A primer of

Tecnotion Linear Motors

TECNOTION B.V.
PO BOX 23
7600 AA ALMELO
THE NETHERLANDS
Document nr. 4022.363.4187.2
Version 2.1
Issue Date: September 2008
TECNOTION A PRIMER OF LINEAR MOTORS

Contents

Co Contents

Contents...................................................................................................................................................1
Introduction ..............................................................................................................................................2
1. Basic Principles ...............................................................................................................................3
2. The magnetic circuit ........................................................................................................................5
3. The Linear Motor .............................................................................................................................7
4. Three Phase Motor..........................................................................................................................9
4.1. Iron Core Linear Motor.......................................................................................................13
4.2. Ironless Linear motor..........................................................................................................15
5. Linear and rotary motors compared .............................................................................................17
6. The positioning system .................................................................................................................19
7. Linear motor system......................................................................................................................21
8. Practical considerations ................................................................................................................22

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Intro

I Introduction

Linear motors (LM) enable linear movements at high speeds with great accuracy.
Most linear motors are used in the machine construction industry and for
production automation purposes.

In this leaflet the following information can be found:

• The basic physical principles of linear motors.

• The 3 phase linear motor considered.
• A comparison of standard electric (rotary) motors and linear motors.
• The positioning system
• A brief description of a linear motor system and some practical
• considerations.
• A brief description of both Tecnotion’s ironcore and ironless series of
linear
• motors.

This leaflet is the first of a series of Three, concerning Tecnotion’s Linear Motors.
The series consists of the following titles:
- A Primer of Linear Motors
- Installing Iron Linear Motors
- Installing Ironless Linear Motors

For further information and support, please contact:

TECNOTION B.V. Telephone: +31(0)546 536 300

PO Box 23 Fax: +31(0)546 536 380
7600 AA Almelo [email protected]
The Netherlands www.tecnotion.com

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TECNOTION A PRIMER OF LINEAR MOTORS

Chapter

Ch 1. Basic Principles

Figure 1: Attraction and repulsion

A very well known physical phenomena is the attraction force between a magnet
and iron objects. We also know that a magnet influences another magnet nearby.
When two permanent magnets are placed in opposition, they will apply a force to
each other. Dependent on the position of the poles, they attract or repel each
other. Equal poles are repellent and opposite poles are attracting.
A linear motor is propelled by similar magnetic thrusts. Besides permanent
magnets here also ‘variable magnets’ are involved. In these so-called
electromagnets the variation of the magnetical poles is enabled by using winded
copper wire, i.e. a coil, in stead of a permanent magnet.

Figure 2: Physical resemblance of permanent magnet and electric coil

It is known that a metal wire, winded around a core and conducting an electric
current, acts like a magnet. Among others, the produced magnetic force of an
electric coil depends on

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1. the amperage of the current,

2. the number of windings, and
3. the kind of core material.

Figure 3: Electromagnetic exiting of a constant and a commutating magnetic field

Generally iron is used as core material. It has some very good characteristics for
conducting the magnetic field. In fact the iron core can be considered as a magnet
itself. In the case of a direct current the core behaves like a permanent magnet.
In addition, reversing the phase of the current makes the magnetic poles switch.
So an alternating current excites a commutating magnetic field.

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Chapter

Ch 2. The magnetic circuit

Comparable to electric circuits we can consider magnetic circuits as well. Below,

an elementary magnetic circuit has been drawn. It consists of an iron yoke, with
a permanent magnet and an airgap in it.

Flux Airgap

Permanent
magnet

Iron
Figure 4: Elementary magnetic circuit

Let’s compare this magnetic circuit with an electric circuit.

