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content/zettels/brushless_dc_motor.md
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## Manufacturers {#manufacturers} ## Manufacturers {#manufacturers}
- <https://www.maxongroup.com/maxon/view/content/Overview-brushless-DC-motors> | Manufacturers | Country |
- <https://www.faulhaber.com/en/products/brushless-dc-motors/> |--------------------------------------------------------------------------------------------|---------|
| [Faulhaber](https://www.faulhaber.com/en/products/brushless-dc-motors/) | |
| [Maxon](https://www.maxongroup.com/maxon/view/content/Overview-brushless-DC-motors) | |
| [OrientalMotors](https://www.orientalmotor.com/brushless-dc-motors-gear-motors/index.html) | |
## Bibliography {#bibliography} ## Bibliography {#bibliography}

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content/zettels/linear_brushless_motor.md Normal file
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+++
title = "Linear Brushless Motor"
author = ["Dehaeze Thomas"]
draft = false
+++
Tags
:
## Ironcore VS Ironless {#ironcore-vs-ironless}
## Manufacturesr {#manufacturesr}
| Manufacturers | Country |
|---------------------------------------------------------------------------------------------------------------------------------------------------|-------------|
| [Tecnotion](https://www.tecnotion.com/product-category/linear-motors/) | Netherlands |
| [Prodrive](https://prodrive-technologies.com/motion/products/linear-motors-and-actuators/) | Netherlands |
| [Etel](https://www.etel.ch/linear-motors/ilf-plus/) | Switzerland |
| [TDS PP](https://www.tds-pp.com/en/products/linear-actuators/) | Switzerland |
| [Aerotech](https://www.aerotech.com/motion-and-positioning/motors-products/) | USA |
| [Celera Motion](https://www.celeramotion.com/applimotion/products/direct-drive-frameless-linear-motors/) | USA |
| [Akribis](https://akribis-sys.com/products/linear-motors) | USA |
| [Moticont](https://www.moticont.com/brushless-motor.htm) | USA |
| [Airex](https://airex.com/) | USa |
| [Hiwin](https://www.hiwin.de/fr/Produits/c/3952) | Germany |
| [Baumeuller](https://www.baumueller.com/en/products/motors/linear-motors) | Germany |
| [Rexroth](https://www.boschrexroth.com/en/xc/products/product-groups/electric-drives-and-controls/motors-and-gearboxes/synchronous-linear-motors) | Germany |
| [PBA Systems](https://www.pbasystems.com.sg/product-category/precision-robotics/direct-drive-motors/) | Singapore |
| [Akribis](https://www.akribis-sys.de/en/produkte/1/linear-motors/) | Singapore |
| [Chieftek](http://www.chieftek.com/product-lm.asp) | Taiwan |
| [Yaskawa](https://www.yaskawa.com/products/motion/sigma-7-servo-products/linear-servo-motors) | Japan |
## Stages including Linear Brushless Motor {#stages-including-linear-brushless-motor}
| Manufacturers | Country |
|------------------------------------------------------------------------------------------------------------------|---------|
| [H2tech](https://www.h2wtech.com/category/single-rail-stages#productInfo1) | USA |
| [Chieftek](http://www.chieftek.com/product-cls.asp) | Taiwan |
| [Transtechnik](https://www.transtechnik.fr/range/gamme-de-moteurs-lineaires-avec-mecanique-de-guidage-integree/) | France |
| [Monticont](http://www.pwr-con.com/ecommerce/default.asp?cat=Linear+Brushless+Motor+Driven+Stage) | |
## Bibliography {#bibliography}
<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
</div>

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content/zettels/transconductance_amplifiers.md
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Drivers with integrated controllers Drivers with integrated controllers
</div> </div>
| Model | Manufacturer | Linear / PWM | Axes | Interfaces | Feedback | Current Bandwidth | | Model | Manufacturer | Linear / PWM | Axes | Interfaces | Feedback | Current Bandwidth | ASD at 1kHz [A/sqrt(Hz)] |
|-----------------------------------------------------------------------------------------------------------------------------------|--------------|--------------|----------------|---------------|--------------|-------------------| |-----------------------------------------------------------------------------------------------------------------------------------|-----------------|--------------|----------------|---------------|--------------|-------------------|--------------------------|
