.5kW④ 输入电压等级 2：220VAC 4：400VAC ⑤伺服类型E ：脉冲型 S ：标准型C ：CANopen 总线型 N ：EtherCAT 总线型 ⑥ 编码器类型 0：增量型光栅尺 ⑦直线电机专用号00Z0：直线电机专用号不同机器类型功能区别：驱动器类型符号脉冲输入 16位模拟量输入第二编码器STO RS485CANopen EtherCAT增量型光栅尺脉冲型 E0 ○ × ○ ×○ × × ○ 标准型 S0 ○ ○ ○ ○ ○ × × ○ 总线型C0 × × ○ × × ○ × ○ N0× × ○×××○○注：表中“○”表示有此功能，“×”表示无此功能。

2直线电机调试2.1 端子接线SV-DA200伺服驱动器支持差分输入正交A/B/(Z)信号光电式编码器，最高输入3M lines/sec，将此信号接在主编码器接口-CN2端口，CN2的正面示意图如下，CN2端子各引脚接线定义及功能描述见下表。

CN2端口功能表引脚号名称功能备注1 V+/SD+ 并行编码器V+/串行编码器数据+2 W+ 并行编码器W+信号3 A+ 并行编码器A+信号4 A- 并行编码器A-信号5 5V 编码器电源6 U+ 并行编码器U+信号7 V-/SD- 并行编码器V-/串行编码器数据-8 W- 并行编码器W-信号9 B- 并行编码器B-信号10 B+ 并行编码器B+信号11 U- 并行编码器U-信号12 GND 电源地13 Z- 并行编码器Z-信号14 Z+ 并行编码器Z+信号15 - 未使用2.2 参数设置在运行之前，需要设置直线伺服电机参数，具体数值可以从直线电机厂家的相关数据手册中查找，请将参数设置在P8.00-P8.14对应的参数中，并设置如下表格中参数。

直线电机驱动器说明书

地址(Address)：深圳市南山区高新科技园北区朗山二路 6 号赛霸电子一号楼四楼(4/F,1st CYBIO Building, No. 6 Langshan 2 Road,
Hi-Tech Industrial Park North, Nanshan, Shenzhen, Guangdong,P.R.China)
电话 (Tel) ：(86)(755)26982158
传真(Fax):(86)(755)26982786 邮政编码(Postcode)：518057
① 用于与生命相关的医疗器械。 ② 用于可能造成人身安全的设备，例如：火车或升降机。 ③ 用于可能造成社会影响的计算机系统 ④ 用于有关对人身安全或对公共设施有影响的其他设备。 (5).对用于易受震动的环境，例如：交通工具上操作，请咨询我们。
1.2 安全注意事项
(1).请勿在易燃易爆的环境下操作本产品，否则易造成伤害或引起火灾。 (2).绝不要触摸驱动器内部任何部件，否则会触电。 (3).在通电情况下，不要进行维修和检查工作，也勿整理电线。如果要的话，至少得提前五分钟把电源关掉，否则，会有触电危险。 (4).在运输、安装、接线、操作、维修和检查等各方面，请咨询相应的专家。若没有相应专业技术人员，很可能会发生触电、受到伤害或是引起火灾。 (5).一定要使驱动器 PE 端子（保护接地）接地，电机的接地端子必须要与驱动器的 PE 端子（保护接地）相连。否则，会出现触电情况。 (6).通电时，绝不要靠近也不要触及接线端子，更不要移动任何接线端子，否则会发生触电。 (7).要安全正确布线，符合电气安装技术标准和附加规则。否则，可能引起短路和火灾。 (8).当报警发生后，须排除故障的起因，检查系统的安全性。然后，报警复位，才能继续操作。否则，可能受到伤害。 (9).检查电源规格是否规范，否则会出现故障。 (10).在接通电源长时间后或断开电源时间不长时，请勿触及驱动器散热片。否则可能会被灼伤。 (11).需要维修，请与我们联系。如果自己拆卸部件，部件可能会出故障。

Festo ELGT-BS-120-350-20P线性电机说明书

Os vretena ELGT-BS-120-350-20P
Broj artikla: 8124497
Tehnički podaci
Svojstvo Radni hod Veličina Rezerva hoda Povratna zračnost Promjer vretena Uspon vretena Položaj ugradnje Vodilica Konstruktivna struktura
Vrijednost 350 mm 120 0 mm <= 0,15 µm 15 mm 20 mm/U proizvoljno Kuglično vođenje Elektromehanička linearna osovina s kugličnim vretenom Koračni motor Servomotor Kuglično vreteno Recommended for production facilities for the manufacture of lithiumion batteries 15 m/s2 3.000 1/min 1 m/s ±0,02 mm 100 % VDMA24364 zone III F1a ISO class 8 IP20 0 ... 50 °C 805 N 966E+03 mm4 6.011E+03 mm4 0,3 Nm 0,08 Nm 6.800 N 8.090 N 25.051 N
Vrsta motora
Vreteno-tip Varijante
Maks. ubrzanje Maks. brzina vrtnje Maks. brzina Točnost ponavljanja Trajanje uključenosti PWIS conformity RSBP classification to CD-0033 Klasa čistog prostora Mehanička zaštita Temperatura okoline Trajna sila posmaka Momenti površina 2. stupnja Iy Momenti površina 2. stupnja Iz Moment praznog hoda pri maksimalnoj brzini Moment praznog hoda pri minimalnoj brzini Maks. sila Fy Maks. sila Fz Fy s teoretskim radnim vijekom od 100 km (isključivo iz perspektive vodilice) Fz s teoretskim radnim vijekom od 100 km (isključivo iz perspektive vodilice) Maks. moment Mx Maks. moment My Maks. moment Mz Mx s teoretskim radnim vijekom od 100 km (isključivo iz perspektive vodilice) My s teoretskim radnim vijekom od 100 km (isključivo iz perspektive vodilice) Mz s teoretskim radnim vijekom od 100 km (isključivo iz perspektive vodilice) Maks. radijalna sila na pogonskom vretenu