• In this comparison, the magnetic flux is identical to the electric current.
The magnetic flux density B can be compared to the electric current
density J.
• A permanent magnet in the circuit can be considered as a fixed
tensionsource, like the voltage-source of an electric circuit. Having a high
internal resistance this source drives the flux through the circuit.
• In the considered circuit, the iron of the yoke has a very low resistance
and can be used as a magnetic conductor. A difference with the standard
electric conductor, copper, is that iron shows saturation. This saturation
occurs near a certain flux density (about 2.0 Tesla). Above this value, the
magnetic resistance of iron increases rapidly.
• Air, copper and non-magnetic materials have a high magnetic resistance.
Magnetic resistance of a circuit can be determined by the sum of
thicknesses of
- magnets,
- air, and
- non-magnetic material

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Coil

Figure 5: Elementary magnetic circuit

• A coil wound around a magnetic conductor can be considered as a

variable tension-source (controlled by coil current), driving the flux through
the circuit.
In this way coils can be used to make adjustable (electro-) magnets which
can be switched and controlled by varying the electrical coil current.
• Just like a rolling mass the magnetic flux is subject to some kind of inertia.
It takes some voltage time to change current and flux, just as a certain
time span of force is required to change the velocity of a rolling mass.
This effect is known as self-inductance.

REMARK:
When a permanent magnet and a coil are combined in a magnetic circuit the
counterfield of the coil against the permanent magnet flux can damage
(demagnetize)
the permanent magnet. This is not very critical at room-temperature,
but the risk increases dramatically at temperatures above 60°C.

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Chapter

Ch 3. The Linear Motor

Keeping in mind the basic priciples of magnetism as mentioned before, we can
consider a simple model of a linear motor.

Figure 6: Moving principle 1

Suppose we have a movable but non-rotating magnet which can only be moved
in a straight horizontal line. Now this magnet is positioned above two fixed
magnets as shown left in figure 6. Because of the attracting and repelling thrusts,
it will move towards the magnet with the opposite pole pointing upwards. The
movement stops when the magnet is positioned right on top of it.
Now, changing the poles of the upper magnet, would make the magnet move
back to the right. This can be obtained by using a coil as upper magnet, see
figure 7

Thrust No Thrust
Coil
Permanent
m agnet
m ounted on
a plate

Figure 7: Moving principle 2

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Figure 8: Linear motor, schematic cross section

In a linear motor several coils are mounted in a slide, or coil unit. The slide is
movable over a bottom plate. On the entire distance this plate is covered with
permanent magnets. The plate, included with the magnet assembly, is called the
magnetplate. The length of the magnetplate determines the reach of the linear
motor.

One of the two main types of linear motors discussed in this leaflet has coils with
an iron core. The other main type has an ironless core. Each of the types has its
specific qualities. The coil poles are often called the ‘teeth’ (see figure 9).

The coils are supplied with an electric current. As indicated before the slide is
thrusted by changing the current phase of each coil. The speed of change allows
control of the velocity of the slide. In addition, the amperage of the current is
linked to the moving force. So, in- or decreasing the amperage allows control of
the motorforce.

Slide or coil unit

Cross section

Coil

Bottom view

Figure 9: Coil unit with three coils, schematic

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Chapter

Ch 4. Three Phase Motor

Different techniques can be applied in order to get an accurate and smooth
motion of the slide. The permanent magnets are fixed on the magnetplate, so the
phase of the magnetic force of each magnet is invariable. For the coils on the
other hand the phase is adjustable. The slide is propagated by commutating the
phase of the current. Providing each coil with a suitable phase displacement is
one of the appropriate techniques for linear motors. Another point of concern is
the position of the teeth in respect to the permanent magnets.

Figure 10: Erroneous positioning and phasing

In order to find out the right way of positioning and phasing let’s first consider the
obvious wrong way, schematically depicted in figure 10.
• Place the teeth in the same pattern and mutual distance as the
permanent magnets.
• In addition, provide the coils with equally phased current.
It won’t cost the reader a lot of trouble to find out that the slide won’t move at
all under these conditions.

