直驱传动解决方案DIRECTDRIVESOLUTIONS

精度/效率/节能/专注

Contents目录

01 有铁芯直线电机

RGW59系列series

RGW59-9

RGW59-12

峰值推力：315NPe8k [hna
持续推力：90N
Sustained thrust
峰值电流：15.8A持续电流：4.5A

峰值推力：420N持续推力：120NSustainec thrust峰值电流：21.0A持续电流：6.0A

RGW 91系列series

RGW91-3

RGW91-6

峰值推力：250NPeak thrust
持续推力：73NSustained thnu
峰值电流：9.2A持续电流：2.7AContinuous current峰值推力：500NPeak thrust
持续推力：146NSustainec thrust
峰值电流：18.5A持续电流：5.4ACont nuous current

RGW91-9

RGW91-12

峰值推力：750NPeak thrust
持续推力：219N
Sustained thnusl
峰值电流：27.7A
持续电流：8.1Anuous curren
峰值推力：1000Neak thrus
持续推力：292Nteinec thrust
峰值电流：36.9A
持续电流：10.8AJous current

RGW91-15

峰值推力：1250NPeak
持续推力：365N
Sustained thrust
峰值电流：46.1APeak curre
持续电流：13.5Atinuous current

RGW109系列series

无铁芯直线电机

2 无铁芯直线电机 IronlessLinearMotor

RGW170-A-75系列series

RGW170-A1-75

RGW170-A2-75

峰值推力：414.5N持续推力：138.2Nustainedthrust峰值电流：9A持续电流：3A

峰值推力：882NPesk tfirus
持续推力：294Nstained thrust
峰值电流：18Anurent
持续电流：6A

RGW170-A3-75

峰值推力：1519.2N持续推力：506.4N峰值电流：506.4A持续电流：6A
ConTIr,as cummen)

RGW170-A-100系列series

RGW170-A1-100

峰值推力：626.2N
持续推力：208.7Nedthrus
峰值电流：9A
持续电流：3A
Continjois curnenl

RGW170-A3-100

峰值推力：2199.6Neak thrust
持续推力：733.2N
峰值电流：18A
持续电流：6A
Continuous curent

RGW210-A-100系列series

RGW210-A1-100

对位平台Counterpointplatform

双驱龙门 Double drive gantry

对位平台

双驱龙门

>工业机器人 >Industrial Robots
>精密机床 >Precision MachineTos
>精密测量仪器>Precisionmesuinginstrument
>生物技术 >Biotechnology
>自动化生产线>AautomatiProcutionline
>晶元检测 >Waferdetection

>OLED切割>OLEDCutting >FCB钻孔 >FCB Drilling >数控加工 >CNCmachining >生物技术 >Biotechnology >IC封装 >ICPackaging >晶元检测 >Wafer detection

定梁龙门 Fixed gantry

XY晶元检测平台XYCHIPDETECTION PLATFORM

定梁龙门

XY晶元检测平台

>OLED切割 >OLEDCutting >FCB钻孔 >FCBDrilling >精密加工领域>Precisionmachiningfield >生物技术 ^* Biotechnology >IC封装 >ICPackaging >晶元检测 >Waferdetection

>半导体制造>SemiconductorManufacturil >精密加工PrecisionMachining >光电器件>Photoelectricdevices >生物技术>Biotechnology >IC封装 >ICPackaging >晶元检测 >Wafer detection

十字精密平台Cross precision platform

十字精密平台

>OLED切割 >OLEDCutting >FCB钻孔 >FCB Drilling >数控加工 >CNCmachining >生物技术 >Biotechnology >IC封装 >ICPackaging >晶元检测 >Wafer detection

气浮平台Air floating platform

气浮平台Air floating platform

气浮平台

气浮平台

峰值推力：742N持续推力：276N峰值电流：8.68A持续电流：3.23A

RGW motor selection referenceRGW电机选型参考

直线电机

1.直线电机的选型包括最大推力和持续推力需求的计算。

2.直线运动中F =m a ，F是负载运动需要的力，单位N;m是运动物体的质量，单位Kg;a是加速度，单位m/s²。最大推力由移动负裁质量和最大加速度决定，实际应用中推力 \vDash 总质量×加速度 ^+ 摩擦力 ^+ 外界应力。