Parker LCB系列线性电机说明书

L C B S e r i e sContentsOverview....................................................................................................70Specifications............................................................................................73T echnical.Data .LCB040.Loading/Wear........................................................................74.LCB060.Loading/Wear........................................................................76.Drive.Torque.Requirements................................................................78.Deflection............................................................................................79Dimensions................................................................................................80Options......................................................................................................82Accessories .Sliding.Blocks......................................................................................83.External.Bumpers...............................................................................83.Electrical.Limit.Switches.....................................................................84.Clamping.Profiles................................................................................85.T rmation .Basic.Unit............................................................................................87.Intermediate.Drive.Shaft.....................................................................88Application.Fax.Form (89)LCB Compact Linear ActuatorParker.Hannifin.CorporationActuator.DivisionWadsworth,A Phone:.1-866-P ARK-ACTemail:*************************website:/actuatorL C B S e r i e s70Actuator Division1-866-PARK-ACTThe LCB SeriesLCB Markets and ApplicationsThe.LCB.series.rodless.actuator.has.proven.to.be.a.robust.and.reliable.solution.for.numerous.motion.control.appli-cations.across.many.markets.and.industries...Listed.below.are.some.examples.of.where.and.how.the.LCB.series.rodless.actuator.has.been.successfully.applied..............The.LCB.series.of.linear.actuators.incorporates.a.low.friction,.dry.running.sliding.bearing.carriage.that.provides.long.and.reliable.travel.life.even.at.100%.duty.cycle...The.low.mass.of.the.carriage.and.steel.reinforced.timing.belt.design.allows.for.very.high.acceleration.and.velocity...With.accelerations.exceeding.2G’s.and.speeds.up.to.8.m/s,parable.throughput.to.linear.motors.at.a.fraction.of.the.cost..The.simple,bined.with.Parker.motors.and.controls,.the.LCB.offers.a.fully.programmable,.high.performance.solution.at.a.great.value.......The LCB design means . . . .•.Increased.throughput.–.100%.Duty.Cycle.Operation•.High.acceleration.(20.m/s 2).and.velocity.(8.m/s)•.T wo.profile.sizes.(LCB040.&.LCB060).•.Dry.running,.low.friction.bearings.provide.long,.reliable.life•pared.to.other.bearing.type•.High.static.load.capacity.-.Well.suited.to.withstand.pressing..forces.at.standstill.......•.Short,.medium,.and.long.carriages.available.to.optimize..moment.load.capacity.L C B S e r i e s71Actuator Division1-866-PARK-ACT1 Guide The.external.sliding.guide.is.incorpo-rated.as.part.of.the.aluminum.profile..It.is.unnecessary.to.adjust.two.separate.guiding.rails..The.guide.is.maintenance.free.with.integrated.dry-film.lubricant.2 Sliding CarriageThe.sliding.carriage.is.available.in.three.lengths..With.a.longer.sliding.carriage,.there.is.greater.distance.between.the.sliding.blocks..This.improves.the.load.capacity.with.respect.to.yaw.and.pitch.moments.3 Sliding BlocksLow.friction.sliding.blocks.provide.smooth.motion.throughout.travel..Sliding.blocks.can.be.easily.changed.within.2.minutes.without.detensioning.the.timing.belt.4 Spacer PlatesThe.timing.belt.of.the.LCB040.is.ten-sioned.directly.at.the.sliding.carriage.by.means.of.spacer.plates.5 Tensioning StationOn.the.LCB060,.the.timing.belt.is.tensioned.via.tensioning.screws.at.the.tensioning.station.6 ProfileThe.profile.is.available.in.two.sizes.and.resistant.to.flexing..The.closed.profile.provides.high.torsional.stiffness..Profiles.are.dirt.tolerant,pact.design.means.minimum.installation.space.is.required.Construction7 Timing Belt DriveHigh.stiffness.and.accuracy.are.provided.by.the.generously-dimensioned.timing.belt.8 Drive Options•..Linear.actuator.with.free.shaft.end.•..Coupling.(9).&.gearbox.•..Coupling,.gearbox.&.motor.•..Coupling.&.direct.drive.motor.(10).LCB040LCB06072Actuator Division1-866-PARK-ACTDual Axis ActuatorsFor.a.dual-axis.actuator.with.the.driveon.the.right.side,.you.need.two.LCB.basic.units:.1).the.right.unit.with.drive.option.RDN.and.2).the.left.unit.with.drive.option.RSN.For.a.dual-axis.actuator,.two.LCB.basic.units.and.a.shaft.corresponding.to.the.desired.center-distance.are.required..Parker.will.deliver.the.two.basic.units.(with.mounted.couplings.–.if.this.was.ordered).and.a.separate.shaft.kit..See.page.88.for.shaft.kit.ordering.Center Distance(from.center.line.to.center.line)For.a.dual-axis.actuator.with.the.drive.on.the.left.side,.you.need.two.LCB.basic.units:.1).the.left.unit.with.drive.option.LDN.and.2).the.right.unit.with.drive.option.LSN.L C B S e r i e s73Actuator Division1-866-PARK-ACT1...Repeatability.is.unidirectional,.achieved.under.ideal.conditions.and.slow.speeds....Actual.repeatability.may.vary.with.the.application..Operating Temperature Range0°.to.60°C.(32°.to.140°F).Available Stroke LengthsLCB Specifications74Actuator Division1-866-PARK-ACTLCB040 Life vs. LoadThe.diagrams.are.valid.solely.for.guidance.and.under.ideal.operating.conditions..The.diagrams.are.based.on.a.trapezoidal.motion.sequence.with.3.identically.long.sections.for.acceleration,.constant.travel.and.deceleration.The.diagrams.are.based.on.defined.payloads.of.1.kg..Shown.are.the.respective.mass.centroids.with.their.typical.load.arms.Actuator LifeNaturally,.the.sliding.guiding.has.already.a.slight.play.under.new.condition,.so.that.the.guiding.does.not.jam.and.the.slid-ing.carriage.moves.smoothly..The.play.is.measured.as.a.gap.for.each.slide.and.is.approx..0.1.to.0.2mm.in.normal.direction.and.at.the.sides.During.the.operation,.the.play.increases.according.to.the.loads.shown.in.the.diagrams.If.a.certain.state.of.wear.is.reached.(the.wear.limit..is.0.5mm.for.the.LCB040),.the.slides.can.be.exchanged.easily.within.a.few.minutes..After.the.exchange,ing the DiagramsLife.is.shown.for.each.length.of.carriage:.short.(S),.medium.(M).and.long.(L)..The.diagrams.can.be.interpolated.with.respect.to.lifetime.and.extrapolated.with.respect.to.load..(for.example:.halved.operational.performance.results.in.halved.wear,eage.in.km).T r a v e l (1000k m )Acceleration,m/s 2T r a v e l (1000k m )Acceleration (m/s 2)T r a v e l (1000k m )Acceleration (m/s 2)T r a v e l (1000k m )Acceleration (m/s 2)L C B S e r i e s75Actuator Division1-866-PARK-ACTT r a v e l (1000k m )Acceleration (m/s 2)T r a v e l (1000k m )Acceleration (m/s 2)T r a v e l (1000k m )Acceleration (m/s 2)T r a v e l (1000k m )Acceleration (m/s2)T r a v e l (1000k m )Acceleration (m/s 2)24681012141618T r a v e l (1000k m )Acceleration (m/s 2)76Actuator Division1-866-PARK-ACTLCB060 Life vs. LoadThe.diagrams.are.valid.solely.for.guidance.and.under.ideal.operating.conditions..The.diagrams.are.based.on.a.trapezoidal.motion.sequence.with.3.identically.long.sections.for.acceleration,.constant.travel.and.deceleration.The.diagrams.are.based.on.defined.payloads.of.5.kgs.Shown.are.the.respective.mass.centroids.with.their.typical.load.arms.Actuator LifeNaturally,.the.sliding.guiding.has.already.a.slight.play.under.new.condition,.so.that.the.guiding.does.not.jam.and.the.slid-ing.carriage.moves.smoothly..The.play.is.measured.as.a.gap.for.each.slide.and.is.approx..0.1.to.0.2mm.in.normal.direction.and.at.the.sides.During.the.operation,.the.play.increases.according.to.the.loads.shown.in.the.diagrams.If.a.certain.state.of.wear.is.reached,stest.however.at.the.wear.limit.(1.0mm.for.the.LCB060),.the.slides.can.be.exchanged.easily.within.a.few.minutes..After.the.exchange,ing the DiagramsLife.is.shown.for.each.length.of.carriage:.short.(S),.medium.(M).and.long.(L)..The.diagrams.can.be.interpolated.with.respect.to.lifetime.and.extrapolated.with.respect.to.load..(for.example:.halved.operational.performance.results.in.halved.wear,eage.in.km).T r a v e l (1000k m )Acceleration (m/s 2)T r a v e l (1000k m )Acceleration (m/s 2)T r a v e l (1000k m )Acceleration (m/s 2)T r a v e l (1000k m )Acceleration (m/s 2)78Actuator Division1-866-PARK-ACTLCB Drive Torque RequirementsThe.graphs.include.both.acceleration.and.friction.forces.(2.2)(4.4)(6.6)(8.8)(11.0)(13.2)Payload,kg (lb)D r i v i n g T o r q u e ,N m (l b -i n)(2.2)(4.4)(6.6)(8.8)(11.0)(13.2)Payload,kg (lb)3.2(28.4)2.8(24.8)2.4(21.3)2.0(17.8)1.6(14.2)1.2(10.6)0.8(7.1)0.4(3.5)0.0D r i v i n g T o r q u e ,N m (l b -i n)14(124)12(10710(89)6(53)4(36)2(18)0.0D r i v i n g T o r q u e ,N m (l b -i n )8(71)(11)(22)(33)(44)(55)(66)Payload,kg (lb)(11)(22)(33)(44)(55)(66)Payload,kg (lb)14(124)12(10710(89)6(53)4(36)2(18)0.0D r i v i n g T o r q u e ,N m (l b -i n )8(71)LCB040 – Horizontal Mounting PositionLCB040 – Vertical Mounting PositionLCB060 – Horizontal Mounting PositionLCB060 – Vertical Mounting PositionLocation of Mass Barycenter or Point of Force Application2:1.RuleDrawing.shows.example.of.the.pitch.moment..Also.valid.for.roll.and.yaw.moments.respectively.I L .=.Load.lever I T .=.Support.LeverL C B S e r i e sDeflectionGraphs.show.deflection.vs..distance.between.mountings.and.load.1.0(0.225)10.0(2.25)100.0(22.5)1000.0(225)10000.02250Distance between Mountings (SA),mmF o r c e F n ,N (l b )0.1(0.0225)Distance between Mountings (SA),mm1.0(0.225)10.0(2.25)100.0(22.5)1000.0(225)10000.02250F o r c e F n ,N (l b )0.1(0.0225)LCB040LCB060LCB040 Basic DimensionsShortcarriageSMediumcarriageMSectionA-ADetailY(enlarged)x deDetailX(enlarged)NecessforchatheplasDrivestationLSDrivestationRSDrivestationLD/RDL C B S e r i e sLCB060 Basic DimensionsD r i v e s t a t i o n L SD r i v e s t a t i o n R SD r i v e s t a t i o n L D /R DDrive Orientation (R, L)Right/left.indication.looking.from.load.attachment.plate.to.drive.module.Drive Shaft (S, D)Double.shaft.(D).models.have.an.additional.shaft.on.the.op-ed.to.attach.the.shaft.for.dual-axis.actuators.With Free Drive ShaftThe.threads.to.attach.the.coupling.are.on.the.side.defined.under."Drive.Orientation". With Attached Coupling KitThe.coupling.kit.is.always.mounted.in.the.factory..Carriage Length (S, M, L)All.sliding.carriages.have.4.sliding.blocks..On.a.longer. sliding.carriage,.the.load.bearing.capacity.for.yaw.and.pitch.moments.(My.and.Mz).is.greater.L C B S e r i e sSliding BlocksThe.sliding.block.is.a.wearing.part..Four.(4).pieces.are.required.per.linear.actuator.External BumpersA-AElectrical Limit Switches1.PNP.normally.closed.contact2.Load3.LoadLCB040LCB060L C B S e r i e sClamping Profilesed.in.conjunction.with.the.standard.load.attachment.plate.to.rapidly.install.and.attach.various.conbinations.of.linear.actuators..T ed.in.the.range.of.the.drive.or.of.the.clamping.station.LCB040LCB060T-Nuts and Boltsponents. to.the.T-slots.of.the.profile.T-NutsT-Slot Bolts and NutsDIN.562DIN.934DIN.787L C B S e r i e s1.Not.all.motor/binations..bined.with.Gearbox.Option.“0”.(no.gearbox),.this.option.is.direct.mount.with.no.flange.included.patibility.and.coding.4.Stroke.is.measured.bumper.to.bumper.Maximum Standard Stroke LengthConnecting ShaftDual-Axis Actuator DimensionsLCB040LCB060L C B S e r i e s89Actuator Division1-866-PARK-ACTFaxcompletedformto(330)*****************************************Contact Information:Name.______________________________________.Phone.__________________________Company.___________________________________.email.___________________________City,.State,.Zip._________________________________________________________________Application SketchNOTES:Please.include.the.critical.dimensions.in.your.sketch.In.order.to.achieve.the.best.solution,.it.is.important.that.you.provide.as.much.in-formation.as.possible.Motion ProfileMoves Distance (Stroke)Time Thrust or Load DwellFirst.Motion Second.Motion Third.Motion Fourth.MotionMoment LoadingX.distance._______Y.distance._______Z.distance._______Environmental Requirements1. Operating Temperature .Max._______.....Min._______2. Comtanimation .(check.one)..Particle.....Liquid.Type:._______________________3. Special Considerations .________________.._____________________________________.._____________________________________Application Requirements:1. Overall Stroke .(add.25mm.per.end.minimum).____________2. Cylinder Orientation .(check.one)...Horizontal............Inverted.......Side.Mount....Vertical...Angle:..Degree._________3. Load/Tooling Weight __________________________4. Repeatability Requirements .____________________...Unidirectional.......Bidirectional5. Is the load externally guided?.(check.one)...Y es.......No.If.yes,.how?._________________________________6. Is the actuator body supported?.(check.one)..Y es.......No.If.yes,.how?._________________________________7. Life Requirements .(cycles,.distance.or.years).Hours.per.day._________....Days.per.year._________8. Special Considerations .______________________________..___________________________________________________..___________________________________________________..___________________________________________________Please attach another sheet if more room is needed.90Actuator Division1-866-PARK-ACTMotor, Drive and Control Options:1. Motor Options .(check.all.that.apply)...Stepper.............Servo...Parker.Supplied.........Customer.Supplied.(provide.print).2. Other Options .(check.one)...Drive............Drive/Controller.......Controller3. Available Line Voltage .____________4. Switches/Sensors .(quantity).End.of.Travel._______..........Home._________5. Brake Option .(check.one)...Motor........6. Special Options ._______________________________________.____________________________________________________.____________________________________________________.____________________________________________________.____________________________________________________Actuator Type and Mounting1. Drive Orientation .(check.one)..2. Drive Shaft .(check.one)...Double.Shaft3. Carriage Style (check one): See ....Medium.Carriage.....Long.Carriage..。