Figure 11: Positioning and phasing for a 3 phase linear motor

The principle of the three phase linear motor comes to meet the demands of right
positioning and phasing. In figure 11 the teeth are equally positioned in the slide
with a ratio 3 to 4 compared to the magnets of the magnetplate. As a result three
different groups of teeth can be distinguished. Tooth 1 will continuously have a
comparable position as tooth 4. Tooth 2 and 5 are also comparably positioned as
well as tooth 3 and 6. Smooth and accurate motion is now obtained by providing
a three phase rotary current to the coils, one phase to each group. The phase

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angle depends on the position of the slide.

More in detail, three stages of the motor’s motion can be represented as follows:

Stage 1

Stage 2

Stage 3

Figure 12: Stages of the 3 phase linear motor’s motion

In the first stage the teethgroups 1/4 (north) and 2/5 (south) are active in
generating thrust. After a move to the right, teethgroup 2/5 cannot contribute
anymore. The phase has to be changed to null. Now, at stage 2, teethgroups 1/
4 (north) and 3/6 (phase changed to south) generate the thrust. According to this
hand-over-hand scheme the motor can travel over longer distances, depending
on the length of the magnet plate.

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The required current through the coils is a rotary current. Usually this is
represented as a clock- or counter clockwise running arrow in a XY-graphic.

3.
1. c.

X
α.

2.

Figure 13: Graphical representation of the coil’s current.

In figure 13 arrow 1 is related to the current in coilgroup 1/4. As the commutation

angle a changes, the position of arrow 1 alters, as well as its projection on the Y-
axis.
This projection (c) depicts the magnitude and the direction of the current,
from which can be derived that the current is related to the sine of the angle a.
Arrow 2 and 3 are successively related to coilgroups 2/5 and 3/6. The differential
commutation angle between two successive coils is fixed. It differs 120°. So the
the different coilgroups are synchronously powered.

An extended outline of this representation is given in table 1.

As you can see here the differential commutation angle between two successive
stages as depicted in figure 12 is -60°. In this difference the coil’s current is
related to its position on the magnet plate. So it is necessary to know the relative
position of the coils with respect to the permanent magnets in order to obtain the
required thrust. Therefore a linear motor must be magnetically aligned.
There are three methods to obtain this information at start-up:

1. Is to use an absolute position encoder.

2. Measure the magnetic field with Hall-sensors fixed with the coils.
3. Determine the position by exiting the coils with test currents and measure
the motors reaction ‘ wake-and-shake’. This requires the motor to move
freely.

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Stage Phase 1 Phase 2 Phase 3

(Current Coils 1&4) (Current Coils 2&5) (Current Coils 3&6)
1

etc etc etc etc

Table 1: Phase of the coil’s current at different stages of the motion.

Final remark:
• It will be clear that the coil unit of a 3 phase linear motor houses a threefold of coils.
One of the distinctions between the various types of motors concerns the amount of
triple coils.

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4.1. Iron Core Linear Motor

Figure 14: Ironcore coil unit with magnetplate, example TL

This type of motor has a low magnetic resistance. The ironcore and the magnet
closing plate are excellent flux conductors, so only the magnets and a single
airgap contribute to the resistance in the circuit.
Due to this low resistance the ironcore motor’s operation invloves a strong flux,
yielding high forces and an excellent efficiency. That makes this type a real
workhorse with the following main features:

• high peak force density,

• high continuous force density, and
• relatively low heat dissipation.

Coil

Airgap

Figure 15: Ironcore linear motor, schematic cross section

This motor type shows however attraction force of roughly twice to triple the
maximum thrust force. This attraction force has to be withstand, for instance by
bearings, while maintaining the correct airgap between coilunit and magnet plate.

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A second effect of the ironcore is cogging. Unless careful balancing, the ironcore
has always preferred positions with respect to the magnets. Moving the ironcore
along the magnet track, gives a slight feeling of moving over an old-fashioned
washing board. Actually cogging is no problem for most of the applications
because it can entirely compensated by a sophisticated feedback loop.

Because of the high flux, the motor has a considerable induction. This is
convenient for smoothing the current and allowing an economic amplifier, but it
requires appropriate voltage for very sudden force changes.

With this type of linear motor there can be reached speeds of up to 10 m/s.