举例：（假定不存在摩擦力和外界应力）移动负载10千克（包括动子），加速度 10m/s^{2} ，电机将产生100N的力。

3.通常不知道实际加速度需求，但有运行时间的要求，给定运动行程和所需时间，便可计算出加速度；对于短行程，推荐使用三角形速度模式（无匀速），长行程推荐梯形速度模式。

4.三角形模式： a=4s/t^{2}

5.梯形模式，预设匀速度可以决定加速度： \mathsf{a}=v/(\mathsf{t}-\mathsf{S}/\mathsf{v}).\mathsf{s}= 运动总时间

6.计算减速度和计算加速度类似，除非存在不平衡的力（重力）作用在电机上。

7.为了维持匀速过程和停滞阶段，摩擦力和外界应力也需要计算（为了维持匀速，电机会对抗摩擦力和外界应力，电机上伺服停滞时会对抗外界应力)。

8.计算持续推力公式如下

9.根据最大推力和持续推力选择一个电机，应该将安全系数设为 120-30% ，以便将摩擦力和外界应力抵消为0。

力矩电机

1.力矩电机扭矩必须要符合应用需要，或者说电机的峰值扭矩和持续扭矩要高于应用需要的峰值扭矩和持续扭矩，否则电机将不能达到所需要的最大加速度，有时电机会过热。

2.旋转运动中T =1α ，T是负载扭矩，单位Nm；J是负载转动惯量，单位Kgm²：α是角加速度，单位rad/s²（ 360°{=} 2Ttrad)。
3.DDR马达选型计算所需机械结构参数：

4.DDR马达运动模式与直线电机速度模式一样，对于小角度，推荐使用三角形速度模式，连续旋转推荐使用梯形速度模式。

5.电机的选择要基于计算出的峰值扭矩和持续扭矩，另外需要增加 20-30% 的安全系数，特别是假设摩擦力和反向作用力为零时。在实际应用中，需要计算峰值扭矩和持续扭矩，峰值扭矩取决于加速度/减速度，T=Jα。

6.由于惯量越小越好，根据转矩方程式， T=1α ，如果转动惯量越小，就可以获得越高的角加速度。转动惯量包括两部分：电机本身的转动惯量和负载的转动惯量。

7.当使用传统的伺服电机和机械传动系统时，皮带、滑轮、齿条和齿轮等机械传动都存在间隙，因此，在小型快速运动中，需要变换运动方向时，可能会出现负载与电机瞬间解耦（脱离）的问题，会造成控制不稳定，所以电机惯量和负载惯量的比率要匹配。传统伺服比率要控制在1：5以内，或者也可以提高到1：10以内，DDR应用可以放大比率，建议低速情况比率为1：5，高速情况比率为1:10。

8.力矩电机的轴向和径向跳动由其使用的轴承精度、机械加工精度、零部件的安装精度决定，在高精度的应用中要考虑轴向和径向跳动。

9.RGW力矩电机通常使用光学增量编码器反馈，也有其它反馈类型可以选择，如：旋转编码器、绝对编码器、感应式编码器等。但光学编码器比其它编码器有更好的精度和分辨率。

