PARKER-直线电机

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派克机电产品纵览说明书

■ﾠ高技术应用的控制器■ﾠ基于工业以太网的运动控制系统■ﾠ集成多轴运动控制器■ﾠ智能伺服驱动器■ﾠ工业以太网多轴伺服驱动器■ﾠ通用伺服驱动器■ﾠ智能直流调速器■ﾠ通用直流调速器派克机电产品纵览运动控制驱动技术直流调速器■ﾠ智能交流变频器■ﾠ通用交流变频器交流变频器2■ﾠ滚珠丝杠驱动工作台■ﾠ直线电机驱动工作台■ﾠ高精度微型工作台■ﾠ经济型■ﾠ高精度高精度执行器与工作台行星齿轮减速机■ﾠ伺服电机■ﾠ防爆伺服电机■ﾠ高速大功率伺服电机■ﾠ高性能车载电机■ﾠ直线电机组件■ﾠ直驱电机■ﾠ高性能伺服电机■ﾠ电动缸■ﾠ线性执行器电机执行器3ACR 系列是派克主要的独立封装的运动控制器，能够实现多达八轴的运动控制。

简单易用的项目开发组件，使应用系统构建及维护快速，高效。

ACR74C/78C 是4轴/8轴运动控制器；ACR74T 是集成4轴步进电机驱动器的驱控一体机；ACR74V/78V 是集成4轴/8轴低压伺服驱动器的驱控一体机。

强大、集成化和为机械市场设计的派克自动化运动控制器(PAC)为OEM 提供了基于标准的自动化解决方案，能够满足严苛的应用要求。

PAC 将先进逻辑、多轴运动、信号处理和网络发布的可视化整合到一个以性能为导向的解决方案中，进而消除不必要的硬件和通信链接，并提高开发者的效率。

PAC网络架构派克自动化运动控制器 - PACACR 控制器系列•ﾠ K eywords: PAC CPU 运算能力更强•ﾠP AC: EtherCAT, 多轴插补•ﾠA CR:模拟量模式，简单易用ACR7C/7V ACR7000PAC3404智能伺服驱动器 - Compax3Compax3是派克汉尼汾不同国家和地区推出的伺服驱动器产品。

驱动器系列包括单轴，多轴驱动器，还有液压控制器。

这一系列驱动的功率从1到110kVA。

这一伺服驱动器的整个研发及制造过程全部在德国完成。

另外的生产基地也在美国建成。

作为一款销往不同国家和地区的伺服驱动控制器，Compax3在世界各地都有销售。

直线电机在数控机床中的应用教程

直线电机在数控机床中的应用教程直线电机的历史可以追溯到1840年惠斯登制作的并不成功的略现雏形的直线电机，其后的160多年中直线电机经历了探索实验、开发应用和使用商品化三个时期。

1971年至目前，直线电机终于进入独立应用的时期，各类直线电机的应用得到了迅速的推广，制成了许多有实用价值的装置和产品，例如直线电机驱动的钢管输送机、运煤机、各种电动门、电动窗等。

利用直线电机驱动的磁悬浮列车，速度已超过500km/h，接近了航空飞行的速度。

我国的直线电机的研究和应用是从20世纪70年代初开始的。

目前主要成果有工厂行车、电磁锤、冲压机等。

我国直线电机研究虽然也取得了一些成绩，但与国外相比，其推广应用方面尚存在很大的差距。

目前，国内不少研究单位已注意到这一点。

直线电机在数控机床上应用的现状近几年，国际上对数控机床采用直线电机显得特别热门，其原因是：为了提高生产效率和改善零件的加工质量而发展的高速和超高速加工现已成为机床发展的一个重大趋势，一个反应灵敏、高速、轻便的驱动系统，速度要提高到40～50m/min以上。

传统的“旋转电机滚珠丝杠”的传动形式所能达到的最高进给速度为30m/min，加速度仅为3m/s2。

直线电机驱动工作台，其速度是传统传动方式的30倍，加速度是传统传动方式的10倍，最大可达10g；刚度提高了7倍；直线电机直接驱动的工作台无反向工作死区；由于电机惯量小，所以由其构成的直线伺服系统可以达到较高的频率响应。

1993年，德国ZxCell-O公司推出了世界上第一个由直线电机驱动的工作台HSC-240型高速加工中心，机床主轴最高速达到24000r/min，最大进给速度为60n/min，加速度达到1g，当进给速度为20m/min 时，其轮廓精度可达0.004mm。