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4.2. Ironless Linear motor

Figure 16: Ironless linear motor, example UL

In stead of a magnet plate the ironless motor is applied with a magnet yoke,
comparable with a sandwich of two magnet plates. The ironless coil unit moves
freely through the yoke’s groove.

Figure 17: Ironless linear motor, schematic cross section

In comparison with the just described ironcore motor the characteristics of the
ironless type is mainly influenced by the dissimilar magnetical resistance. In this
type the resistance is formed by the magnet height, two airgaps plus the coil’s
thickness. This results in a relative high magnetic resistance causing a low
magnetic flux. Therefore this type is characterized by:

• a moderate peak force density,

• a low continuous force density, and
• more heat dissipation compared to the ironcore. Especially the
continuous force of such a motor is much lower than that of an ironcore.
First by the higher heat dissipation, second by the worse heat conduction
to ambient.

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On the other hand, because the design is balanced and the coil section contains
no magnetic material, the motor has no attraction force at all, and there is
absolutely no cogging. The only force generated is the thrust force.

Because of the high magnetic resistance, the coil’s inductivity is relatively low
allowing high rates of change for very quick movements and very quick reactions
to disturbance forces. These characteristics make that this motor is very dynamic,
and achieves very short settlingtimes and high speeds. Due to this ability of quick
changes, the motor requires also a quick and accurate controller and amplifier for
obtaining accurate control.

A disadvantage of this type is that the sandwich requires a double row of magnets
making the magnetyokes rather expensive compared to the ironcore types.

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Chapter

Ch 5. Linear and rotary motors

compared

Figure 18: A rotary motor opened up and laid out flat

It will be notified that a linear motor is based on the same physical principles as
the normal rotary electric motor1. In fact a linear motor is a rotary motor opened
up and laid out flat (see figure 18). Hereby the rotor is transformed into the
magnettrack. The torque has become a linear force and so the rotary movement
has changed to a flat movement.

Because of its flat topology the main advantage of the linear motor is apparent. It
generates a direct linear movement. Whereas a rotary motor needs some kind of
transmission to provide a linear motion, the linear motor directly provides it.
1
Meant here is an electric motor with a wired rotor and sliding contact, whereas the stator consist of
permanent magnets.
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The direct drive results in some significant advantages.

• Accurate position control and response is possible at submicron level.

• A linear motor provides a smooth and controlled motion. No velocity

ripple.

• In comparison with standard rotary motor systems a high velocity and

acceleration performance is obtained. This is due to the high ratio of peak
force to motor inertia.

• Except for the side bearings there is no contacting surface. Friction is

negligible, virtually no wear.

• The only limitation on travel displacements is the length of the magnet

track. Since the track can be extended with more magnet plates this
limitation mostly is virtual. In the case of added length there are no speed
limitations nor is there a higher inertia or lower dynamic stiffness.

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Chapter

Ch 6. The positioning system

Linear motor applications require a sophisticated position and velocity feedback.
A linear encoder and a servo controller are taken up in the positioning system.
The position of the slide is detected by a ruler-probe combination. The linear
encoder returns this information to the servo controller.

Figure 19: Feedback, delay-time and accuracy

To have some impression of the positioning system a superficial comparison

could
be made with the speed control of an automobile. The information of the traffic
sign (1) is detected and interpreted by the driver (2) and translated into an
adjustment of the gas pedal (3). This results in an adjustment of the motor force
(4) and consequently of the rotation speed of the wheels (5). The actual speed
information is returned to the driver by the speedometer (6). As long as the
desired speed is not gained this specific loop back situation is maintained.

What a linear motor system concerns the measurement unit could be compared
with the driver’s visual system. The measurement probe detects the position and
the linear encoder translates it into the right position information. The input ports
of the servo-controller act like the eye-nerves. Here the position information is
returned to the drivers brains, the very servo-controller. In the controller this
information is processed and translated into an appropriate voltage signal to the
linear motor, comparable with the gas pedal movement. Because the linear motor
needs a powerful input this signal is provided by an amplifier. A bigger amplifier
supplies a larger peak force, just like a more powerful car engine produces more
horse powers. Comparable with car dynamics the acceleration of a linear motor
depends on the ratio of the amplifier power and the total moving load. It should
be notified that the voltage signal to the linear motor is provided in the form of
pulses with a fixed switching frequency and a fixed voltage. So the pulse width
is the parameter to be regulated.