音圈电机

1.在应用中峰值推力和持续推力是非常重要的，峰值推力F \v{U}=\v{U} ma，可以用已知的负载和运动所需的加速度计算出所需的峰值推力。

举例，已知负载为100克，加速度为20m/s2，那么加速期间所需要的峰值推力为2N。

2.运动波形图。

3.运动时的有效行程及总行程需求：其中总行程 \varepsilon 有效行程 ^+ 余程。

4.负载：即电机在实际运动时需负荷多重的物体（重量是以g、kg等为单位）。

5.运动状态：包括运动的频率、运动的精度（重复定位精度）、运动的轨迹、环境、温度、运动中有没有阻力（弹簧原因、摩擦原因、压缩空气等）。

6.持续推力计算

举例：行程4mm，运动时间0.02s，则速度最大为 400mm/s ，加速度4G，峰值推力为4N，假设停滞时间为0.05s，则持续推力\begin{array}{r}{=\surd(\mathsf{F}\mathsf{p}^{2}x\mathsf{T} 1+\mathsf{F}\mathsf{p}^{2}x\mathsf{T} 2)/(\mathsf{T} 1+\mathsf{T} 2+\mathsf{T} 3)=\surd(4^{2}x0.01+4^{2}x0.0 1)/(0.0 1+0.0 1+0.0 5)=2.14\mathsf{N};}\end{array}

RGW motor selection referenceRGW电机选型参考

Linear motor

1.The selection of linearmotorincludes the calculation of maximum.thrust and continuousthrustrequirements. 2.In linearmotion,F=maFistheforcerequired forloadmotion,unitN;misthemass of themoving objectinKg: a istheaccelerationin m/s^{2} Themaximumthrustisdeterminedbythemovingnegativemassand themaximum acceleration.Inpracticalapplication,thrust = totalmassxacceleration ^+ friction ^+ externalstress.Forexample: (assumingnofrictionandexternalstress)movingtheload 10\;kg (including the actuator),acceleration 10m/\dot{\mathsf{m}}/\mathsf{s}^{2} themotorwillproduceaforceof1ooN.

3.Usuallydonotknowtheactualaccelerationneeds,buthavetherequirementsofrunningtime,giventhemotion stroke and therequired time,the accelerationcanbe calculated;For short trips,triangular speedmode(no uniformspeed)isrecommended,andtrapezoidalspeedmodeisrecommendedforlongtrips.

time time time 5.Trapezoidal mode,preset uniform speed can determine acceleration: \mathsf{a}=v/(\mathsf{t}-\mathsf{S}/\mathsf{v}).\mathsf{s}= totaltimeofmovement <br>

6.The calculation of deceleration is similar to the calculation of acceleration, unless there is an unbalanced force (gravity)acting.onthemotor.
7.nordertomaintaintheconstantspeedprocessandthestagnationstage,thefrictionforceandexternalstress alsoneedtobecalculated(inordertomaintaintheconstantspeedthemotorwillfightagainstfrictionand externalstress,andtheservoonthemotorwillfightagainstexternalstress).
8.Theformulaforcalculatingsustainedthrustisasfollows

9.Selectamotoraccordingtothemaxjmumthrustandsustained thrust,andthesafetyfactorshouldbesetto20- 30% inordertooffsetthefrictionandexternalstresstoO.

Torapemolat

1.Thetorqueof thetorquemotormustmeettheneedsof theapplication,orthepeaktorqueandcontinuoustorqueofthe motormustbehigherthanthepeaktorque andcontinuoustorquerequiredbytheapplication,otherwisethemotorwill notbeabletoachievetherequiredmaximumacceleration,andsometimestheelectricmachinewilloverheat.
2.Inrotatingmotion T=10t Tistheload torque,unitNm;Jisthemomentofinertiaof theloadinKgm2:αistheangular _accelerationinrad/s2( 360°= 2Ttrad). Mechanical structureparametersrequired forDDRmotorselectioncalcul

4.The DDR motor motion mode is the same as the linear motor speed mode,the triangular speed mode is recommendedforsmallangles,andthetrapezoidalspeedmodeisrecommendedforcontinuousrotation.

5.The selection of themotorisbasedonthecalculated peaktorque and continuoustorque,and anadditional 20.30% safetyfactorisrequired,especially assuming zerofriction andreverseforce.Inpracticalapplications,peaktorque andsustained torque need tobecalculated,and thepeaktorque dependsonacceleration/deceleration, {\sf T}={\sf J}α

6.Since the smallertheinertia,thebetter,according to thetorque equation, T=1α_{1} if themomentofinertiaissmaller, the higher the angular acceleration can be obtained.The moment of inertia includes two parts:the moment of inertiaofthemotoritselfandthemomentofinertiaof theload.

