5 sizing program
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5. Sizing program. 5.1. Procedure of sizing 5.2. Example: XZ-Module 5.3. Example Optimizing. The precise sizing of a linear motor system requires some complex calculations and knowlege about linear motor systems.

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5. Sizing program

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5 sizing program

5. Sizing program

5.1. Procedure of sizing

5.2. Example: XZ-Module

5.3. Example Optimizing

  • The precise sizing of a linear motor system requires some complex calculations and knowlege about linear motor systems.

  • Construction and motion control considerations should be done simultaneously, multiple iterations to find the best solution are often required.

  • State of the art sizing tools allow everybody to become a linear motion expert- sizing becomes an easy and quick job. Therefore the engineer can focus an the application rather than on motion control considerations.


5 1 procedure of sizing 2

5.1. Procedure of sizing (2)

Input of application dataSeparation of the cycle in different segments of movement

Optimizing of ‚free parameters‘decide about dwell times, moving times, ...

Selection of a motorLinear motor, Controller

test boundariescheck for peak forces, continuous forces (power dissipation)


5 2 example xz module 1

x

5.2. Example: XZ-Module (1)

Task

A gripper will be moved horizontal to pick and place a part.

Goal: cycle time<= 1 s continuous operation

Drawing

  • Technical data X-Axle

  • Horizontal stroke 140 mm

  • Mass of the X-axle 4 kg (+ slider mass 1kg)

  • Friction 10 N

  • Payload 150g (during return (140 bis 0 mm))

  • Motor P01-37x240/160x360

  • Technical data data Z-Axle

  • Vertical stroke 80 mm

  • pick and place time each 80 ms

  • Mass of the Z-unit 0.530 kg (+ slider mass 220g)

  • Payload 150g (during return (140 bis 0 mm))

  • Motor P01-23x160/70x210

stroke


5 2 example xz module 2

5.2. Example: XZ-Module (2)

Step 1: defintion of the single segments

X-Axes

gripping

Advancing motion

Returning motion

Placing

140 mm

X2

X1

X3

X4

t

Dwell time forplacing

Dwell time for

gripping process

Z-axes

Z1

Z2

Z3

Z4

80 mm

80 ms

t

down

pick

up


5 2 example xz module 3 linmot designer

5.2. Example: XZ-Module (3) / LinMot Designer

Local data (appears only during specific segment of the movement)

Definition of the completecycle

Selection of motor and controller

Global data appears during the whole movement

Simulation and results


5 2 example xz module 4 analysis of the z movement

5.2. Example: XZ-Module (4)/ Analysis of the z-movement

Real worldmovement

Power dissipation 

Critical limitation

Total time for z-movement

Including gripper time = 330 ms


5 2 example xz module 2 analysis of the x movement

5.2. Example: XZ-Module (2) / Analysis of the X-movement

Real world movement

330 ms waiting for Z-Axe

330 ms waiting for Z-Axe

Critical limitation

Power dissipation 

Total cycle time 1,12 s


5 3 example xz module optimizing 1

5.3. Example: XZ-Module: Optimizing (1)

Open-loop Systems need time margins (t delay) to avoid collisions.

Closed-loop Systems (Linear motors) don‘t need this time margin because the movements are always exactly the same. Often it is possible to overlap the movements as well.


5 3 example xz module optimizing 2

5.3. Example: XZ-Module: Optimizing (2)

Simple movement

x

z

Cycle time: 1.12 sec

Optimized movement

20% reduced cycle time with identical motor/controller

X

overlapped

movement

z

Cycle time: 0.88 sec !


5 3 example 2 optimized time partinioning

x

5.3. Example 2: Optimized ‚time partinioning‘

stroke

  • Horizontal stroke 100 mm

  • Cycle time 300 ms,

  • payload 500g (during return (100 bis 0 mm))

Using a symmetrical time partitioning (85 ms for forward movement, 115 ms for return movement) the system will be overloaded ( red cycles). Using a asymmetrical time partitioning (85 ms for forward movement, 115 ms for return movement) it works fine. The peak force will be reduced by 19 %, the RMS-force by 5 %!


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