安川Σ-Trac II直线电机安装指南说明书

Packing List:A.Yaskawa Provided1)Fully assembled Sigma Trac II (Base Plate Length Varies by Order)2)Encoder Installation Manual (Fagor 14460198; 14460210)3)Fagor encoder alignment shim (0.2 mm and 0.6 mm)4)Mounting aid tool – USP-0376 (screw insertion tube) Ø15.5 (ID) x Ø19.5 mm (OD) x 100 mm (See Figure 3)**Only provided when carriage plate covers the mounting holes5)Yaskawa linear motor safety precaution manual (TOBP C230842 00B)B.Customer Provided1)Mounting bolts – Socket head cap screw recommended (see Table 1 for size & torque specs)2)Mounting base, see Page 4, Mounting Surface Recommendation**Yaskawa units are tested on laboratory grade A granite surface plate (surface flatness 0.584 µm)3) Lifting method: Jergens, Hoist Ring, FTCP, M6x1.0, 200 KG (J213405) or similar.4) Air pressure (brake models only): air pressure required to operate brake is 5.5-6.5 bar (80-95 psi), See Page 5-7CarriageType Description Material Finish Grade TensileStrength(psi)Bolt TorqueRequired(N*m)Recommended Minimum Thread EngagementStandard Base (0.5") Thick Base (1.5")AluminumPlateSteel orS.S PlateAluminumPlateSteel orS.S PlateC1, C2, C3 SHCSM8x1.25Steel BlackOxideClass12.9 140,687 41.3216 mm(20 mm boltlength)12 mm(16 mmboltlength)16 mm(46 mm boltlength)12 mm(42 mmboltlength) Steel ZincPlatedClass12.9 140,687 41.32StainlessSteel18-8(**)DIN912 39,305 11.55StainlessSteel 316DIN912 45,832 13.46A1, A2, A3 SHCSM6x1.0Steel BlackOxideClass12.9 140,687 16.9412 mm(18 mm boltlength)9 mm(15 mmboltlength)12 mm(44 mm boltlength)9 mm(41 mmboltlength) Steel ZincPlatedClass12.9 140,687 16.94StainlessSteel18-8(**)DIN912 39,305 4.73StainlessSteel 316DIN912 45,832 5.52Table 1. Bolt Torque Requirement at Specific Grade**Yaskawa uses 18-8 Stainless Steel bolts for the prevention of damage to the magnet plate.Installation:1) Carefully remove Sigma Trac II from the packaging crate by using the lifting method suggested above or a similarmethod.***CAUTION:• Do not place any magnetic objects such as iron particles close to the magnet track. Failure to observe this caution may result in injury.• Do not place any electronic devices such as clocks, magnetic cards, storage media, or measuring devices close to the magnet track. Failure to observe this caution may result in malfunction or mechanical failure of the electronic devices.• Pay attention to the magnetic attraction and confirm that there are not any magnetic objects such as iron particles attached before mounting the Sigma Trac II. Failure to observe this caution may result in injury or damage to the magnet track. (See Figure 2)2)Assemble Sigma Trac II on the mounting plate (Customer-provided)a.See Figure 1, tighten the bolts in the torque pattern shown (See Table 1 for torque requirement of eachgrade bolt)Figure 1. Sigma Trac II - Torque Pattern Order Figure 2. Sigma Trac II - Magnet Plate Caution AreaMagnaetic Plate and Carriage Omitted for clarityb. See Figure 3, for some C2 and C3 carriage / base combinations (see Table 2), it is necessary to passmounting bolts through the large holes in the carriage in order to access all mounting locations. Use of the provided screw insertion tube(s) is highly recommended to prevent any possible magnet damage to the unit.Figure 3. Screw Insertion Tube ExampleCarriage Type Base Length (Unit: mm)C2 800 900 1000 1105 --C3 1000 1105 1205 1310 1410Table 2. Mounting Tube Requirement in Slide Combination**For the C2x0800 and the C3x1000 combinations, either end-stop bumpers (Torque to 2.2 Nm when replacing) or bellows will have to be removed to be able to access specific mounting holes locations (see bolt clearance diagrams) (See Figure 4 and Figure 5)Figure 4. C2x800 Bolt Clearance DiagramFigure 5. C3x1000 Bolt Clearance DiagramMounting Surface Recommendation:This is a precision device that may flex when not securely mounted to a flat surface.1)Ensure that your mounting surface has 30 µm flatness over the area of the moving carriage for the entire surface ofthe base. Mounting surface quality will impact the life and performance of the linear stage. If any binding isdetected, check the mounting surface and adjust by shimming or lapping as necessary.**Keep in mind that these are general guidelines and the customer is responsible for installation.2)Poor accuracy may result in producing a larger load than the calculated load, and eventually lead to short life, etc.3)Reliable operation of linear motion is ensured by providing high manufacturing and mounting accuracy of mountingparts and designing a mounting structure so as to keep the accuracy and performance, while considering the required linear motion accuracy, rigidity and other related operating conditions.4)Please contact Yaskawa engineering if you have further questions or concerns.Pneumatic BrakeThe STII brake models will have a 4mm hose protruding out of the end of the cable carrier next to the sensor and power cables. Ensure that a fitting is properly securing the hose to air supply. Air supply must be clean, dry, and oil free. Brake operating pressure range is 5.5 – 6.5 bar (80 – 95 psi).Servomotor brake control for Yaskawa SERVOPACKs is handled by an external relay or SSR (solid state relay) controlled by the /BK output from the SERVOPACK. The exception to this is the Sigma-7 400V SERVOPACK with holding brake option “026” which has a built in relay for controlling the brake. Figure 6 below provides an overview of how to design a recommended brake circuit and parameterize the SERVOPACK to use the brake effectively and reliably. The brake signal should control a solenoid valve that provides air to the pneumatic brake on the Sigma Trac. It is important to note that the /BK output can only supply 50mA, the brake coil is an inductive load, and if the brake is cycled every 10 seconds or sooner, an SSR is recommended instead of a relay.Figure 6: Brake Relay CircuitPneumatic Brake (Continued)The Brake Release Time will be used in the user’s motion controller program to delay motion until the brake has been fully released. The /BK output turns ON as soon as the SERVOPACK enables the Servomotor. It is recommended to wait for at least 50ms plus the brake release time before commanding motion.The Brake Close Time will be used to set Pn506 (Brake Reference-Servo OFF Delay Time). Pn506 sets the time for howlong the motor stays enabled after the servo off command. This is used for applications in which the load might fall with the motor disabled and the brake released. Set this to the time it takes for the brake to close, plus 50ms to account for delays.Note: The motor must be stopped before the servo off command. A time delayed safety relay should be used so that the motion controller can decelerate a moving servomotor before the SERVOPACK is given a controlled servo off command.Parameter for /BK Output SelectionParameter Pn50F.2 determines the SERVOPACK output used for the /BK signal.•Make sure there is no other functions for that output•If you allocate more than one signal to the same output connector pin, a logical OR of the signals is output. Allocate the /BK signal to its own output connector pin, i.e., do not use the same output terminal for another signal.•For example, never allocate the /TGON (Rotation Detection) signal and /BK signal to the same output connector pin. If you did so, the /TGON signal would be turned ON by the falling speed on a vertical axis, and the brake would notoperate.The default setting for Pn50F.2 varies by the interface of the SERVOPACK•SGDV/SGD7So Analog voltage/pulse train reference▪/BK signal is disabled by default▪CN1-25 and CN1-26 is the first output, but has two default signals that need to be disabled or moved before /BK can be allocated.o/COIN (Positioning Completion Output) Pn50E.0 = 0 to disableo/V-CMP (Speed Coincidence Output) Pn50E.1 = 0 to disableo/BK (Brake Output) Pn50F.2 = 1 for CN1-25 and CN1-26o MECHATROLINK-II/MECHATROLINK-III/EtherCAT/Option▪CN1-1 and CN1-2•SGD7Wo200V (MECHATROLINK-III)▪Axis A: CN1-23 and CN1-24▪Axis B: CN1-25 and CN1-26o400V (MECHATROLINK-III/EtherCAT)▪Axis A: CN1-1 and CN1-2▪Axis B: CN1-23 and CN1-24•SGDV with DC Power Inputo Analog voltage/pulse train reference▪/BK signal is disabled by default▪CN1-7 and CN1-11 is the first output, but has two default signals that need to be disabled or moved before /BK can be allocated.o/COIN (Positioning Completion Output) Pn50E.0 = 0 to disableo/V-CMP (Speed Coincidence Output) Pn50E.1 = 0 to disableo/BK (Brake Output) Pn50F.2 = 1 for CN1-7 and CN1-11o MECHATROLINK-II/MECHATROLINK-III▪CN1-11 and CN1-5SGD7 400V Hardware Option "026" adds a built-in brake relay to the SERVOPACK•Pn023.0 = 0 (Use the built-in brake relays.)•SGD7W with built-in brake relay only supports Axis A•Built-in Brake Relay Specificationso Service life (number of operations): 30,000 operationso Allowable number of operations: 30 operations per minute max.o No external suppression is needed as it is already built-in。