7.Whenusingthetraditionalservomotorandmechanicaltransmissionsystem,belt,pulley,rackandgearand other mechanical transmission there are gaps,therefore,in the small fast movement,need to change the direction of movement,theremaybe a load and motorinstant decoupling(separation)problem,willcause control instability, sothemotorinertia andloadinertiaratiotomatch.The traditional servoratioshouldbecontrolledwithin1:5,orit can alsobe increased towithin 1:10, and DDR applications can amplify theratio,suggesting a ratio of 1:5for low speed and1:10forhighspeed.

8.The axial and radial runout of the torque motor is determined by the bearing accuracy, machining accuracy and installation accuracy of the parts used, and the axial and radial runout should be considered in the application of highprecision.

9.RGW torque motors usually use optical incremental encoder feedback, and there are other feedback types to choose from,such as:rotary encoder,absolute encoder,induction encoder,etc.But optical encodershave better accuracyandresolutionthanotherencoders.

Woice coil motor

1.In theapplication,peakthrust andsustained thrust areveryimportant,thepeakthrust \mathsf{F}=\mathsf{m}\mathsf{a}_{\iota} andtherequired peak thrust can be calculated using the known load and the acceleration required by the movement.Forexample iftheload is 100 \mathfrak{g} andtheaccelerationis 20m/s2. thenthepeakthrustrequiredduringaccelerationis2N.

2.Motion waveform diagram..

3.Effective traveland totaltravel requirements during exercise:where total travel = effectivetravel+residual travel

4.Load:that is, the motor needs to load multiple objects during actual movement(weightis g.kg,etc.).

5.Motionstate:including the frequency of the movement,the accuracy of the movement (repeatedpositioning accuracy). the trajectory of the movement,the environment,thetemperature,and whether thereisresistance in themovement (springcause,frictioncause,compressedair,etc.).

6.Sustained thrust calculation

For example, if the stroke is 4\mathsf{mm} and the movement time is 0.02s, themaximum speed is 400mm/s, the accelerationis4G,and the peak thrust is 4N.Ifthe stagnation timeis 0.05s, the thrustissustained =\surd(\mathsf{F p}^{2}x\mathsf{T} 1+\mathsf{F p}^{2}x\mathsf{T} 2)/(\mathsf{T} 1+\mathsf{T} 2+\mathsf{T} 3)=\surd(4^{2}x0.0 1+4^{2}x0.0 1)/(0.0 1+0.0 1+0.05)=2.1 4\ln\mathsf{F} ,

Therefore,we need to choose a voice coil motor with a peak thrust greaterthan4N and a sustained thrust greater than 2.14N.

产品介绍

Product introduction

有铁芯平板直线电机RGWA系列、C系列，由于体积大、线圈单元大、内附永磁性材料，使其具有更大的推力能力、散热能力，擅长于重负载、高加减速、高速、长行程的运动，常用于点位精度的运动应用。

Thereareiron coreflat linearmotorRGwAseries,Cseries,due tothelargevolume,coil unit islarge,withpermanent magneticmaterialothatithasgreaterthrustcapacity,heatdissipationcapacitygoodatheavyload,highaccelerationand deceleration,high-speed,longstrokemovement,oftenused inpointprecisionmotion applications.

产品特性

>低顿振的有铁芯直线电机
> 良好的热散性能
> 大推力、高加减速、重负载
> 功率范围广
>可灵活客制产品
> Lowvibrationlinearmotorwithironcore
> Goodthermaldispersionperformance
> Largethrust,high accelerationand deceleration,heavyload
> Widepowerrange
> Flexiblecustomproducts

应用领域

Application field

> 非标自动化：LCM光电、锂电池设备等
>FPC制程
> 3C、半导体设备
> 激光应用设备
> SMT贴片、PCB钻孔
> AOI视觉应用
> Non-standard automation: LCM photoelectric, lithium batteryequipment,etc
> FPCprocess
> 3C,semiconductorequipment
> Laser application equipment
> SMT patch, PCB drilling
> AOlvisual applications

命名规则

动子命名规则 Name of the Motor Forcer

定子命名规则 Name of the Motor Stator

备注：E系列有加强版，其他系列没有加强版。 Note: E series has an enhanced version, other series do not have an enhanced version.