| [Apogee](https://prodrive-technologies.com/motion/products/servo-drives/apogee-kepler-series/) | Prodrive | PWM | 1 to 3 | +/-10V 16bits | Encoder | 7kHz | | [Apogee](https://prodrive-technologies.com/motion/products/servo-drives/apogee-kepler-series/) | Prodrive | PWM | 1 to 3 | +/-10V 16bits | Encoder | 7kHz | 1e-6 |
| [LWM7S](https://www.maccon.co.uk/linear-servo-amplifier.html) | Macon | Linear | 1 | | Encoder/Hall | | | [S3-400/8](https://prodrive-technologies.com/motion/products/servo-drives/cygnus-series/) | Prodrive | PWM | 1 | +/-10V | Encoder | 1kHz | 1e-4 |
| [Soloist ML](https://www.aerotech.com/product/motion-control-platforms/soloist-ml-controller-and-linear-digital-drive/) | Aerotech | Linear | 1 | +/-10V 16bits | Encoder/Hall | | | [LWM7S](https://www.maccon.co.uk/linear-servo-amplifier.html) | Macon | Linear | 1 | | Encoder/Hall | | |
| [Automation1 XL4s](https://www.aerotech.com/product/motion-control-platforms/automation1-xl4s-high-performance-voice-coil-drive/) | Aerotech | Linear | 1 (voice coil) | +/-10V 16bits | ? | | | [Soloist ML](https://www.aerotech.com/product/motion-control-platforms/soloist-ml-controller-and-linear-digital-drive/) | Aerotech | Linear | 1 | +/-10V 16bits | Encoder/Hall | | |
| [EM-356B](https://electromen.com/en/products/item/motor-controllers/brushless-dc-motor/EM-356B) | Electromen | PWM | 1 | 0-10V | Hall | | | [Automation1 XL4s](https://www.aerotech.com/product/motion-control-platforms/automation1-xl4s-high-performance-voice-coil-drive/) | Aerotech | Linear | 1 (voice coil) | +/-10V 16bits | ? | | |
| [azbh10a4](https://www.a-m-c.com/product/azbh10a4/) | AMC | PWM | 1 | +/-10V | Hall | | | [Automation1 XL2e](https://www.aerotech.com/product/motion-control-platforms/automation1-xl4s-high-performance-voice-coil-drive/) | Aerotech | Linear | 1 | +/-10V 16bits | Encoder/Hall | 2.5kHz | |
| [S3-400/8](https://prodrive-technologies.com/motion/products/servo-drives/cygnus-series/) | Prodrive | PWM | 1 | +/-10V | Encoder | 1kHz | | [EM-356B](https://electromen.com/en/products/item/motor-controllers/brushless-dc-motor/EM-356B) | Electromen | PWM | 1 | 0-10V | Hall | | |
| [X-MCC](https://www.zaber.com/products/controllers-joysticks/X-MCC) | Zaber | ?? | 1 to 4 | | | | | [azbh10a4](https://www.a-m-c.com/product/azbh10a4/) | AMC | PWM | 1 | +/-10V | Hall | | |
| [X-MCC](https://www.zaber.com/products/controllers-joysticks/X-MCC) | Zaber | ?? | 1 to 4 | | | | |
| [TA310](https://www.trustautomation.com/products/linear-drives/ta310-linear-drive/) | TrustAutomation | Linear | 1 | +/-10V | Hall | 5kHz | |
<a id="table--tab:table-name"></a> <a id="table--tab:table-name"></a>
<div class="table-caption"> <div class="table-caption">
@ -83,11 +85,14 @@ set(gca, 'Yscale', 'log');
Pure Drivers Pure Drivers
</div> </div>
| Model | Manufacturer | Linear / PWM | Axes | Interfaces | Current Bandwidth | | Model | Manufacturer | Linear / PWM | Axes | Interfaces | Current Bandwidth | Max Current | ASD at 1kHz [A/sqrt(Hz)] |
|-----------------------------------------------------------------------------------------------------------|--------------|--------------|------|------------|-------------------| |-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-----------------|--------------|------------------------|------------|-------------------|-------------|--------------------------|
| [LA300](https://varedan.com/product/analog-linear-servo-amplifiers/la-300-analog-linear-servo-amplifier/) | Varedan | Linear | 3 | +/-10V | 10kHz | | [LA300](https://varedan.com/product/analog-linear-servo-amplifiers/la-300-analog-linear-servo-amplifier/) | Varedan | Linear | 3 | +/-10V | 10kHz | 4A | |
| [LA24](https://www.cedrat-technologies.com/en/technologies/actuators/magnetic-actuators-motors.html) | Cedrat | Linear | 3 | +/-10V | 35kHz | | [LA24](https://www.cedrat-technologies.com/en/technologies/actuators/magnetic-actuators-motors.html) | Cedrat | Linear | 3 | +/-10V | 35kHz | 1.5A | |