parker直线电机使用手册

parker直线电机使用手册parker直线电机是一种先进的电动驱动设备，具有高效、精准、稳定的特点。

本使用手册旨在为用户提供关于parker直线电机的详细操作说明和注意事项，帮助用户正确、安全地使用该设备。

正文一、产品概述parker直线电机是一种采用直线运动原理的电动驱动器，可广泛应用于机械加工、自动化装配、医疗器械等领域。

该电机具有结构紧凑、功耗低、响应速度快等优点，能够实现高精度直线运动控制。

二、安装与调试1. 安装前，请确保电机和控制器的电源已经断开，并按照说明书的要求选择适当的安装位置。

2. 仔细检查电机是否有损坏或松动的部件，如有发现问题，请及时联系售后服务。

3. 将parker直线电机正确安装到设备上，并确保固定牢固。

4. 进行电机参数的设置和调试，根据实际需求调整电机的运动速度、加速度等参数。

三、使用注意事项1. 在使用过程中，请勿超载使用电机，以免造成设备损坏或安全事故。

2. 使用前，请确保电机和控制器的电源稳定，并按照标准接线图正确接线。

3. 长时间不使用电机时，请切断电源，以免造成能耗浪费和设备损坏。

4. 请定期对电机进行维护保养，保持电机的清洁和良好的工作状态。

5. 若发现电机运行异常或故障，请及时联系售后服务，不要自行拆卸或修复。

四、售后服务1. 如果在使用过程中遇到任何问题，可随时联系售后服务。

2. 请提供详细的问题描述和相关信息，以便售后服务能够及时有效地给予帮助。

3. 售后服务将尽快解决您的问题，并提供技术支持和维修服务。

【文档结尾】本使用手册详细介绍了parker直线电机的安装、调试和使用注意事项，希望能够帮助用户正确、安全地操作该设备。

如有更多问题，请随时联系售后服务。

直线电机机械安装手册

直线电机应用机械设计指南序号日期工作人批准人变更描述1 2011-1-05 王勇初始创建2 2011-1-14 王勇内容补充直线电机应用机械设计指南 (1)1直线电机安装结构设计要求 (4)1.1直线电机安装位置 (4)1.2结构设计强度与刚度 (4)1.3Z轴（垂直轴）刹车 (4)1.4水平轴刹车 (5)1.5安装尺寸精度 (5)1.6防撞设计 (6)2直线电机防护设计 (6)2.1铁屑防护 (6)2.2切削液防护 (6)2.3其它运动部件的防护 (7)3装配工艺 (8)3.1装配的调整设计 (8)3.2加工工艺结构设计 (8)3.3装配的工装 (8)3.4直线电机拆装顺序 (9)4光栅尺安装 (10)4.1光栅尺安装位置要求 (10)4.2光栅尺安装精度要求 (10)4.3光栅尺的防护 (11)5直线电机的冷却 (11)5.1冷却功率 (11)5.2回路设计 (12)1直线电机安装结构设计要求1.1直线电机安装位置直线电机、磁板的安装位置，应当尽量设计靠近运动结构的重心位置，以平衡运动时的推力1.2结构设计强度与刚度直线电机与磁板之间持续存在较大的磁吸力，如 CE133A吸力为6480N，CE266A吸力为12960N；工作台、鞍座等设计时，必须考虑有足够的强度和刚度。

同时，为避免移动部件过于笨重，应尽量考虑采用高强度的材质，以及多筋板结构。

其它结构上提高刚度的办法有：●上拱结构●导轨等支撑点尽量靠近直线电机线圈1.3Z轴（垂直轴）刹车直线电机应用在Z轴（垂直轴）上时，由于重力的作用，在未通电时，或直线电机无力矩输出时，会发生掉落事故。

必须设计Z轴的刹车装置。

一般我们推荐Z轴的直线电机设计推力要包含Z轴的结构重量，但是，如果设计时未考虑，或为增加安全性，则建议设计Z轴平衡装置（如机械配重、氮气平衡缸等）推荐使用CKD的气动平衡缸，可以满足配重和刹车的双重作用：1.4水平轴刹车直线电机水平移动轴上，如果在运动时发生断电事故，直线电机运动时会切割磁力线，产生反向的制动力，迫使运动电机在较短的距离停止，其停止距离要大于丝杠传动系统。

线性磁轴电机用户说明书

线性磁轴电机用户使用说明书请依照说明书正确使用本产品。

直线电机用户使用说明书首先感谢购买本公司产品。

本说明书纪录了直线电机的式样、功能、连接方式和使用方法。

为保证电机在最合适的状态下运行，请阅读本说明书。

当发生异常情况，请立刻联系NPM。

警示标志的种类和含义本说明书根据危险程度的高低（或者可能造成事故的大小），将警示标志作出以下分类。

请依照警示标志正确理解本书内容。

在提示安全注意事项时，会出现以下标志。

・危险：如果违反此项操作规程，会导致死亡或重伤。

・警告：如果违反此项操作规程，可能出现导致死亡或重伤的危险事故。

・注意：如果违反此项操作规程，可能导致出现轻伤或器械装置的损坏。

1目录首先..................................................................... . (1)警示标志的种类和含义 (1)1.产品的构成........................................................... (3)1.1. 各部分的名称（电机外部） (3)2.配套机械的选择和设计................................................ ..... (4)2.1. 系统组成.......................................................... .. (4)2.2. 磁轴和导轨的距离........................................... ...... ... (4)2.3. 驱动器的选择.................................................. .. (5)2.4. 光栅尺的选择 (9)3.安装......................................................................................................... . (10)3.1. 搬运 (10)3.2. 滑块的安装 (11)3.3. 磁轴的安装....................................................... .. (11)3.4. 光栅尺的安装................................................ ... .. (11)4.配线 (12)4.1. 电机配线............................................................... . . (12)4.2. 光栅尺配线............................................................... (13)5.运转............................................................................................... (14)5.1. 驱动器的设定.......................................................... .. (14)5.2. 直线电机的运转方向 (14)5.3. 开启伺服系统前.................................................... .. (14)6.并行使用........................................................................... .......... .. (15)6.1. 并联...................................................................... ........... (15)6.2. 并联使用时的定格电流........................................... .. (15)6.3. 并联时方向设置................................................... ....... .. (15)6.4. 并联使用时各磁轴距离................................................. ........... (15)6.5. 并联使用时最大误差................................................ . (15)7.选择型号 (17)7.1. 直线电机型号的定义................................................ ............. . (17)7.2. 选择方法............................................................... . (17)8.电机规格.......................................................................... ...... .. (18)8.1. 外观图................................................................... ............. . (18)8.2. 使用环境・存放环境 (20)8.3. 保修 (20)1.产品的构成打开外包装后，请确认产品的外观和零部件。