RGW霍尔

RGW Hall

技术要求：

1,cableusage specifications: 0.15/0.2\mathsf{mm}^{2};
2.Stripthecablefor 30mm and coverthe strip witha heat shrinktube.

命名规则

电机型号Motormodel

RGWA1-40

安装要求

Installation requirements

1、在标准直线电机模组运行过程中，平台会受到较大的冲击力，因此安装平台需要具备足够的刚度与稳定性。若安装平台刚度
不足，则标准模组在运行过程中会出现抖动、共振等现象，从而产生对定位精度、重复精度以及设备的影响。
2、在条件允许的情况下，应尽可能多的增加模组底座与安装台面的接触面积，以及锁螺钉的数量。
3、安装平台的台面平整度不低于 0.05\mathsf{mm}/500\mathsf{mm} ，对于精度要求高的场合需不低于 0.02\mathsf{mm}/500\mathsf{mm}
4、清理台面，确保安装台面无异物、毛刺等可能妨碍安装的物品。

1.in the standard linearmotormodule operationprocess,the platform wilbe subjected to greater impactso theinstalltion platform needstohave sufficient stiffnessandstability.If theinstallationplatform stiffnesslf it isinsufficient,thestandardmodule willappearjitterandresonance during operation, which willaffect the positioning accuracy,.repetition accuracy and equipment.

2.If conditions permit, the contact area between the module base and the installation table should be increased as much as possible, as well as the numberof lockscrews.

3, the tabletop flatness of the installation platform is not less than 0.05mm/500mm and the occasion with high accuracy requirements needs to be not lessthan0.02mm/500mm.

4, clean the table to ensure that the installation table is free of foreign bodies, burrs and other items that may hinder the installation.

尺寸示意图

电机型号Motormodel

RGW A2-40

安装要求

Installation requirements

1、在标准直线电机模组运行过程中，平台会受到较大的冲击力，因此安装平台需要具备足够的刚度与稳定性。若安装平台刚度
不足，则标准模组在运行过程中会出现抖动、共振等现象，从而产生对定位精度、重复精度以及设备的影响。
2、在条件允许的情况下，应尽可能多的增加模组底座与安装台面的接触面积，以及锁螺钉的数量。
3、安装平台的台面平整度不低于 0.05\mathsf{mm}/500\mathsf{mm} ，对于精度要求高的场合需不低于 ^{-0.02\mathsf{mm}/500\mathsf{mm}}
4、清理台面，确保安装台面无异物、毛刺等可能妨碍安装的物品。

1.in the standard linearmotormodule operationprocess,the platform will be subjected to greaterimpact, so theinstallation plaformneedstohave sufficientstiffnessandstabilityIf theinstallationplatformstiffnesslf it isinsufficientthe standard modulewillappearjitterandresonance during operation,which will affecthepositioning accuracy,repetitionaccuracyand equipment.

2. If conditions permit, the contact area between the module base and the installation table should be increased as much as possible, as well as the numberof lockscrews.

3, the tabletop flatness of the installation platform is not less than 0.05mm/500mm, and the occasion with high accuracy requirements needs to be not lessthan0.02mm/500mm.

4, clean the table to ensure that theinstallation table is free of foreign bodies,burrs and otheritems that may hindertheinstallation.