美国的Ingersoll公司紧接着推出了HVM-800型高速加工中心，主轴最高转速为20000r/min，最大进给速度为75.20m/min。

Parker Hannifin 电机制动分布式线性滑动平台说明书

Contents62-63Overview64-67 1.25” (31,8 mm) Wide or Less 68-73 1.75” (44,5 mm) Wide 74-79 2.62” (66,5 mm) Wide 80-83 5.00” (127,0 mm) Wide 84-86 6.00” (152,4 mm) Wide 87-88Performance Curves61positions the slide top along the linear axis.Ball Bearing Positionersminiature and standardBall Bearing PositionersParker Hannifin CorporationElectromechanical Automation DivisionIrwin, Pennsylvania62Miniature and Standard Size Ball Bearings PositionersBall Bearing Positioner Design PrinciplesParker Daedal precision linear stages provide controlled, precise point-to-point positioning along a linear axis. Stages are comprised of two basic components: a precision linear ball slide which serves as a linear bearing and guide, and a drive mechanism which accurately moves and positions the slide top along the linear axis.Three types of drive mechanisms are available: a fine screw, a micrometer, and a differential screw. The fine screw is used for fine resolution positioning. The micrometer is used whenever a position readout is required. The differential screw is used for applications requiring extremely fine resolution positioning. Ball bearing positioning stages are available in a straight stage/drive configuration as well as a side-drive configuration.The linear positioner operates in a simple manner: a bracket which supports the drive screw is attached to the slide base. The end of the drive screw rests against the end of the moveable top. There are two extended springs “pulling” the slide top toward the screw so that the top will always be held firmly against the screw end. When the screw is turned clockwise, it advances and pushes the slide top along the linear axis. When turned counter clockwise, the screw retracts and the slide top follows because of the spring pressure holding the top against the screw end. The result is a very smooth linear motion, accurately controlled by rotation of the drive mechanism.Standard FeaturesExacting manufacturing techniques, combined withdemanding quality control standards, permit Parker Daedal to offer precision stages of unsurpassed quality. Selection can be made easily, based on required travel, load, and mounting surface requirements. Stages are available in single or multi-axis configurations (XY , XZ, and XYZ), and all have built-in quality features including:• Aluminum top and base and stainless steel bearings • Low friction linear adjustment with no backlash or side play • Factory preloaded to provide dynamic stability and minimum runout• Both top and bottom mounting surfaces are precision machined to provide flat mounting surfaces• Locking screw to positively lock stage without affecting position (standard on most models)• Straight line accuracy of 0.00008 in/in of travel• Selectable drive mechanisms: Micrometer (Imperial or metric), Fine screw (64 pitch), Differential screw, Digital micrometers (Imperial and Metric)Digital MicrometersThe 1.0” (25 mm) travel micrometer provides an LCD readout to 0.00005 in (0,001 mm) resolution and features incremental and/or absolute positioning modes andautomatic shutdown to conserve the integral battery. The battery will power the unit for 500 hours of use. The 2.0” (51 mm) micrometer is accurate to ±0.0001 in (±2 microns) with a resolution and LCD reading to 0.00005 in (1 micron). The batteries will power the unit up to 500 hours.How to OrderUse the overview chart on the following page to select the appropriate ball bearing positioner. Refer to the individual specifications page for complete performance andmechanical specifications. To order ball bearing positioners, use the model number corresponding to the specific size and travel length selected. A variety of modifications tostandard models are available to meet custom requirements. Contact our application engineering department with your design specifications .Parker Hannifin CorporationElectromechanical Automation Division Irwin, Pennsylvania63B a l l B e a r i n g P o s i t i o n e rsSelectionBall Bearing PositionersParker Hannifin CorporationElectromechanical Automation DivisionIrwin, Pennsylvania84Imperial Metric T aT bImperial Models – 1/4” S.H.C.S.Metric Models – M6 S.H.C.S.Standard ThimbleLarge Thimble4900/M4900 SeriesTravel:1.0 –2.0 in25 – 50 mmSize: WidthLength (mid-travel) Height6.00 in 9.59 – 11.11 in 2.00 in 152,4 mm243,6 – 282,2 mm 50,8 mm Load:NormalThrust T a (Std. thimble) Thrust – T b (Std. thimble) Thrust T a (Std. thimble) Thrust – T b (Std. thimble) Moment – Yaw, Pitch, Roll100 lbs 30 lbs 3.0 lbs 50 lbs 3.0 lbsSee page 8845 kg 13,6 kg 1,36 kg 23,0 kg 1,36 kg See page 88Straight line accuracy:0.00008 in/in of travel 2 µm/25 mm of travel Micrometer graduations: Standard thimble Large thimble0.001 in 0.0001 in0,01 mm 0,001 mm Weight:7 lbs/axis1,4 kg/axisConstruction:Aluminum top and base/ 440C stainless steel bearings Mounting surface:Precision machined Finish:Black anodizeI m p e r i a lImperial Micrometer2.0 in 4915 5.11 4911 5.94 Metric Micrometer25 mm 49163.5949124.44Large thimble (left) and standard thimble with optional position lock (right). To order the optional lock, add -L to the model number selected from the chart below.Dimensions in (mm)Parker Hannifin CorporationElectromechanical Automation Division Irwin, Pennsylvania85B a l l B e a r i n g P o s i t i o n e rs4900-DM/M4900-DM SeriesSpecifications Imperial Metric Travel:2.0 in 50 mm Size: WidthLength (mid-travel) Height6.00 in 13.93 in 2.00 in 152,4 mm 353,8 mm 50,8 mm Load:Normal Thrust T a Thrust – T bMoment – Yaw, Pitch, Roll100 lbs 50 lbs 3.0 lbsSee page 8845 kg 23,0 kg 1,36 kg See page 88Straight line accuracy:0.00008 in/in of travel 2 µm/25 mm of travel Micrometer graduations: Large thimble0.0001 in0,001 mm Weight:7 lbs/axis 3,2 kg/axis Z-Axis bracket options: (See page 124-127)4990-04M4990-04Construction:Aluminum top and base/ 440C stainless steel bearings Mounting surface:Precision machined Finish:Black anodizeModel*Imperial 4911-DM MetricM4911-DMDigital micrometer positioner shown with optional position lock. To order the optional lock, add -L to the modelnumber selected from the chart below.Qty. (4) C'Bored Mtg. Holes (Base) for:Imperial Models – 1/4” S.H.C.S.Metric Models – M6 S.H.C.S.Imperial MetricDimensions in (mm)* Add -L to model number for optional position lock.Ball Bearing PositionersParker Hannifin CorporationElectromechanical Automation DivisionIrwin, Pennsylvania86No Imperial Readout Model*MetricReadout Model*Travel in (mm)Load lbs (kg)Weight lbs (kg)Dimensions – in (mm)Qty F Qty G A B C D E I m p e r i a l4945-044955-044965-04 4.0100 4.0 6.00 5.00———644945-064955-064965-06 6.0154 6.09.00 5.00 1.50 1.50—1084945-084955-084965-088.02058.012.00 5.00 3.00 2.50—1084945-104955-104965-1010.024310.015.00 6.00 4.00 2.50 2.001484900/M4900 SeriesTravel: 4.0 – 12.0 in 100,0 – 300,0 mm Size: Width Length Height6.00 in 9.39 – in 2.00 in 152,4 mm mm 50,8 mm Load:Normal Thrust T a Thrust – T bMoment – Yaw, Pitch, Roll100 – 294 lbs 30 lbs 30 lbsSee page 8845 – 133 kg 13,6 kg 13,6 kg See page 88Straight line accuracy:0.00008 in/in of travel 2 µm/25 mm of travel Readout graduations:0.001 in 0,01 mm Weight:4 – 12 lbs/axis 1,8 – 5,4 kg/axisZ-Axis bracket options: (See page 124-127)4990-04/-12M4990-04/-12Construction:Aluminum top and base/ 440C stainless steel bearings Mounting surface:Precision machined Finish:Black anodizeMetric Models – (125,0)With Readout Models:4955, 4965M4955, M4965No Readout Models:4945M4945Imperial Models – 1/4” S.H.C.S.Metric Models – M6 S.H.C.S.Imperial Models – 2.50Metric Models – (62,5)T aT bLeadscrew drive positioner with readout (left); positioner with no readout and optional position lock (right). To order the optional lock, add -L to the model number selected from the chart below.Dimensions in (mm)Parker Hannifin CorporationElectromechanical Automation Division Irwin, Pennsylvania87B a l l B e a r i n g P o s i t i o n e r sBall Bearing Positioners Parker Hannifin CorporationElectromechanical Automation DivisionIrwin, Pennsylvania88Contents124-127Z-Axis Brackets 128-129Micrometer Heads 130-132Optical Mounts123mounts and optical cells are also available.Accessoriesfor linear and rotary positionersAccessoriesParker Hannifin Corporation Electromechanical Automation DivisionIrwin, Pennsylvania124Z-Axis BracketsDimensions – in (mm)Thd. N Model A B C D E F G H J JK L M I m p e r i a l3909 1.25 1.25 0.25 1.38 0.250.1560.620.190.380.880.440.88#4-403959 1.25 1.250.25 1.380.250.1560.620.190.040.880.440.88#4-404009 1.75 1.690.25 1.88—0.1560.880.310.63 1.12— 1.12#6-324509 2.44 2.620.38 2.75—0.218 1.220.310.93 2.00— 2.00#10-32M e t r i c M3909(31,8)(31,8)(6,4)(35,1)(6,4)(4,0)(15,7)(5,9)(9,7)(20,0)(10,0)(20,0)M3M3959(31,8)(31,8)(6,4)(35,1)(6,4)(4,0)(15,7)(5,9)(1,0)(20,0)(10,0)(20,0)M3M4009(44,5)(42,9)(6,4)(47,8)—(4,8)(22,4)(7,3)(16,0)(30,0)—(30,0)M4M4509(62,0)(66,5)(9,7)(69,9)—(7,3)(31,0)(8,4)(23,6)(50,0)—(50,0)M6Dimensions – in (mm)Model A B C D E F Imperial3910 1.580.880.190.440.380.313960 2.33MetricM3910(40,1)(20,0)(5,9)(12,3)(7,1)(6,4)M3960(59,2)Dimensions – in (mm)Model A B C Imperial4010 1.120.31 1.12MetricM4010(30,0)(7,1)(30,0)3910, 3960 M3910, M3960Parker Hannifin CorporationElectromechanical Automation Division Irwin, Pennsylvania125A c c e s s o r i e sDimensions – in (mm)Model A B C D Imperial 4059 1.120.680.380.16MetricM4059(30,0)(16,8)(8,8)(4,8)Dimensions – in (mm)Model A B C D Imperial4059A 1.120.680.620.16MetricM4059A(30,0)(16,8)(15,2)(4,8)Dimensions – in (mm)Model A B C Imperial4510 2.00 2.00 1.00MetricM4510(50,0)(50,0)(25,8)Dimensions – in (mm)Model A B Imperial 4060 1.13 1.13MetricM4060(30,0)(30,0)AccessoriesParker Hannifin Corporation Electromechanical Automation DivisionIrwin, Pennsylvania126Dimensions – in (mm)Model A B C D E Imperial 4499 4.00 1.62 2.88 2.000.50MetricM4499(100,0)(40,5)(71,4)(50,0)(13,1)Dimensions – in (mm)Model A B Imperial4560 2.00 2.00MetricM4560(50,0)(50,0)Dimensions – in (mm)Model A B C D Imperial 4559 2.000.810.440.22MetricM4559(50,0)(20,9)(11,5)(5,5)Parker Hannifin CorporationElectromechanical Automation Division Irwin, Pennsylvania127A c c e s s o r i e sDimensions – in (mm)Model A B C D E F GH J I m p e r i a l4990-02 6.00 1.50– 4.002 5.50 1.00 4.00 1.004990-048.12 2.62– 5.002 6.50 1.00 5.00 1.004990-0612.12 5.12 1.5 5.004 6.50 1.00 5.00 1.004990-0817.128.62 3.0 5.004 6.75 1.25 5.00 1.504990-1020.5010.00 4.0 6.004 6.75 1.25 5.00 1.504990-1224.1211.62 5.07.004 6.50 1.00 5.00 1.00M e t r i c M4990-02(152,4)(38,9)–(100,0)2(139,7)(26,2)(100,0)(25,4)M4990-04(206,2)(67,6)–(125,0)2(165,1)(26,4)(125,0)(25,4)M4990-06(307,8)(131,2)(37,5)(125,0)4(165,1)(26,4)(125,0)(25,4)M4990-08(434,8)(220,0)(75,0)(125,0)4(171,5)(32,8)(125,0)(38,1)M4990-10(520,7)(255,2)(100,0)(150,0)4(171,5)(32,8)(125,0)(38,1)M4990-12(612,6)(296,6)(125,0)(175,0)4(171,5)(32,8)(125,0)(38,1)AccessoriesParker Hannifin CorporationElectromechanical Automation DivisionIrwin, Pennsylvania1289510-9530 Series Micrometer HeadsParker Daedal micrometer heads are recommended for any application requiring micrometer accuracy in settings and adjustment. These units feature a hardened and ground spindle, easy-to-read graduations, and an attractive non-glare satin chrome finish.Model NumberFigure Travel in (mm)Graduations in (mm)Dimensions – in (mm)A B C D I m p e r i a l9511EA 0.500.001 2.030.500.187—9512EB 0.500.001 2.630.500.3750.549524E B 1.000.0014,230.750.6250.739526E B 2.000.001 6.16 1.250.6250.739531EC 1.000.0001 5.180.940.56—9532E C 2.000.00017.18 1.440.56—M e t r i c9511M A (13)(0,01)(51,6)(13,0)(4,7)—9512M B (13)(0,01)(66,8)(13,0)(9,5)(13,7)9524M B (25)(0,01)(107,4)(19,0)(15,9)(18,5)9526M B (50)(0,01)(156,5)(32,0)(15,9)(18,5)9531M C (25)(0,002)(131,6)(23,9)(14,2)—9532MC(50)(0,002)(182,4)(36,6)(14,2)—(mid-travel)9531E, 9532E 9531M, 9532MFigure CLarge Thimble MIcrometer Head 9512E, 9524E, 9526E 9512M, 9524M, 9526MFigure BStandard Thimble MIcrometer Head 9511E 9511MFigure AMini Thimble MIcrometer HeadParker Hannifin CorporationElectromechanical Automation Division Irwin, Pennsylvania129A c c e s s o r i e s9550 Series Digital Micrometer HeadsModel 9551The 9551 precision electronic digital micrometer head provides an LCD readout to 0.00005 inch resolution. The micrometer features:• Incremental and/or absolute positioning modes• Zero set at any position, inch and millimeter readout (0.001 mm resolution), display hold, and automatic shutdown after two hours to conserve the integral battery• 1.00 inch micrometer travel• Battery powered for 500 hours of useModel 9552The 9552 precision electronic digital micrometer offers a 0 – 2 inch travel range with a 0.00005 inch resolution. Features include:• 2 inch spindle• Display face swivels for easy reading at various angles • Non-rotating spindle• Pre-set, zero, and inch/mm • Carbide tipped measuring face•Battery powered for 5,000 hours of use9560 Series Differential ScrewsModel 9560: 0.75 in RangeThe 9560 differential screw offers two linear adjustment ranges in one unit: a coarse adjustment range of 0.31 in (8 mm) with a 48-pitch thread and a fine adjustment range of 0.078 in (2 mm) with a pitch equal to 336 threads per inch. The 9560 is interchangeable with 9511 – 9532 series micrometer heads.9570 Series Fine Adjsutment ScrewsModel 9570: 0.75 in Range Model 9575: 0.50 in RangeThese steel adjustment screws feature a 64-pitch thread, making them ideal for applications where finer resolution is required, but positional readout is not. These screws are easily interchanged with the 9511 – 9532 seriesmicrometer heads.AccessoriesParker Hannifin CorporationElectromechanical Automation DivisionIrwin, Pennsylvania130Optical Cell MountsModel 2350: 6.0” Diameter Model 2355: 7.0” Diameter Model 2360: 8.0” Diameter Model 2365: 9.0” DiameterParker Daedal optical mounts are highly stable, adjustable mounts for optics up to 9” in diameter and 1.25” thick. These mounts feature precise kinematic ball pivot adjustment on two axes, with orthogonal three-point suspension.Specifications2350235523602365Optic Size Opening – in (mm) Dimension “A” Dia. max.: Thickness: 6.03 (153,1)1.00 (25,4)7.06 (179,3)1.25 (31,75)8.06 (204,7)1.25 (31,7)9.06 (230,1)1.25 (31,7)Optic Retention:Threaded retainer3 mounting clips3 mounting clips3 mounting clipsRange:5°5°5°5°Resolution:0.5 arc-sec 0.5 arc-sec 0.5 arc-sec 0.5 arc-sec Adjustment: 2 – 64-pitch screws 3 – 32-pitch screws3 – 32-pitch screws3 – 32-pitch screwsWeight: 7.5 lb (16,5 kg)20 lb (44 kg)20 lb (44 kg)20 lb (44 kg)Construction:Aluminum/stainless steelFinish:Black anodizeParker Hannifin CorporationElectromechanical Automation Division Irwin, Pennsylvania131A c c e s s o r i e sOptical Cell MountsModel 2370/2371: 10.0” Diameter Model 2375/2376: 11.0” Diameter Model 2380/2381: 12.0” DiameterParker Daedal optical mounts are highly stable, adjustable mounts for optics up to 12” in diameter and 2.0” thick. These mounts feature precise kinematic ball pivot adjustment on two axes, with orthogonal three-point suspension. Solid back models are designed to support reflective optics.AccessoriesParker Hannifin CorporationElectromechanical Automation DivisionIrwin, Pennsylvania132Mirror MountsModel 5000/5100: 3.0” Square Mounting Surface Model 5300/5700: 4.5” Square Mounting Surface Model 5800/5900: 6.0” Square Mounting SurfaceParker Daedal mirror mounts are patterned with 1/4-20 holes on 0.5” or 1.0” centers to mount mirrors and other hardware. All models except the 5800 have two fineresolution 64-pitch adjustment screws to provide precise tilting of the mounting surface in two axes. The 5800 is equipped with three adjustment screws to provide precise tilting in two axes.Dimensions – in (mm)Model ABDDEFG5000 2.00 (50,8) 3.00 (76,2)0.75 (19,1) 2.00 (50,8) 3.75 (95,3) 2.00 (50,8) 3.50 (88,9)5300 3.00 (76,2) 4.50 (114,3) 1.25 (31,8) 4.00 (101,6) 4.50 (114,3) 2.88 (73,2) 5.12 (130,1)51000.69 (17,5) 3.00 (76,2) 1.50 (38,1) 2.25 (57,2) 2.00 (50,8) 3.50 (88,9)0.25 (6,4)57000.69 (17,5) 4.50 (114,3) 3.00 (76,2) 3.75 (95,3) 2.88 (73,2) 5.12 (130,1)0.25 (6,4)59000.88 (2,4)6.00 (152,4)4.00 (101,6)5.38 (136,7)3.25 (82,6)6.25 (158,8)0.31 (7,9)Parker Hannifin CorporationElectromechanical Automation Division Irwin, Pennsylvania133E n g i n e e r i n g R e f e r e n c eTravelThe travel listed is the total travel of the positioner from hard stop to hard stop.Bearing Load CapacityNormal LoadThis is the maximumdownward (compression) load or force which can be applied to the positionerof the load must be located in the center ofthe mounting surface. For loads which are offset from thisInverted Loaddirection.Moment LoadThis refers to forces which are offset (cantilevered) from the bearingproducing uneven loading on themeans that some bearings are supporting more of the load than others. For this reason it is very important to determine if the moment loading for a given positioner is within acceptable limits. These moment forces are categorized by the direction they act in Pitch, Roll or Yaw; see diagram at left. When loading results in moments acting in only one of the moment directions (pitch, roll or yaw) it is called a single direction moment. Examples of this type of loading are shown below. How to calculate the maximum allowable moment load is discussed on the following page.Thrust CapacityThrust capacity is or load which can be applied in thecomponents.T a and T b Fine Screw and Differential Screw DrivesWith these types of drives the mounting surface or stage carriage is pressed against the drive mechanism by means of a spring. Because of this the maximum thrust which the stage assembly can maintain is different when pressing toward the spring or away from it. When pressing toward the spring, the force is taken up by the drive mechanism (i.e. micrometer). While pulling away, the force is being held in place by the spring. Stages with this type of mechanism have two thrust capacity specifications (T a and T b ). Tarefers to the load capacity against the micrometer and Tb is the spring load capacity. Refer to specific product drawings for load direction.Screw Drive Thrust CapacityStages which use screw drive assemblies will only have one thrust capacity rating. This rating is for either direction of travel.Straight Line and Flatness AccuracyThis is the amount of error a linear positioner deviates from an ideal straight line. The straight line accuracy is the error in the horizontal plane while flatness is the error in the vertical are measured at the moving carriage surface center.Engineering ReferenceParker Hannifin CorporationElectromechanical Automation DivisionIrwin, Pennsylvania134Calculating Maximum Allowable Moment Loads on Linear Slides and StagesTo determine if a load or force is within acceptable moment load ranges follow the steps below:1. Calculate maximum load and or force which will be applied to the positioner. Include brackets and other axes which are mounted to the positioner.2. Locate the center of gravity of the load.3. Determine if there is a single or compound moment.4. Measure the distance from the center of force or C.G. to the center of the linear stage carriage. This is the moment arm length and is designated A s for single direction moments and A c for compound moments.5. Locate the moment load graph for the positioner you are interested in (located in back of individual product section, esee example below). The X axis of the graph is the Force, the Y axis is the allowable moment arm A s for single direction moments.6. Locate the moment curve(s) which your load is acting in (pitch, roll or yaw).7. Locate your load force on the X axis of the graph.8. Draw a vertical line from the Force location on the X axis parallel with the Y axis.9. Find the moment arm distance on the Y axis. Draw a horizontal line from this point parallel with the X axis until the vertical and horizontal lines intersect.10.If the intersection point is below the moment curve in question then the stage is within acceptable limits. If the intersection point is above the moment curve, a positioner with a larger normal load capacity should be selected and the above steps repeated.Yaw & PitchRollForce (N)Moment Arm(mm)4500 / M45004500-DM / M4500-DM050100150200250300350050100150。