直线电机驱动器说明书

① 用于与生命相关的医疗器械。 ② 用于可能造成人身安全的设备，例如：火车或升降机。 ③ 用于可能造成社会影响的计算机系统 ④ 用于有关对人身安全或对公共设施有影响的其他设备。 (5).对用于易受震动的环境，例如：交通工具上操作，请咨询我们。
1.2 安全注意事项
(1).请勿在易燃易爆的环境下操作本产品，否则易造成伤害或引起火灾。 (2).绝不要触摸驱动器内部任何部件，否则会触电。 (3).在通电情况下，不要进行维修和检查工作，也勿整理电线。如果要的话，至少得提前五分钟把电源关掉，否则，会有触电危险。 (4).在运输、安装、接线、操作、维修和检查等各方面，请咨询相应的专家。若没有相应专业技术人员，很可能会发生触电、受到伤害或是引起火灾。 (5).一定要使驱动器 PE 端子（保护接地）接地，电机的接地端子必须要与驱动器的 PE 端子（保护接地）相连。否则，会出现触电情况。 (6).通电时，绝不要靠近也不要触及接线端子，更不要移动任何接线端子，否则会发生触电。 (7).要安全正确布线，符合电气安装技术标准和附加规则。否则，可能引起短路和火灾。 (8).当报警发生后，须排除故障的起因，检查系统的安全性。然后，报警复位，才能继续操作。否则，可能受到伤害。 (9).检查电源规格是否规范，否则会出现故障。 (10).在接通电源长时间后或断开电源时间不长时，请勿触及驱动器散热片。否则可能会被灼伤。 (11).需要维修，请与我们联系。如果自己拆卸部件，部件可能会出故障。
1.1 概述 ...........................................................................................................................................3 1.2 安全注意事项 ...........................................................................................................................3

汇川驱动器直线电机调试说明书

直线电机调试简易说明书一、接线说明强电接线端子分配：CN1信号分配图：脉冲信号说明CN1接线示例图（以位置控制模式为例）：编码器端口说明：通信连接线说明：二、调试步骤1.打开IS_Opera3.12后台软件，出现一下提示窗口选择Y，则软件自动搜索RS232串口；选择N，则根据用户实际使用的串口进行设置：然后点击“打开串口”即可完成通信连接。

出现以下提示窗口时，直接点击“确定”。

打开IS_Opera3.12后台软件之后，还没有通信连接的，可以从菜单栏点击“开始”→“连接串口”进行通信连接。

2.确认参数数据库为IS620P_Linear_V7.2.mdb。

确认软件版本：驱动器H00.02非标型号为663.01或以上版本，MCU版本号H01-00为7.2，FPGA版本号H01-01为4.1。

3.点击，在参数H02-41输入厂家密码：1430，然后点击。

注意，只有参数H02-41一项打“√”。

出现以下提示窗口，点击“确定”即可。

4.点击，然后点击选中驱动器全部参数，如图所示：点击，读取驱动器全部参数。

参数读取完成后，点击，取消勾选驱动器全部参数。

点击，修改电机参数，然后点击将电机参数写入驱动器。

写入参数时的登录名：admin，密码：admin。

后面驱动器所有参数的写入都使用来写入。

输入用户名和密码之后，点击“确定”。

登录成功，点击“确定”。

点击“确定”，开始写入参数。

参数可以一个个勾选和取消勾选，也可以用以下方法进行勾选和取消勾选：点击鼠标右键，出现菜单：点击“本页全选”或者“本页取消”即可。

同样，利用这个菜单也可以实现参数的读取或者写入。

电机参数说明：H00-00：电机型号设为65535；H00-11：连续电流，单位：0.01A；H00-12：连续推力，单位：0.01N；H00-13：峰值电流，单位：0.01A；H00-14：额定速度，单位：mm/s（如果电机未标注，设置为3000）；H00-15：最大速度，单位：mm/s（如果电机未标注，设置为3000）；H00-16：动子质量，单位：g；H00-17：永磁同步电机极对数：1；H00-18：定子电阻，也称相间电阻，单位：0.001Ω；H00-19：定子电感Ld，也称相间电感，单位：0.01mH；H00-20：定子电感Lq；也称相间电感，单位：0.01mHH00-21：线反电势系数，单位：mV/m/s；H00-22：转矩系数，也叫推力常数，单位：0.01N/A；H00-23：电气常数，单位：0.01ms（如果电机未标注，写入出厂默认值）；H00-24：电机常数，单位：0.01N/W2（如果电机未标注，写入出厂默认值）；H00-30：编码器选择：0x30-直线光栅尺；H00-31：直线电机N-S极距，单位：0.1mm（为N-N极距/2）；H00-32：光栅尺分辨率，单位：0.01um。

高创直线电机应用手册

高创直线电机应用手册
高创直线电机是一种特殊的电机，它们专门用于直线运动，而不是旋
转运动。

High Creation直线电机应用手册为用户提供了有关如何选
择和应用直线电机的详细指导。

首先，手册介绍了直线电机的三个主要部分：定子，滑块和电路板。

定子是可动的部分，它包括一个固定绕组和一个磁铁，用于产生磁场。

滑块是不可动的部分，它连接到机械载荷，并沿着定子线性运动。

电
路板连接在滑块上，用于控制电机。

手册还提供了如何选择适当的直线电机的详细说明。

选择电机时，需
要考虑最大力和速度要求以及电机大小和价格等因素。

在确定是否可
以满足具体应用的要求之前，还必须了解直线运动的相关参数。

手册进一步解释了电机的控制方法，如何根据工作要求调整电机的速
度和位置，并提供了关于如何使用编码器和传感器的信息，以帮助使
用者对直线电机进行更精确定位。

最后，手册还介绍了如何进行直线电机的安装和维护。

这个部分详述
了几个常见的安装方式和注意事项，以及如何检查和更换电机的机械
零件和电器元件。

总的来说，高创直线电机应用手册提供了一系列有用的信息，涉及到直线电机的选择，控制和维护。

它也给用户提供了许多有关该电机类型的详细信息。

在这份手册的指导下，用户可以选择，配置和正确地使用高创直线电机，以满足其特定的直线运动需求。

中控直线电机电子绞边使用说明书简述

中控线性电子绞边控制器控制V1.1操作手册一、电子绞边控制板接口分布图：图2. 1 分布图按键说明：M 键：显示模式切换，可以在状态显示模式、Pnxxx 、Fnxxx 、Unxxx 之间切换。

U 键：使闪烁位数字往上增加1。

D 键：使闪烁位数字往下减1。

1+1- 2+2-- + +V -+V -反馈输入2反馈输入1电源36V电机电源接口D B 25脉冲指令输入MDS/EU状态显示模式辅助功能执行模式参数设定模式监视模式电源ONS 键：短按：切换数据位；长按：进入或退出数据模式或菜单模式，保存更改数据。

状态显示模式说明省略符号显示内容伺服准备就绪状态电机运行中… 报警状态：显示报警代码，参考第五章其中在伺服准备就绪状态和电机运行中，数码管前两位显示了电机运行状态，如下所示：参数（Pn***）设置操作说明参数所对应的功能参考第六章，以设置微动速度为600例子，说明如何操作 1. 按M 键，使功能切换到Pn304,2. 长按S/E 键，进入Pn304，此时显示的微动速度（默认是300）3. 短按S/E 键，切换显示位置，使其百位闪烁，按U 键，由3改变到64. 长按S/E 键，设置参数成功二、电子绞边配线3.1端子说明DB25端子说明：表3. 1端子序号功能13 绞边1控制输入端，下降沿有效 25 绞边2控制输入端，下降沿有效 12 织机预开车信号24绝对式光电编码器高位第7比特输入省略符号比特数据电机2位置显示电机1位置显示11 绝对式光电编码器高位第6比特输入23 绝对式光电编码器高位第5比特输入10 绝对式光电编码器高位第4比特输入22 绝对式光电编码器高位第3比特输入9 绝对式光电编码器高位第2比特输入21 绝对式光电编码器高位第1比特输入8 绝对式光电编码器高位第0比特输入7、20 24V控制电源输入19 ALM+光耦输出正端6 ALM-光耦输出负端18 CANH5 CANL●反馈输入端子说明：端子序号功能FB1-1 5V输出FB1-2 绞边1反馈输入FB1-3 地FB2-1 5V输出FB2-2 绞边2反馈输入FB2-3 地●电源输入端子说明：端子序号说明功能1 36V电源正端2 36V电源地●电机动力输出端子说明：注：该端子无正负输入区别，控制器内部可以自动识别端子序号说明功能J1-1 绞边器1电机动力线输出1J1-2 绞边器1电机动力线输出2J1-3 绞边器2电机动力线输出1J1-4 绞边器2电机动力线输出2 三、报警代码一览表报警代号解决办法A00 电机1动力线断A01 电机2 动力线断A02 过电流A03 电机1位置超差A04 电机2位置超差A05 电机1位置反馈异常查看电机反馈线或动力线有接错A06 电机2位置反馈异常查看电机反馈线或动力线有接错A07 电机1定位误差过大A08 反馈线断线电机2定位误差过大A11A12 电机1反馈断线A13 电机2反馈断线四、控制参数一览表（Pn500是设置绞边使用选择）Pn000 选择控制方式设置范围：0～2000出厂设置：0说明：本产品包含了IO控制和CAN控制，派生出了不同的控制方式。