尺寸示意图

电机型号Motormodel

RGW A3-40

安装要求

Installation requirements

1、在标准直线电机模组运行过程中，平台会受到较大的冲击力，因此安装平台需要具备足够的刚度与稳定性。若安装平台刚度
不足，则标准模组在运行过程中会出现抖动、共振等现象，从而产生对定位精度、重复精度以及设备的影响。
2、在条件允许的情况下，应尽可能多的增加模组底座与安装台面的接触面积，以及锁螺钉的数量。
3、安装平台的台面平整度不低于 0.05\mathsf{mm}/500\mathsf{mm} ，对于精度要求高的场合需不低于 ^{-0.02\mathsf{mm}/500\mathsf{mm}}
4、清理台面，确保安装台面无异物、毛刺等可能妨碍安装的物品。

1.in the standard linearmotormodule operationprocess,the platform will be subjected to greaterimpact, so theinstallation plaformneedstohave sufficientstiffnessandstabilityIf theinstallationplatformstiffnesslf it isinsufficientthe standard modulewillappearjitterandresonance during operation,which will affecthepositioning accuracy,repetitionaccuracyand equipment.

2. If conditions permit, the contact area between the module base and the installation table should be increased as much as possible, as well as the numberof lockscrews.

3, the tabletop flatness of the installation platform is not less than 0.05mm/500mm, and the occasion with high accuracy requirements needs to be not lessthan0.02mm/500mm.

4, clean the table to ensure that theinstallation table is free of foreign bodies,burrs and otheritems that may hindertheinstallation.

尺寸示意图

电机型号Motor model

安装要求

Installation requirements

1、在标准直线电机模组运行过程中，平台会受到较大的冲击力，因此安装平台需要具备足够的刚度与稳定性。若安装平台刚度
不足，则标准模组在运行过程中会出现抖动、共振等现象，从而产生对定位精度、重复精度以及设备的影响。
2、在条件允许的情况下，应尽可能多的增加模组底座与安装台面的接触面积，以及锁螺钉的数量。
3、安装平台的台面平整度不低于 0.05\mathsf{mm}/500\mathsf{mm} ，对于精度要求高的场合需不低于 *0.02\mathsf{mm}/500\mathsf{mm}
4、清理台面，确保安装台面无异物、毛刺等可能妨碍安装的物品。

1, in the standard linear motor module operation process,theplatform will be subjected to greaterimpact,so the installation platform needsto have sufficient stiffness and stability.If the installation platform stifnessf it is insfficient,the standard module will appear jitter and resonance during operation,which willaffect thepositioning accuracy,repetition accuracyand equipment.

2.If conditions permit, the contact area between the module base and the installation table should be increased as much as possible,as wellas the numberof lockscrews.

3,the tabletop flatness of the installation platform is not less than 0.05mm/500mm,and the occasion withhigh accuracyrequirements needs to be not lessthan0.02mm/500mm.

lat the installation table is free of foreign bodies, burrs and other items that may hinder the

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Instalation mquies fatnes

电机型号Motor model

RGWA2-50

安装要求

Installation requirements

1、在标准直线电机模组运行过程中，平台会受到较大的冲击力，因此安装平台需要具备足够的刚度与稳定性。若安装平台刚度
不足，则标准模组在运行过程中会出现抖动、共振等现象，从而产生对定位精度、重复精度以及设备的影响。
2、在条件允许的情况下，应尽可能多的增加模组底座与安装台面的接触面积，以及锁螺钉的数量。
3、安装平台的台面平整度不低于 0.05\mathsf{mm}/500\mathsf{mm} ，对于精度要求高的场合需不低于 0.02\mathsf{mm}/500\mathsf{mm}
4、清理台面，确保安装台面无异物、毛刺等可能妨碍安装的物品。

1,in the standard linearmotormodule operation process,the platform will be subjected to greaterimpactso the installation platform needstohave sufficient stiffness and stability. f the installation platform stiffnesifit is insufficient,the standard module will appear jitter and resonance during operation,which will affect thepositioning accuracy,repetition accuracyandequipment.

2.If conditions permit, the contact area between the module base and the installation table should be increased as much as possible, as well as the numberof lockscrews.

3, the tabletop flatness of the installation platform is not less than 0.05mm/500mm, and the occasion with high accuracy requirements needs to be not lessthan0.02mm/500mm.

that theinstallation tableisfreeofforeignbodies,burrsandotheritemsthatmayhindert

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