C3 2 产品详述

C3S Construction
M00 None M11 HEDA M12 Additional 12 I/O M10=M11+M12
I20 Profibus-DP I21 CANopen I22 DeviceNet I30 PowerLink I31 EtherCAT
2 选件板
8
Compax3
Compax3S
LEDs 状态灯 X1 交流电源 X2 制动电阻 X10 RS232/485 接口 X11 模拟量/编码器
X3 电机/制动抱闸 X12 8 digital Inputs 4 digital Outputs X4 24V 控制电压安全设置 X13 电机反馈
散热片
功率板
2 选件板电路板
7
Compax3
Power Range
驱动单元:
输入电压: 600V DC 额定电流 / 峰值电流 **: C3M 050 D6 C3M 100 D6 5 A / 10 A 10 A / 20 A
C3M 150 D6
C3M 300 D6
14
15 A / 30 A
30 A / 60 A * 峰值功率 5s ** 峰值电流 5s
C3M Construction
Device bottom side
保护地
Hale Waihona Puke X43 Motor/ Brake 电机屏蔽接头风扇功率模块
13
Compax3
Compax3M multi-system
供电模块:
主电源: 3 * 400V AC 额定功率 / 峰值功率*: PSU P10 D6 10 kW / 20 kW PSU P20 D6 20 kW / 40 kW