| [CMAu10](https://www.cedrat-technologies.com/en/products/magnetic-controllers/oem-amplifiers.html) | Cedrat | Linear | 1 | +/-10V | 5kHz | | [CMAu10](https://www.cedrat-technologies.com/en/products/magnetic-controllers/oem-amplifiers.html) | Cedrat | Linear | 1 | +/-10V | 5kHz | 0.5A | |
| [TA115](https://www.trustautomation.com/products/linear-drives/ta115-linear-drive/) and [TA105](https://www.trustautomation.com/products/linear-drives/ta105-linear-drive/) | TrustAutomation | Linear | 1 | +/-10V | 5kHz | | 1e-6 |
| [SMA6520](https://www.glentek.com/shop/?swoof=1&product_cat=linear-brushless-series&really_curr_tax=21-product_cat) | Glentek | Linear | 1 Brushless (3 phases) | +/-10V | 10kHz | | |
| [SMA5005](https://www.glentek.com/shop/?swoof=1&product_cat=linear-brush-series&really_curr_tax=21-product_cat) | Glentek | Linear | 1 | +/-10V | 10kHz | | |
## Bibliography {#bibliography} ## Bibliography {#bibliography}

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content/zettels/voice_coil_actuators.md
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## Manufacturers {#manufacturers} ## Manufacturers {#manufacturers}
| Manufacturers | Country | | Manufacturers | Country |
|-------------------------------------------------------------------------------------|-------------| |-------------------------------------------------------------------------------------------------------------------------------------|-------------|
| [Thorlabs](https://www.thorlabs.com/newgrouppage9.cfm?objectgroup_id=14116) | |
| [Geeplus](https://www.geeplus.com/) | UK | | [Geeplus](https://www.geeplus.com/) | UK |
| [Maccon](https://www.maccon.de/en.html) | Germany | | [Maccon](https://www.maccon.de/en.html) | Germany |
| [TDS PP](https://www.tds-pp.com/en/product/linear-voice-coil-actuators-avm/) | Switzerland | | [TDS PP](https://www.tds-pp.com/en/product/linear-voice-coil-actuators-avm/) | Switzerland |
| [H2tech](https://www.h2wtech.com/) | USA |
| [PBA Systems](https://www.pbasystems.com.sg/product/circular-voice-coil-motor-cvc/) | Singapore | | [PBA Systems](https://www.pbasystems.com.sg/product/circular-voice-coil-motor-cvc/) | Singapore |
| [Beikimco](http://www.beikimco.com/) | USA |
| [Magnetic Innovations](https://www.magneticinnovations.com/) | Netherlands | | [Magnetic Innovations](https://www.magneticinnovations.com/) | Netherlands |
| [H2tech](https://www.h2wtech.com/) | USA |
| [Beikimco](http://www.beikimco.com/) | USA |
| [Monticont](http://www.moticont.com/) | USA | | [Monticont](http://www.moticont.com/) | USA |
| [Thorlabs](https://www.thorlabs.com/newgrouppage9.cfm?objectgroup_id=14116) | USA | | [Thorlabs](https://www.thorlabs.com/newgrouppage9.cfm?objectgroup_id=14116) | USA |
| [Akribis](https://akribis-sys.com/products/voice-coil-motors/avm-series) | USA | | [Akribis](https://akribis-sys.com/products/voice-coil-motors/avm-series) | USA |
| [Celera](https://www.celeramotion.com/applimotion/products/direct-drive-frameless-linear-motors/voice-coil/juke-series-round-body/) | |
## Voice Coil Stages {#voice-coil-stages} ## Voice Coil Stages {#voice-coil-stages}
| Manufacturers | Country | | Manufacturers | Country |
|-----------------------------------------------------------------------------|-------------| |-----------------------------------------------------------------------------------------------------|-------------|
| [TDS PP](https://www.tds-pp.com/en/product/voice-coil-actuator-stages/) | Switzerland | | [TDS PP](https://www.tds-pp.com/en/product/voice-coil-actuator-stages/) | Switzerland |
| [Thorlabs](https://www.thorlabs.com/newgrouppage9.cfm?objectgroup_ID=14930) | USA | | [Thorlabs](https://www.thorlabs.com/newgrouppage9.cfm?objectgroup_ID=14930) | USA |
| [H2tech](https://www.h2wtech.com/category/voice-coil-stages#productInfo1) | USA | | [H2tech](https://www.h2wtech.com/category/voice-coil-stages#productInfo1) | USA |
| [PBA](https://www.pbasystems.com.sg/product/circular-voice-coil-motor-cvca/) | |
| [Monticont](http://www.pwr-con.com/ecommerce/default.asp?cat=Linear+Motor+Driven+Positioning+Stage) | |
## Linear Actuators {#linear-actuators} ## Voice Coil for Vertical payload {#voice-coil-for-vertical-payload}
| Manufacturers | Country | Let's consider a spring-mass system with a force actuator.