Festo直线驱动器DFPI-NB3.0的操作手册说明书

1.1适用文件–接近开关操作指南–连接电缆装配说明书–转接组件装配说明书–认证材料需要爆炸防护的运行条件è /pk。

2安全2.1一般性安全提示–仅在原装状态下使用产品，请勿擅自进行改动。

–请仅在技术状态完好的情况下使用本产品。

–请仅使用本产品许用的接近开关。

–注意使用地的环境条件。

–请注意产品上的各种标识。

工作介质–只允许使用符合规格说明的压缩空气 è 15 技术参数。

–在正常条件下请仅使用未经润滑的压缩空气。

第一次使用经过润滑的压缩空气后，本产品此后只能使用经过润滑的压缩空气运行。

退回 Festo 公司危险材料可能危及人员的健康和安全，特定材料还可能危害环境。

为避免危害，只有满足 Festo 公司明确要求的产品，方可允许退回。

–请联系 Festo 公司当地的联系人。

–填写污染说明并将其安装在外包装上。

–遵守使用危险材料和运输危险品的全部法律规定。

2.2按规定使用按规定，直线驱动器 DFPI-...-E-NB3... 用于过程技术设备中的控制。

它特别适合用于恶劣环境下的气动定位。

2.3目标人群该文件面向安装及运行该产品的人员。

它还面向被委托负责安全相关系统内产品的规划和应用人员。

3详细信息–附件 è /catalogue。

–备件 è /spareparts。

4服务若有技术问题，请联系 Festo 公司在您所在地的联系人 è 。

5产品概览5.1功能通过气缸室的进气和排气，推动连接活塞的活塞杆来回运动。

集成式位移测量系统将当前活塞位置以模拟电压或电流信号的形式传送至系统。

Fig. 1可借助连接组件安装接近开关，以便对位置进行附加的双重检测è /catalogue。

5.2结构5.2.1产品配置本直线驱动器由一个双作用气缸构成，其内部集成有位移测量系统。

直线驱动器 DFPI-ND2P-C1V 操作指南说明书

直线驱动器DFPI-...-...-ND2P-C1V-...-A(zh)操作指南80291841309a [8029190]原版：de直线驱动器DFPI-...-...-ND2P-C1V-...-A 中文.. (1)DFPI-100-...的工作部件和接口示例1接近开关的安装槽2安装螺纹（背面， Fig.4)3配备联轴器安装螺纹和反向固定扳手接触面的活塞杆4无接头盒图示5气动接口*)-通道R（排气）6节流螺丝D27气动接口*)-通道P（气源）8接头盒后部的电气接口9接地端口；位置取决于活塞直径aJ 压力平衡件aA 节流螺丝D4aB 选配：配备防护套管的连接电缆（附件）aC 接头盒-这里DFPI-...-...-ND2P-C1V-P-AaD 插头螺丝（出厂时）或过滤器气嘴以及消声器（附件）aE接头盒-这里DFPI-...-...-ND2P-C1V-A *)气动接口 Fig.11Fig.12结构DFPI-...-...-ND2P-C1V-…-A 电-气结合直线驱动器由以下部件组成：–双作用气缸–确定实际位置的内置行程测量系统（电位计）–具有用于控制活塞杆的方向控制阀的内置阀块–控制位置的内置位置控制器。

必要时可以将多个接近开关装入现有安装槽( Fig.11)内，以便对多个位置进行双重检测。

压力平衡件( Fig.1aJ )用于防止当温度发生波动时在壳体内部形成冷凝水，并以此保护内部电子设备。

对于DFPI-...-...-ND2P-C1V-A，气动接口应便于接近使用（气动接口G ¼）。

电气接口采用接头盒进行保护。

对于DFPI-...-...-ND2P-C1V-P-A，电气和气动接口采用坚固的接头盒进行保护，避免外部机械碰撞。

接头盒提供气动部件的插拔式接口和用于现场排气的排气接口G ¼。

本产品具有不同的规格。

本操作指南针对以下产品派生型进行说明：特征型号代码说明型号DFPI-用于过程自动化且带集成位移测量系统的双作用气动驱动器驱动器尺寸100-,125-,160-,200-,250-,320-可选不同等级的活塞直径；说明以[mm]为单位行程...-行程长度在40至990范围内可任意选择；(40...990)说明以[mm]为单位缓冲器N 无缓冲器位移测量系统D2模拟位移测量系统测量方法P-电位器调节装置C1调节器1方向控制阀V-内置接口设计无说明无保护气动接口P 受保护气动接口反馈A 模拟反馈信号实际值安全位置无说明活塞杆伸出Fig.2型号代码（例如：DFPI-100-200-ND2P-C1V-P-A）根据活塞的直径，直线驱动器的下列特征可能与Fig.1所展示的情况有所差异：–接地端口的位置（产品上的标识）–气缸缸筒的外形–接头盒的外形此外，活塞直径≥200mm 的直线驱动器，通过平行于气缸缸筒,未经保护的管道单侧导入压缩空气。

1、下载文档前请自行甄别文档内容的完整性，平台不提供额外的编辑、内容补充、找答案等附加服务。
2、"仅部分预览"的文档,不可在线预览部分如存在完整性等问题,可反馈申请退款(可完整预览的文档不适用该条件!)。
3、如文档侵犯您的权益，请联系客服反馈,我们会尽快为您处理(人工客服工作时间：9:00-18:30)。