浦克尔（Parker）电机驱动系列FL20系列产品说明说明书

Power Range 2Parker FL20 SeriesServo drive · motorWARNING — USER RESPONSIBILITYFAILURE OR IMPROPER SELECTION OR IMPROPER USE OF THE PRODUCTS DESCRIBED HEREIN OR RELATED ITEMS CAN CAUSE DEATH, PERSONAL INJURY AND PROPERTY DAMAGE.• This document and other information from Parker-Hannifi n Corporation, its subsidiaries and authorized distributors provide product or system options for further investigation by users having technical expertise.• The user, through its own analysis and testing, is solely responsible for making the fi nal selection of the system and components and assuring that all performance, endurance, maintenance, safety and warning requirements of the application are met. The user must analyze all aspects of the application, follow applicable industry standards, and follow the information concerning the product in the current product catalog and in any other materials provided from Parker or its subsidiaries or authorized distributors.• To the extent that Parker or its subsidiaries or authorized distributors provide component or system options based upon data or specifi cations provided by the user, the user is responsible for determining that suchdata and specifi cations are suitable and suffi cient for all applications and reasonably foreseeable uses of the components or systems.Parker FL20 SeriesServo drive · motorFL20 Servo DriveDrive overview (5)Technical characteristics (6)Drive component (8)Terminal details (10)Wiring diagram (13)Connection to Peripheral Devices (14)Typical main circuit wiring (15)Ordering code - Drive (16)Drive dimensions (18)Servo MotorServo motor overview (22)Ordering code - Motor (23)Technical characteristics (24)Motor dimensions (27)Accessories (32)Parker FL20 Series Servo drive · motorGlobal Product DesignParker Hanniﬁn has more than 40 years experience in the design and manufacturing of drives, controls, motors and mechanical products. With dedicated global productdevelopment teams, Parker draws on industry-leading technological leadership and experience from engineering teams in Europe, North America and Asia.Local Application Expertise Parker has local engineering resources committed to adapting and applying our current products and technologies to best ﬁt our customers’ needs.Manufacturing to Meet Our Customers’ NeedsParker is committed to meeting the increasing service demands that our customers require to succeed in the global industrial market. Parker’s manufacturing teams seek continuous improvement through the implementation of lean manufacturing methods throughout the process. We measure ourselves on meeting our customers’ expectations of quality and delivery, not just our own. In order to meet these expectations, Parker operates and continues to invest in ourmanufacturing facilities in Europe, North America and Asia.Parker HannifinThe global leader in motion and control technologiesWuxi, China Littlehampton, UK Charlotte NC, USA Chennai, IndiaJangan, KoreaParker provides sales assistance and local technical support through a network of dedicated sales teams and authorized technical distributors.For contact information, please refer to the Sales Offices on the back cover of this document or visit Electromechanical Worldwide Manufacturing Locations EuropeLittlehampton, United Kingdom Dijon, FranceOffenburg, Germany Filderstadt, Germany Milan, Italy AsiaWuxi, China Jangan, Korea Chennai, IndiaNorth AmericaRohnert Park, California Irwin, PennsylvaniaCharlotte, NorthCarolina NewUlm, MinnesotaParker FL20 SeriesServo drive · motorOverviewDescriptionFL20-S Series Servo Drives is a high performance drive particularly suitable for Film Line and similarapplications. It has a 1.2kHz frequency response with a full closed loop functionality. The feedback options are incremental encoder, absolute encoder and resolver.The FL20-S has in-built RS485/232 port for PC monitoring. It also has CANopen and EtherCATcommunication as options. The Parker PAC controller with its EtherCAT communication can be used as a complete solution for applications that need a controller as well as servo drives and motors.FL20C is the in built EtherCAT version of the FL20S. The I/Os are optimized as most of the commands would be through the EtherCAT communication.Features• Flexibility• Full closed loop control or multi-position control or interrupted position control • Gantry synchronization • Gain switchingFaster• Frequency response 1.2kHz • Dual-core processors • 23-bit absolute encoderPowerful• Built-in PLC Function• Pulse command Frequency up to 4Mhz • RS485/232, CANopen, EtherCAT• RS485/232 interface connected to PC SoftwareFL20 series Servo Drives for Film Line ApplicationsTechnical CharacteristicsParker FL20 SeriesServo drive · motorTechnical CharacteristicsFL20-S Servo Drive SpecificationsParker FL20 SeriesServo drive · motor Technical CharacteristicsFL20-C Servo Drive SpecificationsParker FL20 Series Servo drive · motorDrive ComponentInput Signal for FL20-S DrivesCharging IndicatorThe LED will light up when incoming poweris given. The DC Link capacitors will retain charge for some time even if power is turnedoff. Do not attempt to touch the power terminals as long as this LED is ‘ON”.Main Power InputOperator PanelSerial Communication Port (CN1)PC, PLC, CNC and other host controllerEncoder Interface (CN2)Connected with the servo motorInput and output signal (CN3)Command input, the monitor signal output terminal.Ground Connection.Must connect to ground at all times to avoid electric shock.Control Power InputBraking resistor connectionDC Reactor ConnectionServo Motor Connection1) 2connected power supply.2) 3forbidden to connect.1 phase 220V .Parker FL20 Series Servo drive · motorDrive ComponentInput Signal for FL20-C DrivesThe LED will light up when incoming poweris given. The DC Link capacitors will retain charge for some time even if power is turnedoff. Do not attempt to touch the power terminals as long as this LED is ‘ON”.Main Power InputOperator PanelSerial Communication Port (CN1)PC, PLC, CNC and other host controllerEncoder Interface (CN2)Connected with the servo motorInput and output signal (CN3)Command input, the monitor signal output terminal.Ground Connection.Must connect to ground at all times to avoid electric shock.Control Power InputBraking resistor connectionDC Reactor ConnectionServo Motor Connection1) 2connected power supply.2) 3forbidden to connect.1 phase 220V .Parker FL20 Series Servo drive · motorCN2 Terminal DefinitionFigure: From the wire side to drive side lookFigure: From the wire side to drive side lookTerminal DetailsCN1 Terminal DefinitionFigure: CN1 terminal definition (from the wire side to drive side view)Parker FL20 Series Servo drive · motorTerminal DetailsCN3 Terminal Definition for FL20-S Drives12Parker FL20 Series Servo drive · motorOther SignalCommunication PortTerminal DetailsCN3 Terminal Definition for FL20-C DrivesParker FL20 SeriesServo drive · motor Wiring diagramConnected to the shell1314Parker FL20 Series Servo drive · motor伺服电机PC ,PLC ORcommunication Servo motorConnection to Peripheral Devices(1 phase 220V, only L1 and L3 should be connected.)15Parker FL20 Series Servo drive · motorTypical main circuit wiringFor 220V servo driveFor 380V servo driveNote)For 220V input servo drive, L1C and L2C should be connected to power supply.For 220V single phase connect to L1 and L3.For 380V input servo drive, L1C and L2C are forbidden to connectPanel16Parker FL20 Series Servo drive · motorOrdering CodeFL20-S Series DriveNote)-EtherCAT, CANopen communication cards1.0kW, M2 Frame 152 T3 M2 1.5kW, M2 Frame 202 T3 M32kW, M3 Frame 302 T3 M33kW, M3 Frame 452 T3 M3 4.5kW, M3 Frame 552 T3 M3 5.5kW, M3 Frame 752 T3 MM47.5kW, MM4 Frame 113 T3 MM411kW, MM4 Frame 153 T3 M415kW, M4 Frame 183 T3 M518kW, M5 Frame 223 T3 M522kW, M5 Frame 303 T3 M630kW, M6 Frame 373 T3 M637kW, M6 FrameB3Built in Brake Unit + Dynamic Brake Note) - F or build in and external resistors details please 48 x 175 x 195B3(no braking resister)M275 x 175 x 195B1, B3M3100 x 203 x 218B1, B3M3(5.5kW)100 x 203 x 218B1MM4150 x 336 x 203B1(no braking resister)M4185 x 380 x 215B1(no braking resister)M5210 x 420 x 215B1(no braking resister)M6268.4 x 498 x 234B1(no braking resister)Note)- Specification subject to change without notice.Optional Communication CardParker FL20 SeriesServo drive · motor Ordering CodeFL20-C Series Drive202 T3 M32kW, M3 Frame 302 T3 M33kW, M3 Frame 452 T3 M3 4.5kW, M3 Frame 552 T3 M3 5.5kW, M3 Frame 752 T3 MM47.5kW, MM4 Frame 113 T3 MM411kW, MM4 Frame 153 T3 M415kW, M4 Frame 183 T3 M518kW, M5 Frame 223 T3 M522kW, M5 Frame 303 T3 M630kW, M6 Frame 373 T3 M637kW, M6 Frame B3Built-in Brake Unit + Dynamic Brake Note)- F or build in and external resistors details pleaseM148 x 175 x 195resistor)M275 x 175 x 195B1, B3M3100 x 203 x 218B1, B3M3(5.5kW)100 x 203 x 218B1MM4150 x 336 x 203B1(No built-in brakingresistor)M4185 x 380 x 215B1(No built-in brakingresistor)M5210 x 420 x 215B1(No built-in brakingresistor)M6268.4 x 498 x 234B1(No built-in brakingresistor)Note)- Specification subject to change without notice.17Parker FL20 SeriesServo drive · motorDrive Dimensions M1 Frame dimensionsM2 Frame dimensions18Parker FL20 SeriesServo drive · motor M3 Frame dimensionsMM4 Frame dimensions1920Parker FL20 Series Servo drive · motorDrive DimensionsM5 Frame dimensionsParker FL20 SeriesServo drive · motorM6 Frame dimensions2122Parker FL20 Series Servo drive · motorServo motorOverviewDescriptionServo motor is the latest development of a high-performance motor to meet the customer‘s requirement and the needs of actual market; supports wiring flexible, cost-effective standard AC servo position system.Servo motor nameplateMotor Current Rated Grade GradeRated Installation Product No.MA102F67EDM74211009038TYPE : FMMA-102F67ED FM17 - 0110R6EEDFLTH. CI .F IP54 No. :Rated Power : 11 kW Magnetic Field Angle :Production Date :AC permanent magnetic synchronous servo motorRated voltage : 380 V Rated Current : 23 A Speed : 1700 r/min Fan Voltage: 220 VRated Torque : 64 N·M M = 5 Nm23Parker FL20 Series Servo drive · motorOrdering CodeServo Motor (for 180 Flange and less)Servo Motor (for 180 and 250 spigot motor)R Resolver F 14-core 2500 ppr Incremental encoder G 8-core 2500 ppr Incremental encoder H 4-core 23-bit Incremental encoder S 4-core 17-bit Absolute encoder T4-core 23-bit Absolute encoderResolver F 14-core 2500 ppr Incremental encoder G 8-core 2500 ppr Incremental encoder H 4-core 23-bit Incremental encoder S 4-core 17-bit Absolute encoder T4-core 23-bit Absolute encoderSmooth shaft with C hole DKeyway shaft with C holeNote)The servo motors are used for both 220V and 380V .Parker FL20 SeriesServo drive · motorTechnical CharacteristicsServo Motor Specifications (220V – Incremental, Absolute Encoder and Resolver)Note)• These part numbers are based on Incremental Encoder Type.• Three-phase AC servo motor type permanent magnet synchronous motor, natural cooling, protection class IP65.• The matched servo drive and motor can work with the most situation. But for some special situation, please contact to Parker sales team.24Parker FL20 SeriesServo drive · motor Servo Motor Specifications (380V – Incremental, Absolute Encoder and Resolver)Note)• These part numbers are based on Incremental Encoder Type.• Three-phase AC servo motor type permanent magnet synchronous motor, natural cooling, protection class IP65.• The matched servo drive and motor can work with the most situation. But for some special situation, please contact to Parker sales team.2526Parker FL20 Series Servo drive · motorServo Motor Specifications (380V – Incremental, Absolute Encoder and Resolver)Note)• These part numbers are based on Incremental Encoder Type.• On behalf of the motor shaft extension brake category, please refer to [naming rules servo motor] in this manual.• The matched servo drive and motor can work with the most situation. But for some special situation, please contact to Parker sales team.27Parker FL20 Series Servo drive · motorMotor DimensionsServo motor60 Flange80 FlangeTolerance grade not noted refer to GB/T 1804-2000-Mencoder plugencoder plug28Parker FL20 Series Servo drive · motorMotor DimensionsServo motor110 FlangeTolerance grade not noted refer to GB/T 1804-2000-MWaterproof rubber cover of aviation plug29Parker FL20 SeriesServo drive · motor130 FlangeWaterproof rubber cover of aviation plugTolerance grade not noted refer to GB/T 1804-2000-M30Parker FL20 Series Servo drive · motorMotor DimensionsServo motor180 Flange MotorWaterproof rubber cover ofaviation plugTolerance grade not noted refer to GB/T 1804-2000-M31Parker FL20 SeriesServo drive · motorFM15, FM17, FM20 series, Air-coolingNote)• 1-phase 220V power supply of 50 /60 Hz is usable for servomotor fan. • Green terminal definition: K-220VAC, L-220VAC, M-PE.Parker FL20 SeriesServo drive · motorAccessoriesFeedback Cable• Absolute Encoder Cable (Maximun length : 30m)2) Encoder cable with L aviation plug（(applicable for 110, 130 and 180 flange servo motor)1) Encoder cable with DB plug（(applicable for 80 flange and below 80 flange servo motor)32Parker FL20 SeriesServo drive · motor • Resolver Feedback Cable (Maximun length : 30m)2) Feedback cable with I aviation plug (applicable for servo motor with base No. E, F)Control Cable• Control cable (Maximum length : 30m)Note)33• ZL4-4PO-XXX is single strand cable, grounding cable is yellow-green cable of 2.5 mm2.Parker FL20 SeriesServo drive · motorAccessoriesCommunication Cable• EtherCAT cable (Maximum length : 30m)Power Cable(Servo motor power line form L- Plug power line (for 800W of Servo motors), Maximum length : 30m)[ 220V Servo Motor Power cable ]Note)• HK4A cable is suitable for flange below 180 with aviation plug.• HK4B is suitable for 180 flange with aviation plug.• The unit of length is m.34Parker FL20 SeriesServo drive · motor[ 380V Servo Motor Power cable ]Note)• HK4A cable is suitable for flange below 180 with aviation plug.• HK4B is suitable for 180 flange with aviation plug.• The unit of length is m.35Parker FL20 SeriesServo drive · motorAccessoriesPower Cable(Servo motor power line form L- Plug power line (for 800W of Servo motors), Maximum length : 30m)[ 380V Servo Motor Power cable for >180Frame ]36MemoMemoAerospaceKey MarketsAftermarket services Commercial transports EnginesGeneral & business aviation Helicopters Launch vehicles Military aircraft MissilesPower generation Regional transportsUnmanned aerial vehiclesKey ProductsControl systems & actuation products Engine systems & componentsFluid conveyance systems & componentsFluid metering, delivery & atomization devicesFuel systems & components Fuel tank inerting systems Hydraulic systems & componentsThermal management Wheels & brakesElectromechanicalKey MarketsAerospaceFactory automation Life science & medical Machine toolsPackaging machinery Paper machineryPlastics machinery & converting 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It means looking at customer applications from many angles to find new ways to create value. What-ever the motion and control technology need, Parker has the experience, breadth of product and global reach to consistently deliver. No company knows more about motion and control technol-ogy than Parker. For further info call 00800 27 27 5374Climate ControlKey MarketsAgriculture Air conditioningConstruction Machinery Food & beverage Industrial machinery Life sciences Oil & gasPrecision cooling Process Refrigeration TransportationKey ProductsAccumulatorsAdvanced actuators CO 2 controlsElectronic controllers Filter driersHand shut-off valves Heat exchangers Hose & fittingsPressure regulating valves Refrigerant distributors Safety relief valves Smart pumps Solenoid valvesThermostatic expansion valvesFiltrationKey MarketsAerospaceFood & beverageIndustrial plant & equipment Life sciences MarineMobile equipment Oil & gasPower generation & renewable energy ProcessTransportation Water PurificationKey ProductsAnalytical gas generatorsCompressed air filters & dryersEngine air, coolant, fuel & oil filtration systems Fluid condition monitoring systems Hydraulic & lubrication filters Hydrogen, nitrogen & zero air generatorsInstrumentation filters Membrane & fiber filters Microfiltration Sterile air filtrationWater desalination & purification filters & systemsDec. 2017© 2017 Parker Hannifin Corporation Parker Hannifin Corporation Automation Group AP This catalogue is offered to you by;Parker Asia PacificChinaSales OfficeShanghai office: 86 21 2899 5000Parker Hannifin Motion&Control Co. 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直线电机的研究报告

直线电机的研究报告直线电机是一种能够在直线上产生直线运动的电机，它与传统的旋转电机相比具有独特的优势。

研究直线电机的目的在于探索其工作原理、优势和应用领域，并对其性能进行评估。

从工作原理上看，直线电机主要由固定部分和动态部分组成。

固定部分包括电机壳体、定子和传感器，动态部分包括电机转子和传动机构。

当电流通过定子线圈时，会在定子和转子之间产生磁场，从而产生电磁力。

利用传动机构，电磁力将电机转子带动，实现直线运动。

直线电机相比旋转电机具有几个显著的优势。

首先，直线电机无需传统的转动机构，因此具有更高的运动精度和动态响应速度。

其次，直线电机的结构简单，体积小，适用于场地狭小的应用环境。

此外，直线电机还具有较高的效率和较低的噪音。

直线电机在许多领域具有广泛的应用。

例如，直线电机可以用于工业自动化生产线上的搬运和定位任务，可以提高生产效率和精度。

此外，直线电机还可以用于医疗设备、精密仪器等领域，以实现高精度控制和运动。

另外，还可以将直线电机应用于交通运输领域，例如高速磁悬浮列车和电动汽车等的驱动系统。

在对直线电机的性能评估中，关键指标包括力密度、功率密度、转矩常数、峰值力等。

力密度是指单位长度上电机所能产生的最大力的大小，功率密度是指单位长度上电机所能输出的最大功率的大小。

转矩常数是指电机在一定电流下所能产生的转矩大小，峰值力是指电机在工作过程中能产生的最大力。

综上所述，直线电机是一种具有许多优势的电机，其在工业自动化、医疗设备和交通运输等领域有着广泛的应用前景。

通过对直线电机的研究和性能评估，可以进一步推动其在各个领域的应用，同时也有助于改进其设计和制造技术。

例子-永磁直线同步电动机关键技术的研究

永磁直线同步电动机关键技术的研究第1章绪论1.1课题的背景与意义随着科学技术进步，高效率、高精度、高柔化和绿色化成为机械加工的重要发展方向。

切削加工的发展方向是高速切削加工。

一方面，高速加工不仅极大提高了机械加工生产效率，而且可降低切削力 30%以上，尤其径向切削力大幅度减小，同时 95%-98%的切削热被切屑带走，加工零件的热变形小，振荡频率高，工作平稳，有利于提高加工零件的光洁度，从而极大地提高了加工零件的质量及互换性;另一方面，超微细加工及科学实验对精密加工提出了越来越高的要求。

实现高速、精密加工的基本条件是:要有性能优良的高速精密机床。

为了保证进给量不变，确保零件的加工精度，表面质量和刀具耐用度，驱动系统的速度也必须相应提高;同时，进给系统的行程一般比较小，也要求驱动系统具有高的加(减)速度，以缩短启动、变速、停止的过渡时间。

因此，研制新型高速精密驱动系统是国内外的研究热点。

在工业发达国家，高速切削技术正成为切削加工的主流技术。

根据 1992年国际生产工程研究会(CLRP)年会主题报告的定义，高速切削通常指切削速度超过传统切削速度5-10倍的切削加工。

目前，多数数控机床的进给系统，采用旋转伺服电机驱动滚珠丝杠。

为了适应高速精密加工的要求，一些厂商采用了不同的措施不断改进滚珠丝杠的结构和性能，如日本MAZAK公司的FF66O卧式加工中心采用高速滚珠丝杠副驱动系统，其速度达 1.5m/s，加速度为1.5g，重复精度达0.002mm 。