|----------------------------------------------------------------------------------------------------------|-------------| Parameters are:
| [TDS PP](https://www.tds-pp.com/en/products/linear-actuators/) | Switzerland |
| [PBA Systems](https://www.pbasystems.com.sg/product-category/precision-robotics/direct-drive-motors/) | Singapore |
| [Celera Motion](https://www.celeramotion.com/applimotion/products/direct-drive-frameless-linear-motors/) | USA |
| [Akribis](https://akribis-sys.com/products/linear-motors) | USA |
| [Aerotech](https://www.aerotech.com/motion-and-positioning/motors-products/) | USA |
Linear Stages - `m`: the mass payload in [kg]
- `k`: the spring constant in [N/m]
- `Fmax`: the maximum force applied by the voice coil in [N]
| Manufacturers | Country | `Dg`: deflection due to gravity in [m]
|----------------------------------------------------------------------------|---------| `Df`: maximum stroke using the voice coil in [m]
| [H2tech](https://www.h2wtech.com/category/single-rail-stages#productInfo1) | USA | `f0`: the resonance frequency of spring-mass system in [Hz]
\begin{equation}
2 \pi f\_0 = \sqrt{\frac{k}{m}}
\end{equation}
\begin{equation}
D\_g = \frac{m g}{k}
\end{equation}
\begin{equation}
D\_f = \frac{F\_\max}{k}
\end{equation}
### Determine the required voice coil force {#determine-the-required-voice-coil-force}
Let's fix `m` (payload mass) and `Df` (wanted motion induced by the voice coil).
Then, let's vary `f0` and compute the corresponding `Dg`, `Fmax` and `k`.
```matlab
g = 9.8;
m = 5; % [kg]
Df = 5e-3; % [m]
f0 = 0.1:0.1:20; % [Hz]
```
```matlab
k = m * (2*pi*f0).^2; % [N/m]
Dg = m * g ./ k; % [m]
Fmax = k * Df; % [N]
```
<a id="figure--fig:voice-coil-force-fct-f0"></a>
{{< figure src="/ox-hugo/voice_coil_force_fct_f0.png" caption="<span class=\"figure-number\">Figure 1: </span>Required Voice Coil Force as a function of the paylaod resonance and corresponding deflection due to gravity (mass is 5kg, stroke is 5mm)" >}}
### Determine the attainable stroke {#determine-the-attainable-stroke}
Let's fix `m` (payload mass) and `Fmax` (maximum force applied by the Voice coil).
Then, let's vary `Df` and compute the corresponding `Dg`, `f0` and `k`.
```matlab
g = 9.8;
m = 5; % [kg]
Fmax = 50; % [N]
Df = 1e-3:1e-4:10e-3; % [m]
```
```matlab
k = Fmax./Df; % [N/m]
f0 = sqrt(k/m)/2/pi; % [Hz]
Dg = m * g ./ k; % [m]
```
<a id="figure--fig:voice-coil-resonance-fct-stroke"></a>
{{< figure src="/ox-hugo/voice_coil_resonance_fct_stroke.png" caption="<span class=\"figure-number\">Figure 2: </span>Resonance frequency and deflection due to gravity as a function of the wanted stroke (Max voice coil force is 50N and payload mass is 5kg)" >}}
## Bibliography {#bibliography} ## Bibliography {#bibliography}

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