IDEA™ DriveCommunications ManualAll Rights Reserved12‐2010Table of ContentsRevision History (4)Communications Basics (5)Commands (7)Index (8)Move To Position (9)Go At Speed (10)Goto (11)Goto Sub (11)Set Position As (11)Wait For Move (11)Wait Time (12)E_Stop (12)Stop (13)Jump N Times (13)Goto If (14)Set Outputs (14)Label (15)Comment (15)Interrupt On Position (15)Configure Encoder (16)Abort (16)Software Reset (16)Read IO (17)Recall Program (17)Program (17)Return To (18)Read Program Names (18)Read Startup Program (18)Remove Program (18)Set Startup Program (19)Run Program (19)Execute Program (19)Configure Input Interrupts (20)Set Password (20)Check Password (20)Remove Password (21)Read Faults (21)Restore Factory Defaults (21)Read Current Position (21)Read Executing (22)Read Firmware Version (22)Read Encoder Settings (22)No-op (22)Read Max Current (23)Read Drive Number (23)Assign Drive Number (23)Revision History Date DescriptionOctober 2010 Initial releaseJanuary 2011 Added “Execute Program” command.May 2011 Corrected response from Program commandIDEA Drive Communications BasicsThe IDEA drive line of products are commanded through the use of an Ascii based language developed by Haydon Kerk. Each command consists of a character identifying the command, followed by between 0 and 12 parameters separated by commas, and then followed by a carriage return. One difference between this language and those used by competing products is that each motion command encapsulates all parameters needed by the move; there are no parameters to set before a move command is issued. While this makes manual entry of commands into a terminal cumbersome, this is not the intended use of the language. Creation of these commands can be done simply in the software of the controller used to command the drives.The IDEA drive adheres to a master/slave communications model. The master controller initiates all communications. If information is required from the drive, as in the case of requesting the drive’s current position, the controller first sends the command requesting the drive’s position, then the drive responds with the requested information, enclosed by several characters to identify the response. The extra characters can then be parsed, and the response read.For the RS-485 communication option, several drives can be daisy chained together on a single bus. This allows a single controller to send commands to all the drives at once. In this configuration, for each drive to be controlled separately, they must each be given a unique identifier, a number between 0 and 255. This must be done with only one drive attached. The user interface has a function built in to make this process simple. Once each drive on the bus has its own identifier, any command that is sent starting with the ‘#” character followed by an identifier, followed by the normal command, will be ignored by any drive whose identifier does not match the provided identifier. For example, to send an abort command to the drive whose identifier is 123, the controller would send “#123A” followed by a carriage return. If a command should be executed by all drives at once, the controller would omit the pound and identifier. It is important that the controller never request a response from all the drives at once, as this will cause a data collision when all the drives attempt to respond at once.One major difference between using this command set to control the drive, and using the IDEA drive user interface is, there are no protections when using thecommand language. The user interface ensures that based upon the part number entered, no improper values are sent to the drive; with this command set, it is the responsibility of the user to ensure that no damage is done to the drive, motor, or other equipment through the incorrect use of commands.The parameters for serial communication are as follows:Bits per Second: 57600Data bits: 8noneParity:Stop Bits: 1Flow Control: NoneCommandsThe following describes the commands that make up the IDEA drive communications language, as well as the format for any response required from the drive. When quotation marks are present, the text in between the quotation marks is the important string, and the quotation marks themselves should not be included. When [cr] is shown, it is referring to the Ascii carriage return character, not to be confused with a line feed character. When [parameter] is shown, where parameter is the name of a parameter, it is representing some variable with that name, and the brackets will not be part of the string.The contexts listed below indicate when each command can be used. Realtime commands can only be executed by direct command to the drive, such as requesting the current position. Program commands can only be a part of a program, and are generally branching or similar commands, such as Goto. Realtime/Program commands can be used anytime, and are generally motion related commands, such as Index. For further explanation of the commands, refer to the IDEA drive users’ manual.Command Symbol Context Arguments ResponseIndex I RealTime/Program Distance, Speed, StartSpeed, End Speed, Accel,Decel, Run Current, HoldCurrent, Accel Current, Decel Current, Delay Time, StepMode NoneDescription This command moves the motor forward or backwards a defined number of steps, with the given parameters.Arguments ArgumentDescription Valid Values or RangeDistance The positive or negative number of 1/64th steps the motorshould move.-18446744073709551616to18446744073709551615Run Speed The number of steps per second the motor should move atthe top speed, in the given step mode. 0 or 50 to 75000Start Speed The number of steps per second the motor should movewhen starting the move, in the given step mode.0 or 50 to 75000 Must beless than Run SpeedEnd Speed The number of steps per second the motor should movewhen ending the move, in the given step mode.0 or 50 to 75000 Must beless than Run SpeedAccel Rate Rate at which the speed should rise from the Start Speed tothe Run Speed. 0, or 500 to 16777215Decel Rate Rate at which the speed should fall from the Run Speed tothe Final Speed. 0, or 500 to 16777215Run Current The rms current, in milliamps for the move. 0 to 3850, dependant on DriveHold Current The rms current, in milliamps, for after the move hascompleted.0 to 3850, dependant onDriveAccel Current The rms current, in milliamps, for the acceleration portion ofthe move.0 to 5005, dependant onDriveDecel Current The rms current, in milliamps, for the deceleration portion ofthe move.0 to 5005, dependant onDriveDelay The time, in milliseconds, between the last step of a moveand when the current is set to the hold current. 50 to 300Step Mode Defines the step size, where 1 is a full step, 2 is a half step,and so on. 1,2,4,8,16,32,64.Example Desired move is backwards 9600 1/64th steps, in 1/8th step mode, at a speed of 32001/8th steps per second, starting at 1200 1/8th steps per second, accelerating at a rate of 40000 1/8th steps per second per second, decelerating at a rate of 100000 1/8th steps per second per second to an end speed of 2000 1/8th steps per second, with a run current of 1.6 Arms, accel current of 1.9 Arms, decel current of 2.0 Arms, and waiting .05 seconds between the last step and changing to a hold current of 0.5 Arms.Command "I-9600,3200,1200,2000,40000,100000,1600,500,1900,2000,50,8" followed by a carriage return.Command Symbol Context Arguments ResponseMove ToPosition M RealTime/Program Position, Speed, StartSpeed, End Speed, Accel,Decel, Run Current, HoldCurrent, Accel Current,Decel Current, Delay Time, Step Mode NoneDescription This command moves the motor to a position, with the given parameters.Arguments Argument Description Valid Values or RangePosition The positive or negative position, based on 1/64th steps, the motor should move to. -18446744073709551616to18446744073709551615Run Speed The number of steps per second the motor should move atthe top speed, in the given step mode. 0 or 50 to 75000Start Speed The number of steps per second the motor should move when starting the move, in the given step mode. 0 or 50 to 75000 Must beless than Run SpeedEnd Speed The number of steps per second the motor should move when ending the move, in the given step mode. 0 or 50 to 75000 Must beless than Run SpeedAccel Rate Rate at which the speed should rise from the Start Speed tothe Run Speed. 0, or 500 to 16777215Decel Rate Rate at which the speed should fall from the Run Speed tothe Final Speed. 0, or 500 to 16777215Run Current The rms current, in milliamps for the move. 0 to 3850, dependant onDriveHold Current The rms current, in milliamps, for after the move has completed. 0 to 3850, dependant on DriveAccel Current The rms current, in milliamps, for the acceleration portion of the move. 0 to 5005, dependant on DriveDecel Current The rms current, in milliamps, for the deceleration portion of the move. 0 to 5005, dependant on DriveDelay The time, in milliseconds, between the last step of a moveand when the current is set to the hold current. 50 to 300Step Mode Defines the step size, where 1 is a full step, 2 is a half step,and so on. 1,2,4,8,16,32,64.ExampleDesired move is to position 0, in 1/8th step mode, at a speed of 3200 1/8th steps persecond, starting at 1200 1/8th steps per second, accelerating at a rate of 40000 1/8thsteps per second per second, decelerating at a rate of 100000 1/8th steps per second persecond to an end speed of 2000 1/8th steps per second, with a run current of 1.6 Arms,accel current of 1.9 Arms, decel current of 2.0 Arms, and waiting .05 seconds between thelast step and changing to a hold current of 0.5 Arms. Command "M0,3200,1200,2000,40000,100000,1600,500,1900,2000,50,8" followed by a carriagereturn.Command Symbol Context Arguments ResponseGo AtSpeed Q RealTime/Program Speed, Start Speed, End Speed,Accel, Decel, Run Current, HoldCurrent, Accel Current, Decel Current,Delay Time, Step Mode NoneDescription This command moves the motor to a position, with the given parameters.Arguments ArgumentDescription Valid Values or RangeRun Speed The number of steps per second the motor should move at the topspeed, in the given step mode.0 or -50 to -75000 or 50 to75000Start Speed The number of steps per second the motor should move when startingthe move, in the given step mode.0 or 50 to 75000Must be lessthan Run SpeedEnd Speed The number of steps per second the motor should move when endingthe move, in the given step mode.0 or 50 to 75000Must be lessthan Run SpeedAccel Rate Rate at which the speed should rise from the Start Speed to the RunSpeed.0, or 500 to16777215Decel Rate Rate at which the speed should fall from the Run Speed to the FinalSpeed.0, or 500 to16777215Run Current The rms current, in milliamps for the move. 0 to 3850, dependant on DriveHoldCurrent The rms current, in milliamps, for after the move has completed. 0 to 3850, dependant on DriveAccelCurrent The rms current, in milliamps, for the acceleration portion of the move. 0 to 5005, dependant on DriveDecelCurrent The rms current, in milliamps, for the deceleration portion of the move. 0 to 5005, dependant on DriveDelay The time, in milliseconds, between the last step of a move and whenthe current is set to the hold current. 50 to 300Step Mode Defines the step size, where 1 is a full step, 2 is a half step, and so on. 1,2,4,8,16,32,64.Example Desired move backwards, in 1/8th step mode, at a speed of 3200 1/8th steps per second, starting at 1200 1/8th steps per second, accelerating at a rate of 40000 1/8th steps per second per second, decelerating at a rate of 100000 1/8th steps per second per second to an end speed of 2000 1/8th steps per second, with a run current of 1.6 Arms, accel current of 1.9 Arms, decel current of 2.0 Arms, and waiting .05 seconds between the last step and changing to a hold current of 0.5 Arms.Command "Q-3200,1200,2000,40000,100000,1600,500,1900,2000,50,8" followed by a carriage return.Command Symbol Context Arguments ResponseGoto G Program Destination NoneDescription This command causes the program to continue execution at the specified address. Arguments ArgumentDescription Valid Values or RangeDestination The address of the command that should be run 0 to 86012, multiples of four only. Must be the address of a valid command.Example You want to continue execution at address 1024.Command "G1024" followed by a carriage return.Command Symbol Context Arguments ResponseGoto Sub S Program Destination NoneDescription This command causes the program to execute the subroutine at the given destination. Arguments ArgumentDescription Valid Values or RangeDestination The address of the subroutine that should be run. 0 to 86012, multiples of four only. Must be the address of a valid command.Example You want to run a subroutine at address 1024.Command "S1024" followed by a carriage return.Command Symbol Context Arguments ResponseSet PositionAs Z Realtime/Program NewPosition None Description This command adjusts the position counter.Arguments ArgumentDescription Valid Values or RangeNew Position The position, as 1/64th steps, you would like the currentposition to become.