但滚珠丝杠驱动系统需中间环节(如联轴器、滚珠丝杠、螺母等)传动，存在很多缺点，如存在反向死区、螺距误差引起误差传递、由于摩擦磨损而导致的精度渐变、附加惯量大、弹性变形引起爬行，以及位置、速度、加速度受限于丝杠的机械特性(刚度、临界速度)等，进一步改进高速精密滚珠丝杠驱动系统，有着不可克服的困难。

所以机床上传统的“旋转电机+滚珠丝杠”进给传动方式，由于受自身结构的限制，在进给速度、加速度、快速定位精度等方面很难有突破性的提高，已无法满足超高速切削、超精密加工对机床进给系统伺服性能提出的更高要求。

PARKER-驱动器

Compax3TPD-MSLVD-NMotornet DCAries ViX驱动器驱动器市场及应用。

主要特征市场及应用主要特征驱动功能驱动各种功能的驱动器驱动电机驱动电机相关驱动&Compax3/c3智能伺服驱动器Compax3概述描述Compax3是派克汉尼汾面向全球的伺服驱动器产品。

驱动器系列包括单轴，多轴驱动器，还有液压控制器。

这一系列驱动的功率从1到110kVA 。

这一伺服驱动器的整个研发及制造过程全部在德国完成。

另外的生产基地也在美国建成。

作为一款全球化的伺服驱动器控制器，Compax3在世界各地都有销售。

其服务及技术支持网点遍布所有主要工业区域，世界各地“派克授权分销合作伙伴”在其销售及维护方面确实扮演了重要角色，受过良好培训的经验丰富的应用及技术支持专家将在任何情形下为客户提供必要的专业技术支持。

特征硬件• 功率从1到110kVA • 1路编码器输出/输入• 8路数字输入/4个数字输出• 2路模拟输入（14位）• 2路模拟输出（8位）• 多种现场总线选项•广泛的安全防护技术技术功能• I10T10：驱动器控制方式：速度/转矩控制，脉冲/方向，编码器输入• I12T11：通过数字I/O 端口、RS232/RS485端口进行定位控制，绝对/相对定位，对准标记相关定位，电子齿轮，动态定位• T30: 编程环境CoDeSys 符合IEC61131-3• PLCOpen 功能模块• IEC61131-3-标准模块• C3-特定功能模块• T40：T30功能+电子凸轮功能• 控制器技术，集成运动PLC Compax3 powerPLmC-C20Compax3S高性能伺服驱动器Compax3M 多轴伺服驱动器Compax3H 高功率高性能伺服驱动器Compax3F高性能液压控制器技术特征 –概述Compax3系统配置系统配置同步伺服电机直接驱动操作执行器Compax3系统配置精密执行器液压元件Compax3控制技术控制技术实时信号处理• 降低量化噪音• 增加信号分辨率• 由于速度和电流信号的过采样• 在线反馈误差偏移量补偿与增益误差补偿• 14位分辨率（提高刻度分辨率至14位）• 插补正余弦反馈信号• 通过观测器技术决定速度• 倍增控制器带宽• 通过负载转矩观测器原理加加速度限制值设定，将导致：• 使物体移动平缓• 延长机械组件使用寿命• 无定位超调• 减低机械共振频率控制：• 反馈通路中的控制器帮助避免传递函数分子中的微分成分（将导致实际值的明显过冲）• 自动化和鲁棒控制器设计• 面向用户的优化• 参数“阻尼”及“刚度”• 响应行为最优化• 最小化以下误差• 由于速度，加速度，电机电流及jerk 的前馈• 双重回路选项• 为了获得实际的负载位置，可以通过一个额外的反馈系统来实现1: 位置2: 速度3: 加速度4: 加加速度调试/控制器最优化• 自动获取负载转动惯量• Compax3 MotorManager 用于识别电机参数及电机位置反馈• 集成示波器功能，实现最优化信号分辨率不带过采样过采样在线反馈误差补偿无补偿带补偿在前馈中使用jerk （加加速）前馈的效果示例ESOESOESO = 紧急切断*1 减速输入Compax3安全技术Compax3M 及Compax3S 驱动器支持“安全转矩断开”(STO)安全功能，意思即“安全制动”，遵循EN ISO 13849-1 Category 3, EN ISO 13849-1 PL=d/e (Compax3S)，PL=e (Compax3M)及EN 1037要求防止非预期的启动。

Parker Hannifin I-Force Ironless ML18线性电动机产品介绍说明书

Contact Information: Parker Hannifin Corporation Electronic Motion and Controls Division 5500 Business Park DriveRohnert Park, CA 94928phone: 800 358-9070email:**************************.com /emc The ML18 incorporates the I-ForceI-beam shape with overlappingwindings allowing for high powerdensity, improved heat removal, andadded structural stiffness.In addition, the ironless linear motordesign has no attractive forces allowingfor zero cogging, rapid accelerations,and easy installation.Ironless Advantages• No attractive force betweenforcer and magnets make it safeand easy to install• Ironless forcer produces zerocogging for smooth operation• Ironless forcer means light weightand high rates of acceleration• Air gap between forcer andmagnets is forgiving allowing foreasy installationML18 I-Force Linear MotorsML18 Features• Smallest ironless motor available— saves valuable space• Extremely efficientoverlapping winding design for maximum force density • Optimized for operation between 24 to 80 VDC • Internal hall effects and thermal protection decreases carriage length • Low profile, compact design — cross-section just 35 mm x 18 mm• Peak forces to 50 N • Single-piece, ultra-compact folded magnet track eliminates all unnecessary material Dual rows of magnetsVacuum encapsulated ironlesscoil with I-beam shape U-Shaped magnet trackNon I-beam (T shaped)coil with larger pro le size,less thermal ef ciency and less rigidityActs as heat sink/adapter plateDual rows of magnetsI-beam DesignConventional DesignI-beam shaped coil for lower pro le,better thermal ef ciency and higher structural stiffnessML18 I-Beam Design AdvantageParker’s I-beam shape provides very high forces in a compact package. In addition, the design is morethermally efficient than tradition ironless motor designs.• Highly efficient mounting tabs for hassle-free mounting • Two lengths of modular track provide unlimited travel, maximum flexibility• CE and RoHS ComplianceParker Hannifin Corporation • Electronic Motion and Controls Division • 800-358-9070 • /emc1) Initial winding temperature must be 60°C or less before Peak Current is applied2)@ 25°C ambient, 125°C winding temperature 3)±30%, Line-to-Line, inductance bridge measurement @1 Khz4)Total motor torque per peak of the sinusiodal amps measured in any phase, ±10%5)The distance from the leading edge of a north pole to the leading edge of the next north pole 6)Measured Line-to-Line, ±10% 7)Value is measured peak of sine wave 8)Measured with a 0.76 mm gapML18 I-Force Linear MotorsSpeed-Force PerformanceParker Hannifin Corporation • Electronic Motion and Controls Division • 800-358-9070 • /emcParker Hannifin Corporation • Electronic Motion and Controls Division • 800-358-9070 • /emcCoil Dimensions — mm (in)Side MountingTop MountingMotor Phase and Hall LeadsParker Hannifin Corporation • Electronic Motion and Controls Division • 800-358-9070 • /emcML18 I-Force Linear MotorsMagnet Track with Coil Dimensions — mm (in)ML18080ML181201 2 3 4 5 6 7ML18 – 1 E – NC – N1 S – 3 1 2 3 4 ML18 – 120 M – NOrder Example: Select options from each numbered field to create a complete model order code including motor coil and magnet track.ML18 Ordering InformationSeriesML18Mini Linear MotorCoil Size 2 2 Pole 3 3 Pole 5 5 Pole Mounting E Standard Cooling NC No CoolingSeries ML18Mini Linear MotorTrack Length08080 mm 120120 mm Modular M Standard Magnet Coating N Nickel CoatingModule Ready N1No Module, Internal Halls Winding S Series P Parallel Cable 1 1 Meter 33 MeterMotor CoilMagnet Track27.227.218.017.018.017.0Electronics ManufacturingThe mSR is an ideal positioning system for high throughput electronics manufacturing equipment, as it design combines high performance linear motor technology with a variety ofhigh resolution feedback devices for quick, precise placement of miniature components. The mSR also provides an extremely robust solution for electronics inspection systems, as its direct drive linear motor technology has been designed to stand the test of time.Life Sciences - Digital PathologyMiniature packaging, high precision performance, and quick settling times make the mSR an optimum solution for imaging instruments used in digital pathology. With limited wear components the mSR is a durable stage that will minimize the riskof machine downtime.Looking for a Super Small Submicron Linear Positioner?The new Parker mSR100 Series Positioners are driven by ML18 Linear MotorsThe new Parker mSR100miniature positioner incorporatesML18 linear motors into singleand multi-axis systems thatprovide the ideal solution forinstrument builders and otherapplications requiring extremelysmooth, submicron positioningcapabilities, in a compactpackage.The mSR100 has a 100 mmwide profile and is availablewith stroke lengths from 25to 500 mm. Maximum loadcapability is 12 kg (26.5 lb). ThemSR100 offers selectable levelsof linear encoder technologyconfigured to the applicationneed, including a BiSS-Cabsolute encoder for installationsrequiring continuous positionalinformation.Want more info?For complete mSR100 features, benefits and specifications, go to:/emcSemiconductor Handling andMeteorologyGiven the combination of itssuperior geometric performanceand miniature packaging, themSR series positioner is idealfor semiconductor handlingand metrology applications.Regardless of whether youexamining features on the microor nano-scale – the mSR can beadapted to meet the need withits wide array of encoder options.The mSR also offers a strokescalable mechanical solution withstandard designs up to 500 mm.Parker Hannifin Corporation • Electronic Motion and Controls Division • 800-358-9070 • /emcEM Sales OfficesCatalog PN: 82-032580-01 Issue Date: 2/14/2023© 2023 Parker Hannifin CorporationParker Hannifin Corporation Electronic Motion and Controls Div.5500 Business Park Drive Rohnert Park, CA 94928 USA /emc Tel: 800-358-9070Email:**************************.comML18 Series: Made in the USAAustraliaParker Hannifin (Australia) Pty Ltd.9 Carrington Road Castle Hill NSW 2154AustraliaTel: +61 (0) 2 9634-7777 Fax: +61 (0) 2 9634 3749BrazilParker Hannifin Ind. Com Ltda.Av. Lucas Nogueira Garcez 2181Esperança12325-900 Jacareí, SP Tel: 12 3954 5100Fax: 12 3954 5262Email: a ***************************CanadaParker Hannifin (Canada) Inc.160 Chisholm DrMilton, Ontario L9T 3G9 Tel: 905-693-3000 Fax: 905-876-1958Email:****************************ChinaParker Hannifin Motion & Control (Shanghai) Co., Ltd280 Yunqiao Rd. Jin Qiao Export Processing ZoneShanghai 201206, China Tel: (86-21) 50312525Fax: (86-21) 64459717FranceParker SSD Parvex 8 avenue du Lac B.P . 249F-21007 Dijon CedexTel: +33 (0) 3 80 42 41 40Fax: +33 (0) 3 80 42 41 23GermanyElectromechanical EuropeParker Hannifin GmbH & Co KG Robert-Bosch-Strasse 22 D-77656 Offenburg GermanyTel: +49 (0) 781 509 0Fax: +49 (0) 781 509 98176Email:********************IndiaParker Hannifin India Pvt. LtdAutomation Group-SSD Drives Div.133 & 151 Developed Plots Estate Perungudi, Chennai 600 096Tel: 044-4391-0799Fax: 044-4391-0700ItalyParker Hannifin SpA Via Gounod 120092 Cinsello Balsamo Milano, ItalyTel: +39 02 361081Fax: +39 02 36108400Email: ********************KoreaParker Hannifin Korea9th Floor KAMCO Yangjae Tower 949-3 Dogok 1-dong Gangnam-gu Seoul 135-860, Korea Tel: 82-2-559-0454Fax: 82-2-556-8187MexicoParker Hannifin de Mexico Eje uno Norte No.100Parque Industrial Toluca 2000 Toluca, CP 50100 México Tel: 52-722-275-4200Fax: 52-722-279-0316SingaporeParker Hannifin Singapore Pte Ltd 11, Fourth Chin Bee Road Singapore 619702Tel: (65) 6887 6300Fax: (65) 6265 5125/6261 4929TaiwanParker Hannifin Taiwan Co., Ltd No. 40, Wuchiuan 3rd Road Wuku Industrial ParkTaipei County, Taiwan 248ROCTel: 886 2 2298 8987Fax: 886 2 2298 8982ThailandParker Hannifin (Thailand) Co., Ltd.1265 Rama 9 RoadSuanluang, Bangkok 10250 ThailandTel: (66) 2 186 7000Fax: (66) 2 374 1645UKParker Hannifin Ltd.Tachbrook Park Drive Tachbrook Park Warwick CV34 6TUTel: +44 (0) 1926 317970Fax: +44 (0) 1926 317980USAParker Hannifin Electronic Motion and Controls Division 5500 Business Park DriveRohnert Park, CA 94928 USA Tel: 800-358-9070Email:**************************.com Parker Hannifin Electronic Motion and Controls Division 1140 Sandy Hill Road Irwin, PA 15642Tel: 800-358-9070Email:**************************.com。