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The position information provided by the probe is incremental. So the linear motor
has to do without the absolute position of the slide. Especially when starting a
motor operation this could be problematical. Therefore the slide is activated to
some minimal test movement. This earlier mentioned ‘magnetic alignment’
supplies the positioning system with the required information.

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Chapter

Ch 7. Linear motor system

Overview
Cable chain

Shock damper

End sw itch

Magnet plate
Measurement ruler
Measurement probe
Bearing

Coil unit
Rail

Figure 20: Ironcore linear motor system, example

A linear motor usually is part of a bigger system. This system enables controlled
movement. A complete linear motor system consists at least of the following
parts:
• A mounting frame
• A magnet track build up out of at least two magnet plates.
• A set of linear guides that support the slide and its load.
• A positioning system consisting of a servo controller, a measurement ruler
and probe for position detection and a linear encoder for position
feedback to the servo controller.

• A coil unit, water cooled if needed. This slide carries the functional load.
• Safety end dampers and switches to stop the movement in case of
malfunctions.

In the next paragraph some practical considerations concerning these items will
be discussed.

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Chapter

Ch 8. Practical considerations
A PART OF A TOTAL MACHINE
CONCEPT
A linear motor of Tecnotion is not
a system on itself. It should be
build within a
total machine concept or a
working unit. Depending on the
application a choice
has to be made between different
systems. Therefore it is important
to know the
specifications of both the total
machine concept and the linear
motor types. The
machine should meet all the
applicable CE requirements.

MOUNTING FRAME: SOLIDITY

AND STABILITY
For two main reasons the
mounting frame has to meet
special requirements. The
propelling peak forces of a linear
motor are high, so the frame
needs sufficient
dynamic stiffness. Because of the
accuracy the frame should be
insensible to
shocks and vibrations. Usually
the magnet plate is horizontally
fixed to the base of
a machine or working unit. The
slide will bear a functional load, Figure 21: Ironcore linear motor system
such as a
measurement unit or a laser cutter. Because of this load, the cabling and optional
cooling lines the ratio of peak force to motor inertia could be influenced a little. It
will be obvious that a vertical position of a linear motor system demands special
considerations. If desired contact Tecnotion.

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RAILS AND BEARINGS

To assure a free movement of an ironcore motor the slide has to be provided with
bearings that run smoothly on two rails, or with air bearings. The rails are
mounted aside the magnet plate. In addition this construction ensures the right

air gap between the coil unit and the magnet plate.
For the sideward positioning of the coil unit to the magnet plates a small tolerance
is acceptable.
When using Ironless linear motors, there is much more freedom in the
construction then when using ironcore because the ironless motors show no
attraction force. Many applications can do with one single ball-bearing rail. As
long as mechanical contact is prevented the position of this bearing relative to the
motor axis is indifferent. More important is the position of the motor with respect
to the centre of mass. A large distance can cause rotational oscillations.

Figure 22: Several types of linear motors

HEAT DISSIPATION
Heat dissipation is a very important issue both for ironcore and ironless motors.
Important but difficult as well.
Every linear motor produces heat. There are some aspects to consider:
• The heat is particularly produced in the coils. It spreads through the coils
to the aluminium frame and from the coil unit surface to the sled, the air
and - partly - to the magnet track.

• Heat flow causes temperature differences. The heat has to flow as easily
as possible to ambient, in order to keep operational temperature low. If
possible, the route of the heat conduction should be traced.

• Temperature differences might lead to expansion of materials. This can

be unacceptable for accuracy or other reasons. Sometimes, without
cooling an unacceptable heat up of the coil unit could occur. This could
result in lower performance, thermal safety stops and even damage to
your motor system. High temperatures might also disturb electronics. The

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allowed temperature increase for your application, especially for the coil
unit, should be determined.