-18446744073709551616 to18446744073709551615Example After homing, you want to set the current location to 0.Command "Z0" followed by a carriage return.Command Symbol Context Arguments Response Wait ForMove F Program none NoneDescription This command causes the program to delay execution of the next command until the motor has stopped moving.Arguments ArgumentDescription Valid Values or Range noneExample You have started a move command and do not want the next command to execute until the move has finished.Command "F" followed by a carriage return.Command Symbol Context Arguments Response Wait Time W Program Time NoneDescription This command causes the program to delay execution of the next command for a specified time.Arguments ArgumentDescription Valid Values or RangeTime The amount of time, in milliseconds, that the command should bedelayed. 0 to 65535Example You have started a move command and do not want the next command to execute for 1 second.Command "W1000" followed by a carriage return.Command Symbol Context Arguments ResponseE-Stop E RealTime/Program Decel Current, Hold Current,Delay Time NoneDescription This command stops the motor without decelerating.Arguments ArgumentDescription Valid Values or RangeDecelCurrent The rms current, in milliamps, used to stop the motor. 0 to 5005, dependant on DriveHoldCurrent The rms current, in milliamps, for after the motor has stopped. 0 to 3850, dependant on DriveDelay The time, in milliamps, between the last step of a move and whenthe current is set to the hold current. 50 to 300Example You wish to immediately stop the motor with a decel current of 2.0 Arms, and waiting .05 seconds between the last step and changing to a hold current of 0.5 Arms.Command "E2000,500,50" followed by a carriage returnCommand Symbol Context Arguments ResponseStop H RealTime/Program End Speed, Decel rate, runcurrent, decel current, holdcurrent, delay time, stepmode NoneDescription This command stops the motor using an optional deceleration ramp.Arguments ArgumentDescription Valid Values or RangeEnd Speed The number of steps per second the motor should movewhen ending the move, in the given step mode.0 or 50 to 75000 Must beless than Run SpeedDecel Rate Rate at which the speed should fall from the current speed tothe end speed. 0, or 500 to 16777215Run Current The rms current, in milliamps for the deceleration, if too longto use boosted decel current for the entire ramp.0 to 3850, dependant onDriveHold Current The rms current, in milliamps, for after the move hascompleted.0 to 3850, dependant onDriveDecel Current The rms current, in milliamps, for the deceleration portion ofthe move.0 to 5005, dependant onDriveDelay The time, in milliamps, between the last step of a move andwhen the current is set to the hold current. 50 to 300Step Mode Defines the step size, where 1 is a full step, 2 is a half step,and so on. 1,2,4,8,16,32,64.Example You wish to stop the motor, in 1/8th step mode, decelerating at a rate of 100000 1/8th steps per second per second to a end speed of 2000 1/8th steps per second, with a run current of 1.6 Arms, decel current of 2.0 Arms, and waiting .05 seconds between the last step and changing to a hold current of 0.5 Arms.Command "H2000,100000,1600,2000,500,50,8" followed by a carriage returnCommand Symbol Context Arguments Response Jump NTimes J Program Destination,JumpsNoneDescription This command causes the program to continue execution at the specified address a specified number of times.Arguments ArgumentDescription Valid Values or RangeDestination The address of the command that should be run. 0 to 86012, multiples of four only. Must be the address of a valid command.Jumps The number of times execution should branch tothe destination address. 0 to 65535Example You want to continue execution at address 1024, and do so 3 times. Command "J1024, 3" followed by a carriage return.Command Symbol Context Arguments Response Goto If L Program Destination, Condition NoneDescription This command causes the program to continue execution at the specified address if the condition is met.Arguments ArgumentDescription Valid Values or RangeDestination The address of the command that should be run. 0 to 86012, multiples of four only. Must be the address of a valid command.Condition 2 bytes indicating which I/O are tested, and the test values for each. Theleast significant byte corresponds to the inputs, and the most significantbyte corresponds to the outputs. For each byte, the least significantnibble represents the condition being tested, a 1 meaning a high input oroutput, and a 0 representing a low input or output. The more significantnibble decides which of those conditions are to be tested, with a 1representing an input or output should be tested. The least significantbit corresponds to input1, the next to input 2, and so on. 0 to 65535Example You want to continue execution at address 1024 if input 2 is high.Bit 16 Bit15Bit14Bit13Bit12Bit11Bit10Bit9Bit8Bit7Bit6Bit5Bit4Bit3Bit2Bit1 Total0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 34 Command "L1024, 34" followed by a carriage return.Command Symbol Context Arguments ResponseSet Outputs O Realtime/Program Output Value None Description This command sets the state of the outputs.Arguments ArgumentDescription Valid Values or RangeOutput Value 1 byte indicating which outputs should be set and what they should be setto. The most significant nibble indicates which outputs are being set, andthe least significant nibble controls what they are being set to. 0 to 255Example You want to set output 3 high, output 2 low, and want to leave outputs 1 and 4 unchanged.Bit 8 =128 Bit 7 = 64 Bit 6 = 32 Bit 5 = 16 Bit 4 = 8 Bit 3 = 4 Bit 2 = 2 Bit 1 = 1 Total0 1 1 0 0 1 0 0 100 Command "O100" followed by a carriage return.Command Symbol Context Arguments Response Label B Program Labelname None Description This command creates a label in the program.Arguments ArgumentDescription Valid Values or RangeLabel Name A string, must be exactly 10 characters long.Example You want to add a label called "Start".Command "BStart " followed by a carriage return.Command Symbol Context Arguments Response Comment C Program Comment None Description This command creates a comment in the program.Arguments ArgumentDescription Valid Values or RangeComment A string, must be exactly 10 characters long.Example You want to add a comment that says "Extend 1in".Command "CExtend 1in" followed by a carriage return.Command Symbol Context Arguments ResponseInterrupt onPosition T Program Position, Destination, Priority NoneDescription This command sets an interrupt to occur at a given position.Arguments ArgumentDescription Valid Values or RangePosition The position where the interrupt should be triggered. -18446744073709551616 to 18446744073709551615Destination The address of the subroutine to be run when the interruptis triggered.0 to 86012, multiples of fouronly. Must be the addressof a valid command.Priority The priority of the interrupt; lower values are a higherpriority. 0 to 4, 10 to disableExample You want to set a trip point at position 0, that runs a subroutine at address 1024, and has the highest priority.Command "T0,1024,0" followed by a carriage returnCommand Symbol Context Arguments ResponseConfigureEncoder z Realtime/Program DeadBand, StallHunts, Destination, Priority NoneDescription This command configures the encoder.Arguments ArgumentDescription Valid Values or RangeDeadBand The number of steps away from the desired location wherethe drive will begin to correct.1 to 65535, or 0 todisableStall Hunts The number of attempts at a given move the drive will make. 0 to 255Destination The address of the subroutine that should be run after all stallhunts are exhausted, if desired.0 to 86012, multiples offour only. Must be theaddress of a validcommand.Priority The priority of the interrupt for when the stall hunts areexhausted. 0 to 4, 10 to disableExample You want the drive to correct for position errors greater than 3 steps, retry moves twice, and do not want to trigger an interrupt after the second failure.Command "z3,2,0,10" followed by a carriage return.Command Symbol Context Arguments Response Abort A Realtime/Program none NoneDescription This command causes the drive to immediately stop, and ends the execution and of any programs.Arguments ArgumentDescription Valid Values or RangenoneExample You want to stop all drive activity.Command "A" followed by a carriage return.Command Symbol Context Arguments ResponseSoftwareReset R Realtime/Program none None Description This command causes the drive to restart, acts the same as cycling power.Arguments ArgumentDescription Valid Values or Range noneExample You want to restart the drive.Command "R" followed by a carriage return.Command Symbol Context Arguments ResponseRead IO : Realtime none "`:[value][CR]`:#[CR]", Where [value] is a number between 0 and 255, formed from 1 byte, with ones being highs, zeros being lows, the most significant bit corresponding to output4, and the least significant bit corresponding to input1.Description This command requests the status of the inputs and outputs. Arguments ArgumentDescription Valid Values or Range noneExample Want to know the status of the input and outputs. For this example, outputs 1 and 2 will be high, and inputs 2, 3, and 4 will be high, all others will be low.Command ":" followed by a carriage return.Output4 Output 3 Output 2 Output 1 Input 4 Input 3 Input 2 Input 1 Value0 0 1 1 1 1 1 0 62 Command Symbol Context Arguments ResponseRecallProgram @ Realtime Password,ProgramNameThe commands that make up the program,unless the password was incorrect, inwhich case there is no response.Description This command requests the program be read back.Arguments ArgumentDescription Valid Values or RangePassword The password for the drive A string; must be exactly 10 characters. ProgramName The name of the program to be read back. A string; must be exactly 10 characters. Example Want to read back a program named "program 1" from the drive, with no password. Command "@ ,program 1 " followed by a carriage return.Command Symbol Context Arguments ResponseProgram P Realtime (Program Name, Start Location,Length) or noneNone or “`P[Programsize][CR]`P#[CR]”Description This command starts and ends the process of writing a program.Arguments ArgumentDescription Valid Values or RangeProgram Name The name for the program, if it is the same as a program alreadyon the drive, the old program will be removed.A string; must beexactly 10 characters.Start Location The memory address where the program should begin. If theprogram overlaps with any other program, the old program will bedeleted.0 to 86016, multiplesof 1024 only.Length The number of pages the program will take up. 1 to 85 Example You want to write a program name program 1, on the first page of memory.Command "Pprogram 1 , 0,1" followed by the commands that make up the program, each separated by a carriage return, followed by "P" followed by a carriage return.Command Symbol Context Arguments Response Return X Program none None Description This command returns from a subroutine.Arguments ArgumentDescription Valid Values or RangenoneExample You want to return from a subroutine to where the subroutine was called from. Command "X" followed by a carriage return.Command Symbol Context Arguments ResponseReturn To V Program Destination NoneDescription This command exits a subroutine, branches to a location, and clears all pending interrupts, the return stack and the loop counters.Arguments ArgumentDescription Valid Values or Range Destination The address to which the program should branch. 0 to 87036, multiples of four only.Example You want to exit a subroutine and continue execution somewhere other than where the subroutine was called from, in this case, address 32.Command "V32" followed by a carriage return.Command Symbol Context Arguments ResponseReadProgramNames N Realtimenone "`N[program1 name],[start page],[endpage][CR]`N[program2 name],[start page],[end page][CR]`N#[CR]" More programs would have more entries.Description This command requests that all program names and addresses be sent. Arguments ArgumentDescription Valid Values or RangenoneExample You want to know what programs are residing on the drive.Command "N" followed by a carriage return.Command Symbol Context Arguments ResponseReadStartupProgram K Realtimenone "`K[program name][CR]`K#[CR]" If there is no startup program, [program name] will be an empty string.Description This command requests the name of the startup program. Arguments ArgumentDescription Valid Values or Range noneExample Want to know what program is set to run on power up. Command "K" followed by a carriage return.。

直线电机使用手册

直线电机技术手册

美国LinMot直线电机用户手册

泰晤士线性电机M-Track系列产品说明说明书

DMC-9940直线电机调试指南

直线电机文档

科尔摩根KBM(S)系列无刷直线电机安装指南说明书

英威腾SV-DA200系列交流伺服驱动器直线伺服电机技术指南说明书

直线电机驱动器说明书

Festo ELGT-BS-120-350-20P线性电机说明书

Parker LCB系列线性电机说明书

安川Σ-Trac II直线电机安装指南说明书

parker直线电机 使用手册

直线电机机械安装手册

线性磁轴电机 用户说明书

直线电机驱动器说明书

汇川驱动器直线电机调试说明书

高创直线电机应用手册

中控直线电机电子绞边使用说明书简述

Festo直线驱动器DFPI-NB3.0的操作手册说明书

直线驱动器 DFPI-ND2P-C1V 操作指南说明书

parker直线电机使用手册

线性磁轴电机用户说明书