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。

汽车安全带紧急锁止性能试验台的研制

汽车安全带紧急锁止性能试验台的研制杨梅;田春艳【摘要】设计了汽车安全带紧急锁止性能试验台的机械系统及测控系统.通过改变直线电机动头运动加速度,可模拟汽车行驶中乘客在不同工况下所系安全带的紧急锁止功能,本试验台采用工控机作为上位机,配以PARKER1505控制卡实现闭环控制,以VC+ +6.0为软件开发平台,设计了检测与控制系统.可实现对不同型号汽车安全带紧急锁止性能的检测.试验台采用模糊PID控制算法,降低了干扰和参数变化对系统的影响,从而增强了控制系统的鲁棒性.经实验验证:检测精度和检测准确率均有较大提高.【期刊名称】《长春工程学院学报（自然科学版）》【年(卷),期】2013(014)001【总页数】5页(P49-53)【关键词】汽车安全带;紧急锁止性能;试验台【作者】杨梅;田春艳【作者单位】吉林工程技术师范学院,长春130052;空军航空大学,长春1300220【正文语种】中文【中图分类】TP203;TP206.10 引言安全带是汽车上一种典型的安全装置，它能有效减少事故中驾乘人员的伤亡。

安全带的紧急锁止性能，是安全带技术标准中关键性能之一［1］，而安全带紧急锁止性能测试设备是检测安全带可靠性的关键设备［2］。

目前国内对该设备以引进为主，自主开发研制还比较滞后。

自主研制高精度、高可靠性、高自动化程度的安全带试验台是适应我国汽车业高速发展的必然要求。

本文所研制的汽车安全带紧急锁止性能试验台的整体系统基于工控机（IPC）与DSP运动控制板卡的测控系统，采用直线电动机作为驱动机构，并结合PWM调速技术和模糊PID控制算法实现闭环控制。

1 试验台功能及特点1.1 试验台功能本安全带试验台用于检测各类汽车安全带的紧急锁止性能，可实现带感和车感两种试验。

试验台适用于国标GB 14166—2003《机动车成年乘员用安全带和约束系统》［3］，美国联邦法规209号，欧标EEC指令，德国大众TL－VW470等国内外标准和法规的相应条款。

Parker-origa HMR系列电机机械线性活动器产品说明书

EL SizingThe dimensioning program for electric linear drives Download available at 2ORIGA Linear DrivesHMR Series3ORIGA HMR Electromechanical Linear ActuatorsProfile designsBasic profile for assembling directlyto the machine baseReinforced profile for self-supporting assemblyMounting systemsIntegrated T-slots for attachingfrom below and from the sideProtection classesWithout cover: StandardWith cover: IP54Guide systemsPlain bearing guideRecirculating ball bearing guideLubricationCentral lubrication viaexternally accessiblelubricating nippelsScrew driveThe solution for precise pathand position control for heavy loadsToothed belt driveThe solution for fast path andposition control for medium lo4We drive the future - with screw or toothed belt.Position sensingIntegrated, adjustable positionswitch for end positions andhomingImpact protectionIntegrated shock absorbers forboth end positionsDistance measurementContact-free, incremental dis-placement measuring systemBrake systemHolding brake can be implemen-ted for horizontal and verticalmovementsCable drag chainsDirectly attachable drag chainsfor various cablingoads Linear drive (under work)The solution for fast travel with the greatest possible dynamics and precision5ORIGA Linear DrivesHMR SeriesProfile VersionsSizes 85, 110, 150, 180, 240 mmDesigns– Basic– R einforcedThe HMR linear drive system can be equipped with a “basic” or “reinforced” profile as standard. The “basic” profile is suitable for fitting directly to a machine base that has a corresponding support surface. The “reinforced” profile, on the other hand, is the preferred choice for self-supporting systems or for use in conjunction with a base surface offering limited support.The permissible temperature range for both profile versions is -20°C ... +80°C.“Reinforced” profile“Basic” profile67ORIGA Linear DrivesHMR SeriesProfile version …reinforced“Sizes 85, 110, 150, 180, 240 mmMax. admissible loads [N] and supporting distances [mm] (self-supporting)Example F z HMR 11:For a 2.800 N load the distance …D“ between supporting elements is 720 mm.Mounting accessories see …Accessories / T -Slot Mounting“[N][mm]Fz8ORIGA Linear DrivesHMR seriesProfile version …reinforced“Sizes 85, 110, 150, 180, 240 mmMax. admissible loads [N] and supporting distances [mm] (self-supporting)Example F y HMR 11:For a 3.160 N load the distance …D“ between supporting elements is 900 mm.Mounting accessories see …Accessories / T -Slot Mounting“[N][mm]y9Dimensions - Internal lever arm l Internal lever arm lziCombined loadsThe maximum permissible load for linear drives subject to simultaneous multiple The sum of all loads must under no circumstance be > 1.loads, forces and bending moments are calculated using the formula below. Maximum permissible loads must not be exceeded.ORIGA Linear DrivesHMR seriesBall bearing guideSizes 85, 110, 150, 180, 240 mmLoad requirements for guides and installation size.The occurring loads, forces and bending moments depend on the application. The mass of the construction attached to the carriage has a center of gravity. This mass creates static forces (F = m · g) and bending moments (M = m · g · l).Additional dynamic moments (M = m · a · l) arise in dependence of the acceleration during travel.Care should be taken when selecting suitable guides that the permissible sum of loads does not exceed 1.Loads, forces and bending momentsMz10Maximum permissible loads based on a performance of 2,540 kmHMRS Ball ScrewORIGA Linear DrivesSeries HMRS / Ball Screw / Drive Data / Sizes 85, 110, 150, 180, 240 mmORIGA Linear DrivesSeries HMRS / Ball Screw / Performance / Thrust Force Sizes 85, 110, 150, 180, 240 mmPerformance expectancy depends on the application’s required force. An increase in force will reduce performance.T h r u s t f o r c e [N ]Performance [km]HMRS08 Performance / Thrust forceT h r u s t f o r c e [N ]HMRS11 Performance / Thrust forcePerformance [km]T h r u s t f o r c e [N ]HMRS15 Performance / Thrust forcePerformance [km]HMRS18 Performance / Thrust forceHMRS24 Performance / Thrust forcePerformance [km]Performance [km]T h r u s t f o r c e [N ]T h r u s t f o r c e [N]ORIGA Linear DrivesSeries HMRS / Ball screw / Dimensions / Sizes 85, 110, 150, 180, 240 mmBasic dimensions“Basic” profile “Reinforced” profileORIGA Linear DrivesSeries HMRS / Ball screw / Dimensions / Sizes 85, 110, 150, 180, 240 mm Dimension table - HMRSDimension table - carriage standard HMRSDimension table - carriage standard HMRSORIGA Linear DrivesSeries HMRS / Weight, mass and inertia Weight and mass HMRSORIGA Linear DrivesSeries HMRS / Ball screw / Order stroke / Sizes 85, 110, 150, 180, 240 mmOrder stroke OS = Effective stroke ES + 2 x Safety stroke SSOver all length OAL = order stroke OS + carrier length CL + 2 x dimension end cap XOrder stroke OS = Effective stroke ES + 2 x Safety stroke SS + Carrier distance CD (not shown)Over all length OAL = Order stroke OS + 2 x carrier length CL + 2 x dimension end cap XStandard design with one carriageTandem design with two carriagesDimensions - Carriage and end cap HMRS Order stroke dependent dimensions • ES = Effective Stroke • SS = Safety Stroke • CD = Carriage distance• CL = Carriage length Standard • S = Stroke• OS = Order Stroke • OAL = Over All LengthORIGA Linear Drives Series HMRSHMRB BeltORIGA Linear DrivesSeries HMRB Belt / Drive Data / Sizes 85, 110, 150, 180, 240 mm Description Motor mounting positionhorizontal upright000° / 180°Technical data HMRBTechnical data HMRBORIGA Linear DrivesSeries HMRB / Belt / Thrust Force / Sizes 85, 110, 150, 180, 240 mmThe permissible thrust force from the table is depending on speed level and order stroke length. The minimum thrust force value must not be exceeded in the application.Information: Limiting the torque from the motor may avoid exceeding permitted thrust force.Example :HMRB18 with motor mounting position 1 (090° front), speed v = 2 m/s (F A = 1,300 N) and order stroke length OS = 2,500 mm (F A = 710 N).The maximum permissible thrust force F A= 710 N must not be exceeded.PSTH T LDimensions“Basic” profile“Reinforced” profileView AView B ORIGA Linear DrivesSeries HMRB / Belt / Dimensions / Sizes 85, 110, 150, 180, 240 mmDimensions carrierDimension table - HMRBORIGA Linear DrivesSeries HMRB / Weight, Mass and Inertia Weight and mass HMRBWeight and mass HMRBtot0C mtInertia HMRBORIGA Linear DrivesSeries HMRB Belt / Order stroke / Sizes 85, 110, 150, 180, 240 mmOrder stroke OS = Effective stroke ES + 2 x Safety stroke SSOver all length OAL = Order stroke OS + Carrier length CL + 2 x End cap length XOption Carrier StandardOrder stroke OS = Effective stroke ES + 2 x Safety stroke SS + Carrier distance CD (not shown)Over all length OAL = Order stroke OS + 2 x Carrier length CL + 2 x End cap length XOrder stroke OS = 2 x Stroke S = 2 x Effective stroke ES + 4 x Safety stroke SS + Carrier distance CD (not shown)Over all length OAL = Order stroke OS + 2 x Carrier length CL + 2 x End cap length XOption Carrier TandemOption Carrier Bi-part for opposite movementsStroke depending dimensions Dimensions - Carriage and end cap HMRB • ES = Effective Stroke • SS = Safety Stroke • CD = Carriage distance• CL = Carriage length Standard •S = Stroke• OS = Order Stroke • OAL = Over All LengthORIGA Linear Drives Product series HMRB* Mounting kit consisting coupling housing, motor coupling, flange and gearHMR OptionsORIGA Linear DrivesHMR Series / Option / Protection ClassVersions:standard: without coverIP54: with coverHMR was developed for various environment conditions.HMR can be equipped with a cover to comply with IP54 protection class if a higher rating is required.Version – standardVersion – protection class IP54Distance-force and energy-distance characteristic curve (dynamic) – production sizes HMRx18, HMRx24ORIGA Linear DrivesHMR series / Option / Impact protectionHMR can be equipped with impact protection. The mounted structure shock absorbers can compensate the energy released by unintentional impact and afford protection against mechanical damage.Two structure shock absorbers are fitted to each side of the carriage prior to delivery.Shock absorbers for impact protection Distance-force and energy-distance characteristic curve (dynamic)– production sizes HMRx08, HMRx11, HMRx15E n e r g y [N m ]1.000F o r c e [N ]Travel [mm]E n e r g y [N m ]600F o r c e [N ]Travel [mm]Magnetic Field SensorsType P8SThe new generation of t-slot sensors convince with easy mounting avoiding special tools and with a drop in mountage. Due to new electronic the hysterisis is very small and allows a very accurate switching point.Magnetic sensors are used for contactless electric sensing of the carrier position, e.g. for end or homing positions of a linear acutator. The field of magnets mounted as standard into the carriage activate the sensor.The possible speed of the load-bearing element or carriage must take the minimum response time of down-stream devices into account.Contact travel is considered accordingly in the calculations.Minimum response time =Contact travel Overrun speedElectric Service LifeProtective MeasuresType RS magnetic sensors are sensitive to excessive currents and inductions. With high switching frequencies and inductive loads such as relays, solenoid valves or lifting magnets, service life will be greatly reduced.With resistive and capacitative loads with high switch-on current, such as light bulbs, a protective resistor should be fitted. This also applies to long cable lengths and voltages over 100 V.In the switching of inductive loads such as relays, solenoid valves and lifting magnets, voltage peaks (transients) are generated which must be suppressed by protective diodes, RC loops or varistors.Connection ExamplesLoad with protective circuits(a) Protective resistor for light bulb(b) Freewheel diode on inductivity(c) Varistor on inductivity(d) RC element on inductivityFor the type EST, external protective circuits are not normally needed.1) without OSP-E..STR 4) unloaded Ub = 24V 7) to EN 605292) plug M8 with rotable nut 5) clocked 8) to EN 60068-2-273) Cable with Flying Leads 6) to EN 60529 9) to EN 60068-2-6Connection Cables suitable for cable chain * Detailed specifications for KL-Series on request.HMRAccessories41ORIGA Linear DrivesHMR Series / Accessories / Coupling housingDimension table - Coupling housing long HMRS / HMRB [mm](HMRBxxxBD; HMRBxxxDD)☑ suitable for HMR with motor orientation 180° bottom re-inforced profile (HMRBxxRCP; HMRBxxRCD; HMRBxxSCP; HMRBxxSCD)4243ORIGA Linear DrivesHMR series / Accessories / Motor couplingDimension table - motor coupling HMRS [mm]Dimension table - motor coupling HMRB [mm]A-AB-BH 7Ball screwBeltORIGA Linear DrivesHMR series / Accessories / MountingsDimension table - Product width HMR [mm]Holding force per mounting set [N]that can be transmitted in longitudinal direction, Screw property class 8.8.4445ORIGA Linear DrivesHMR series / Accessories / T -slot mounting / T -slot fixtureDimension table - T -slot mounting HMR [mm]Dimension table - T -slot fixture HMR [mm]Drive Combinations4647Drive Combinations4849Information:The SMH motors can be also equipped with an absolut multiturn encoder and/or holding brake for vertical applications.Shown cables are with 5 meter cable length. Other lengths on request.© 2014 Parker Hannifin Corporation. All rights reserved.P-A4P024GB 01/2014Parker WorldwideParker Hannifin GmbH Pat-Parker-Platz 141564 Kaarst (Germany)Tel.: + 49 (0)2131 4016-0Fax: + 49 (0)2131 4016-9199 Internet: E-Mail:*************************Europe. Middle East. AfricaAE – United Arab Emirates. DubaiTel: +971 4 8127100 ********************AT – Austria. Wiener Neustadt Tel: +43 (0)2622 23501-0 *************************AT – Eastern Europe. Wiener NeustadtTel: +43 (0)2622 23501 900 ****************************AZ – Azerbaijan. Baku Tel: +994 50 2233 458****************************BE/LU – Belgium. Nivelles Tel: +32 (0)67 280 900*************************BY – Belarus. Minsk Tel: +375 17 209 9399*************************CH – Switzerland. Etoy Tel: +41 (0)21 821 87 00*****************************CZ – Czech Republic. Klecany Tel: +420 284 083 111*******************************DE – Germany. Kaarst Tel: +49 (0)2131 4016 0*************************DK – Denmark. Ballrup Tel: +45 43 56 04 00*************************ES – Spain. Madrid Tel: +34 902 330 001 ***********************FI – Finland. Vantaa Tel: +358 (0)20 753 2500 *************************FR – France. Contamine s/Arve Tel: +33 (0)4 50 25 80 25 ************************GR – Greece. Athens Tel: +30 210 933 6450 ************************HU – Hungary. Budapest Tel: +36 1 220 4155*************************IE – Ireland. Dublin Tel: +353 (0)1 466 6370 *************************IT – Italy. Corsico (MI) Tel: +39 02 45 19 21 ***********************KZ – Kazakhstan. Almaty Tel: +7 7272 505 800****************************NL – The Netherlands. Oldenzaal Tel: +31 (0)541 585 000 ********************NO – Norway. Asker Tel: +47 66 75 34 00************************PL – Poland. Warsaw Tel: +48 (0)22 573 24 00 ************************PT – Portugal. Leca da Palmeira Tel: +351 22 999 7360**************************RO – Romania. Bucharest Tel: +40 21 252 1382*************************RU – Russia. Moscow Tel: +7 495 645-2156************************SE – Sweden. Spånga Tel: +46 (0)8 59 79 50 00 ************************SK – Slovakia. Banská Bystrica Tel: +421 484 162 252**************************SL – Slovenia. Novo Mesto Tel: +386 7 337 6650**************************TR – Turkey. Istanbul Tel: +90 216 4997081 ************************UA – Ukraine. Kiev Tel +380 44 494 2731*************************UK – United Kingdom. Warwick Tel: +44 (0)1926 317 878 ********************ZA – South Africa. Kempton Park Tel: +27 (0)11 961 0700*****************************North AmericaCA – Canada. Milton. Ontario Tel: +1 905 693 3000US – USA. Cleveland Tel: +1 216 896 3000Asia PacificAU – Australia. Castle Hill Tel: +61 (0)2-9634 7777CN – China. Shanghai Tel: +86 21 2899 5000HK – Hong Kong Tel: +852 2428 8008IN – India. MumbaiTel: +91 22 6513 7081-85JP – Japan. Tokyo Tel: +81 (0)3 6408 3901KR – South Korea. Seoul Tel: +82 2 559 0400MY – Malaysia. Shah Alam Tel: +60 3 7849 0800NZ – New Zealand. Mt Wellington Tel: +64 9 574 1744SG – Singapore Tel: +65 6887 6300TH – Thailand. Bangkok Tel: +662 186 7000-99TW – Taiwan. Taipei Tel: +886 2 2298 8987South AmericaAR – Argentina. Buenos Aires Tel: +54 3327 44 4129BR – Brazil. Sao Jose dos Campos Tel: +55 800 727 5374 CL – Chile. Santiago Tel: +56 2 623 1216MX – Mexico. Apodaca Tel: +52 81 8156 6000。