Generally, the heat flow can be optimised by the following measures.

• By using a heat sink compound when mounting the coil unit,
• by directing ventilation in the air gap between the magnets,
• by applying air- or water-cooling channels in the mounting surface of the
coil unit.
•
All coil units are fitted with a temperature sensor.

ACCURACY
The accuracy of the positioning system is crucial, since the linear motor is
supposed to be controlled at submicron level. For instance the accuracy can be
influenced by heat expansion of the coil unit, by vibrations and shocks from the
surroundings or by a lack of stiffness of the mounting frame. Generally the main
restriction for the accuracy arises from this lack of stability.

Like most mechanical systems a linear motor deals with mechanical resistance,
elasticity and inertia. Because of the feedback of position and velocity it also deals
with measuring accuracy and certain delay times. For instance the controller has
to deal with some delay because of processor and update times. Accuracy could
also be limited by the fixed pulse frequency of the servo-amplifier.

Of course the linear ruler and the measurement probe should meet the desired
accuracy. This requires a sophisticated ruler-probe combination. The probe
should
be mounted as close as possible to the working point of the complete moving unit
(slide + load). The probe sends signals to the linear encoder, whereby the
encoder has a resolution time.

At last the linear motor itself is an electromagnetic device. It deals with

resistance and self-inductance. This implies that the current in the coils always
lags behind the provided voltage signal. Since the magnetic force is directly linked
to the current this means that the motor force also lags behind. Applying a servo
controller with a sophisticated current regulator could minimize this lag-effect.

All these items affect the accuracy of the linear motor, its small signal behaviour.

SERVOCONTROLLER
Tecnotion linear motors can be combined with most common types of 3 phase
AC servo controllers, provided that
- the servo controller can co-operate with a high resolution linear encoder,
- the servo controller can perform the magnetic alignment at startup.

BRAKING AND DAMPING

High velocities are gained at short distances. In normal conditions dynamic
braking is provided by a reversed electromagnetic force. However, for short

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runouts braking and damping could be necessary. In certain conditions, for

instance a loss of electrical power, this could be critical for safety.

Figure 23: Ironcore motor, sledge, bearings and ruler, detail

MAGNETIC FLUX AND DISTANCE

Just like a rotary motor a linear motor is propagated by an electro-magnetical
force. Magnets produce a so called magnetic flux, which can be considered as the
density of the magnetic field. This counts for the permanent magnet as well as
the electromagnetic coil. The magnetic field is densest in the direct vicinity of the
magnetic pole, typically several thousand Gauss. This flux usually diminishes
rapidly when measured at some centimetres from the magnet pole. Since the
magnetic force depends directly on the magnetic flux, it is important to keep the
gap between coil unit and magnet plate small. The gap can vary a little without
loosing much performance.

COGGING
The permanent magnets produce an attraction force to all magnetic materials in
the vicinity. When the coil unit contains such materials, f.i. the iron core, the
motor force could be influenced. Because of the separate positioning of the
magnets on the magnet plate, the magnetic field is not homogenous. So,
dependent of the position of the magnets the motor force will be disturbed. Such
position dependent disturbance could make the slide cog. Tecnotion
sophisticated design meets with the problems of cogging.

CAREFUL INSTALLATION
Installing a linear motor should be done very cautious. Read the installation
manual carefully. Installation only by qualified personal. Special attention should
be given to the strong magnetic field in the vicinity of the magnet plates. These
plates should be handled with care and with proper tools. Beware of the fact that
materials or clothes get jammed between magnet plate and iron objects. For
mounting and dismounting purposes magnetic field neutralizing protection plates
are to be used.
Carefully follow the installation instructions of the applied servo controller and

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linear encoder. Electronic wiring, such as the sensor cable, should be shielded or
combined to twisted pairs in order to reduce the influence of EMI.

Figure 24: Ironless linear motor system (UC3)

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