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..。

直线电机伺服控制系统研究

直线电机伺服控制系统研究张乾;谭立杰;宋婉贞;陈国兴【摘要】通过直线电机的伺服控制分析,研究了伺服控制策略;以激光划切工作台为应用平台,针对x向电机位置环进行深入分析来解决实际问题,并根据激光划切机性能指标要求设计xy精密工作台运动控制系统,实现工作台的精密控制.【期刊名称】《电子工业专用设备》【年(卷),期】2018(047)002【总页数】4页(P67-70)【关键词】直线电机;伺服控制;激光划切【作者】张乾;谭立杰;宋婉贞;陈国兴【作者单位】中国电子科技集团公司第四十五研究所,北京 100176;中国电子科技集团公司第四十五研究所,北京 100176;中国电子科技集团公司第四十五研究所,北京 100176;中国电子科技集团公司第四十五研究所,北京 100176【正文语种】中文【中图分类】TM359.4伺服控制系统又称随动系统，用来控制被控对象的转角或者位移，被控对象能够自动、连续、精确地复现输入指令的变化规律。

伺服控制系统的性能好坏可以从控制精度、抗干扰能力、动态响应速度等方面来评估。

一个良好的伺服控制系统须具备宽范围的调节能力、较高的控制精度、较快的动态响应速度和较强的抗干扰能力。

伺服控制系统通常是包括电流环、速度环和位置环的三环结构，其中闭环控制就是在开环控制的交直流电机的基础上将速度信号和位置信号通过位置检测装置给驱动器做闭环负反馈的PID调节控制。

精密运动平台中使用的伺服控制器，它的功能水平主要体现在硬件方案、核心控制算法以及应用软件，硬件平台水平国内和国际相差不大，而软件的控制算法，控制策略以及控制算法的有效性、快速性以及易用性是国内外软件平台的重大区别。

特别是随着计算机的出现，全数字伺服控制系统的核心算法研究是我国自动化控制发展的难题，成为了需要迫切解决的问题。

目前我国伺服运动控制平台主要的控制器和驱动器都来自国外，比较知名的厂家主要有日本的三菱电机、松下、富士、安川，美国的PMAC、Parker、GALIL，以色列的 ACS运动控制器，德国西门子、倍福。

科尔摩根DDLMotor直线驱动直接电机手册

无限行程
科尔摩根公司 Platinum® DDL 系列永磁体总成由 5 个模块化部分构成：长度分别为 64 毫米、128 毫米、256 毫米、512 毫米和 1024 毫米。每个模块均可按所需的数目增加到任何长度，以实现无限行程。无论所需行程是 1 毫米（0.04 英寸）还是 100 米（330 英尺），PLATINUM® DDL 系列永磁体总成均可满足要求。
标准特性：
无铁芯电机：
• 峰值推力为 60 ～ 1600 N（13.6 ～ 360 lbf）； • 持续推力为 21 ～ 450 N（4.6 ～ 101 lbf）； • 零齿槽效应； • 零吸力； • 运动平稳，可提供 1 微米 / 秒（0.00004 英寸 / 秒）的
最低速度； • 低质量的线圈总成，可提供高加速度；
定子
N
S
绕组气隙
滑块
旋转
永磁体
底座
转子电机
直线电机
沿径向剖开并拉直的旋转电机
机没有铁芯或用于缠绕线圈的长槽。因此，无铁芯电机具有零齿槽效应、非常轻的质量以及在线圈总成与永磁体总成之间绝对没有吸引力。这些特性非常适合需要极低轴承摩擦力、轻载荷高加速度，以及能在极小的恒定速度下运行（甚至是在超低速度下）。模块化永磁体总成由双排永磁体总成组成，以产生成最大的推力，并形成磁通返回的路径。
对于特别平稳的运动要求，正弦波驱动器（例如，采用数字霍耳效应的科尔摩根公司 ServoStar® 系列）可为电机提供正弦波驱动电流，以实现最佳的恒力和恒速性能。
有铁芯电机
无铁芯电机
作为一个可选方案，对于直线电机应用通常配一个直线编码器，作为位置反馈。现在日益普遍采用的驱动放大器（例如，科尔摩根公司 ServoStar 数字放大器），直接从直线编码器中产生所需要的换向信息（在启动时无论是否有附加的数字霍耳效应装置）。直线电机应用中所使用的其它类型反馈包括直线感应同步器、激光干涉仪以及 LVDT 位移传感器。

ACR9000--中文版

7

机械的控制
机载和扩展输入/输出设备以及多任务编程环境使 ACR 9000 成为独立单机控制的首选。ACR9000 PLC 程序纳入了一套梯状逻辑命令用以同运动程序并肩运行以达到更灵活的错误处理和输入/输出监测。完整的 200 行 PLC 程序每 2ms 就会被扫描一次，每次扫描周期要覆盖总共 8 个程序。
ACR-View 软件开发包
ACR-View 是一个功能强大的项目开发软件, 可帮助所有 ACR 产品的用户针对不同应用进行软件设计、软件调试、试车。许多功能的组合使初学者或有经验的用户开发软件更方便。创建和保持运动控制程序的工具有: · 对 Ethenet,USB,CANopen 和并口连接的支持 · 项目配置向导 · 伺服调整工具 · 内置示波器、分层图表和 XY 绘图 · 构建文字程序编辑器 · 梯形逻辑程序编辑器 · 实时终端接口 · 伺服环诊断工具 · 完整的状态面板 · 完整的帮助文件
ACR9000…解决方案
连通性和通讯功能使 ACR9000 具有适用于各种各样的机器架构的灵活性。该 ACR9000 是可以连接电脑或同 PLC 并肩工作的独立单机兼运动控制器的最佳选择。
ACROBasic
控制器 ACR 系列使用一种被称作 ACROBasic 的专用的高级程序语言。这个易用的语言支持广泛的运动，输入/ 输出和通讯功能。几百个直观指令被编入 ACROBasic 以得到快速的应用程序开发。ACR9000 的开放性也引导出了先进的程序编辑人员。几乎每一个可能的运动参数和标志都可以被随时取用，使用户可以根据机器的规格要求来设计应用程序。
编辑
程序和梯状编辑工具使对运动和输入/输出应用代码的开发更为直接。彩色编码语法检查工具也辅助了程序的编辑。PLC 程序的编写可以采用梯状或文本两种方式中的任何一种来完成。

直线电机综述

直线电机综述作者：常淑英李赞来源：《科学与财富》2020年第07期摘要：直线电动机是一种将电能直接转换成直线运动机械能的电力传动装置。

它可以省去大量中间传动机构，加快系统反映速度，提高系统精确度，所以得到广泛的应用。

直线电动机的种类按结构形式可分为;单边扁平型、双边扁平型、圆盘型、圆筒型（或称为管型）等;按工作原理可分为：直流、异步、同步和步进等。

对近几年来国内外直线电机运用进行了全面的综述。

关键词：直线电机;传动装置;结构一、直线电机的结构：直线电机的运动形式是沿直线运动，不同于旋转电机需要螺纹传动装置。

直线电机由旋转电机转化而来，将旋转电机按其圆柱形径向横截面切开，平铺展成平面结构，就形成了直线电机。

旋转电机结构是由动子和定子组成，线圈绕组一端的是定子，而中间自由旋转的一端是动子，由旋转电机定子展开的一侧称为直线电机初级，由旋转电机动子展开的一侧称为直线电次级。

可以看出线圈绕组在旋转电机结构中是定子，固定不动，而在直线电机结构中是初级，可以相对运动[1]。

二、直线电机的工作原理直线电机是在传统电动机的基础上演变而来，是将传统电动机的转子和定子展开成直线，从而实现将原来的旋转运动变为往复运动，传统电动机主要有支座、转子、定子线圈、主轴、接线盒五个主要部分组成，无论是对有刷电机还是无刷电机，内转子还是外转子结构，都由定子和转子组成，供电时在电机线圈内产生旋转磁场，并产生扭矩并驱动转子进行旋转运动[2]。

三、直线电机的发展：1840年，Wheatstone开始提出和制作了最早的直线电机，直至20世纪50年代中期，控制技术及材料技术的飞速发展和新型控制元器件的不断涌现，使直线电机的理论和应用获得了迅速的发展。

自20世纪90年代以来，由于高速、精密机床进给系统的需要，使直线电机的优越性充分体现出来，直线电机的研究成为热点领域。

目前，国外比较著名的直线电机制造商主要有美国的Anorad、ParkerHannifin、Aerotech Kollmorgen公司德国的Simens、Indramat公司和日本FANUC、Mitsubishi公司等。

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派克的专利化工Tril字ogy型I-结bea构m 设des计ign，在紧凑的Co结mp构eti中tive实de现sig非ns常高的动力性能。另外，这种设计比传统铁芯设计的热效率更高。
I-Force系列无铁芯电机型号页码横截面 – H x W mm (in) 连续力 – N (lbs) 峰值力 – N (lbs) 最大轨道长度 – mm (in)
110-2
绕组
S串联/P并联/T三联
S
P
S
P
T
峰值电流
A pk sine
15.9
31.8
14.8
29.6
44.4
RMS
11.2
22.5
10.4
20.9
31.4
连续电流
A pk sine
3.6
7.2
3.3
6.6
9.9
RMS
2.5
5.1
2.3
4.7
7.1
力常数 1)
N/A peak
6.8
3.4
13.7
6.8
传统设计
Vacuum encapsulated inronless coil with I-beam shape
acts as heat sink/ adapater plate
Non I-beam (T shaped) coil with larger profile size,
less thermal efficiency and less rigidity
力上升0.393%）。 4) 电感通过电机置于1Kz磁场中测定。 5) 电气时间常量是当电压步进改变后，电机值达到最终电流的63%所花的时间。 6) 电机常数是对电机效率的测定。它的计算通过在最高工作温度时，用力常数除以电机电阻的平方根得到。 7) 同非派克放大器一起使用，请咨询工厂。
热性能*
型号
单位
• 半导体及电子产品 • 平板显示器，太阳能电池板 • 医药及生命科学 • 机床 • 光学影像及光电子 • 大型印刷，扫描及数字设备
直线型电机设计的好处
• 高速 • 高加速度 • 快速响应 - 一个机械系统的100
倍 • 刚度 - 弹性刚度比机械系统要好 • 零间隙 - 直接驱动技术 • 免维护操作 - 由于减少了零部件
110-1
热阻绕组 - 外壳环境
˚C/W
1.59
热时间常数(min.) 1)
3.2
最高线圈温度 2)
˚C
100
* 使用派克的MotionSizer软件对一个特定运动轨迹的线圈温度做出最精确的估计。 1) 热时间常数是当功率步进改变后，电机温度达到它的最终温度的63%所用的时间。 2) 热阻是实验上每一瓦功率损耗所决定的线圈温度上升的度数（摄氏度）。
直线电机
I Force系列
RIPPED系列
155
直线电机概述
无铁芯及有铁芯直线电机
派克汉尼汾公司致力于提供创新的自动化解决方案已达数十年之久。在当前直线电机市场爆发性发展的进程中，这一创新精神一直得以延续。
2003年，派克收购了Trilogy公司，直线电机中最具权威性的品牌之一。派克与Trilogy专利直线电机解决方案的强大组合，使自动化及机器人技术应用方面的客户通过我们非常有竞争力的技术实力，取得显著的性能提高及购置成本效益。
数量，机械比较简单 • 长的行程而不损失性能 • 适用于真空及极端环境
156
直线电机概述
直线电机优势
直线电机的工程设计
直线电机类似于一台旋转电机解剖摊开来进行运转。在一台旋转电机中，相同的电磁效应产生的是转矩，而在直线电机中，产生的是直接推动力。
在许多应用中，相比较传统的旋转驱动系统而言，直线电机具有明显的优势。比如，直线电机不需要通过像齿轮，滚珠丝杠，或皮带传动这样的中介机械构件将电机连接到负载上。负载直接连接到直线电机上。
ms
0.3
0.3
0.3
0.3
0.3
电机常数 6)
N/W^0.5
3.56
3.56
5.02
5.02
5.02
lb/W^0.5
0.80
0.80
1.13
1.13
1.13
终端电压（最大）7)
VDC
330
330
330
330
330
1) 力常量是阻力的峰值，由通过一根电机引线的1.0amp及通过其他两根引线的0.5amp电流产生。同样，反电动势(V/in/sec) * 7.665=力常量(lb/amp)。 2) 反电动势在电机按照恒定速度运行时，在任意两根导线之间测定。它的值是一个幅度或者位于产生的正弦波的0值到峰值之间。 3) 阻值通过电机在25˚C连入三角形线圈时，在任意两根电机引线之间测定。温度在100˚C时，阻力乘以1.295.（75˚C时，温度每上升1˚C，阻
• 让派克广泛的运动设计经验，系统的项目管理程序，及全球化的架构为您解决运动难题。
• 协同开发周期瞄准客户目标，严格的性能规范，完整的工程解决方案。
如果您的设计需要任何协助，请联系派克应用工程师。
如需了解包括工业级，精确级，多轴系统及定制能力在内的派克直线电机平台产品线的相关信息，请访问我们的网站：
基于一整套的直线电机组件及完整的工程定位系统，派克能为提高您的机器生产力，提高精确度及动力性能提供恰到好处的解决方案。
在目前可行的直线电机技术领域，派克能提供最广泛的供应。从组件或者分体电机，整套定位平台到完整的定制工程系统，派克都能为任何直线运动要求提供一个完美的解决方案。这一文档主要聚焦于派克组件型电机的两个成员。派克直线电机产品的典型应用包括：
• 精密组装的3片结构 • 无限制的行程长度 • 两种模块化的磁轨长度，允许
无限制的行程长度
嵌入式的过温恒温调节器或可选的热敏电阻器
• 保护线圈，以防止温度过高 • 预装对齐的嵌入式数字霍尔效
应设备 • 内置热熔断器开关保护线圈
线圈连同热传导环氧基树脂一起使用
• 专利化的无铁芯电机设计 (RE34674)提供更好的散热性能
I-Force采用了专利化的工字型结构和叠放的绕组，从而使小尺寸电机能够提供更高的功率密度，改进了散热性能，增加了结构的的坚固性。
除此之外，无铁芯直线电机设计同磁铁间没有吸引力，因而安装较为容易，在运动中也不会出现齿槽效应。
I-Force电机超高柔性的标准电缆，另外，派克提供模块化的磁轨，使行程长度不受限制。难以置信的平滑运动，高精度及高功率密度特性使I-Force直线电机成为您的高配置要求的理想解决方案。
无铁芯动子同有铁芯的相比具有更轻的质量，因而可以实现非常高的加速及全面的动力性能。无铁芯设计没有齿槽效应，也没有吸引力，因此可以延长轴承使用寿命，另外，在一些应用中，可以选用更小的轴承。
尽管高动力性能及没有齿槽效应使无铁芯设计非常强大，但是它们在热效率方面还是赶不上有铁芯电机。较小的接触面面积及从线圈底部到冷却板的较长的散热通道，使这些电机的满载功率比较低。另外，双排磁铁设计产生动力及行程长度增加了这些电机的整体成本。
线圈组被称为是“动子”，有时也被称为是初级组件。动子一般由电机线圈，一个连接板或者安装棒组成，它允许线圈连接到底板上。电动机电缆一般从封装的一侧伸出。
磁轨有时被称为次级组件。取决于所选用直线电机的种类，磁轨可采用单排磁铁或者提供平衡吸引力的双边配置的磁铁。
I-Force无铁芯直线电机
最大功率
W
连续功率
W
1) 峰值力及电流占整个工作周期的5%，持续时间一秒。 2) 持续力及电流建立在线圈绕组温度保持在100˚C的基础上。
110-1 108.5 (24.4)
24.5 (5.5) 938 47
110-2 202.5 (45.5) 45.4 (10.2)
1641 82
电气参数
型号
单位
110-1
内置多重空冷内置多重空冷内置多重空冷
或水冷
或水冷
无限制的 240 (9.45)
—
无，嵌入的
无，嵌入的
无，嵌入的
无，嵌入的
连接器模块中包含HED传感器及
超程限制
159
直线电机 I-Force系列
I-Force无铁芯110系列电机
性能参数
型号
单位
峰值力 1)
N (lb)
连续力 2)
N (lb)
与铁芯电机相比的劣势
• 散热方面 - 更高的热敏电阻，专利化的派克工字型结构设计帮助缓解这一问题（见如下）
• 同有铁芯设计相比，更低的 RMS功率
• 要使用两倍量的磁铁，增加了单位成本
叠放的绕组非叠放的绕组
158
直线电机 I-Force系列
I-Force专利化的工字型结构设计
无铁芯电机包含一个动子（线圈组），位于双磁轨之间。
线圈同磁铁间没有吸引力
• 更简单/更安全的装配及处理，更平滑的行程（没有齿槽效应）
叠放的绕组（线圈）
• 增强的功率密度 • 改进的散热性能 • 较低的温度上升 • 更小，更便宜的电机
真空封装处理
• 允许电机在高度真空的环境下使用
• 额定10-6 torr，目前在 10-7 torr 中使用
模块化的磁轨
模块单块冷却 1
数字霍尔效应设备
1 冷却性能请咨询工厂
110 6
50 x 21 (2.05 x 0.82)
44 (10) 200 (45)
210 12 57.1 x 31.7 (2.25 x 1.25) 104.5 (24.8) 494 (110)