Maxon Motor Webinar. DC Motor Types and Usage in Typical Applications

1/19/2016 1

DC Motor Types and Usage in Typical

Applications February 3, 2015

Presented by: Dr. Urs Kafader

ELECTROMATEToll Free Phone (877) SERVO98

Toll Free Fax (877) SERV099www.electromate.com

[email protected]

Sold & Serviced By:

Introducing your Moderator Carrie Hitchner

Marketing Manager, Motion Control Association

[email protected]

734.994.6088



[email protected]

Sold & Serviced By:

mailto:[email protected]

Introducing your Presenter Dr. Urs Kafader

Technical Training Manager, Maxon Motor

[email protected]



[email protected]

Sold & Serviced By:

mailto:[email protected]

Thanks to Our Sponsors



[email protected]

Sold & Serviced By:

Climate control system

© maxon motor group

Brushed – brushless ?

Flat – long ?

Slotted – slotless winding ?

Torque – speed ?

Size and weight restrictions ?

Ambient?



[email protected]

Sold & Serviced By:

What are we talking about? DC motors with permanent magnets Small size: below 1 horse power or approx. 700 Watts

1. Motor designs 2. Brushed or brushless? 3. Slotted or slotless? 4. Motor selection



[email protected]

Sold & Serviced By:

1. Motor designs for high speed or high torque?

… and the role of gears and mechanics



[email protected]

Sold & Serviced By:

Speed

Torque 0.3 Nm 3 Nm

1000 min-1

10000 min-1

0.03 Nm

100 min-1

High speed designs



[email protected]

Sold & Serviced By:

Grinders and drills.

Brushless Slotless

Long, autoclavable

Source: driven 2/14



[email protected]

Sold & Serviced By:

Respiratory therapy

© iStock Photo

Brushless Slotless

Long



[email protected]

Sold & Serviced By:

0.3 Nm 3 Nm

10000 min-1

0.03 Nm

1000 min-1

100 min-1

Medium speed and torque

Speed

Torque



[email protected]

Sold & Serviced By:

Air Cushion System

© 2012 Lantal

Brushless Slotted

Flat



[email protected]

Sold & Serviced By:

Pocket-sized Delta robots

© Asyril

Brushless Slotted

Multi-pole direct drive



[email protected]

Sold & Serviced By:

0.3 Nm 3 Nm

10000 min-1

0.03 Nm

1000 min-1

100 min-1

Where do typical stepper motors fit into

this diagram?

Speed

Torque



[email protected]

Sold & Serviced By:

0.3 Nm 3 Nm

10000 min-1

High torque low speed applications

0.03 Nm

1000 min-1

100 min-1

High torque design

Speed

Torque



[email protected]

Sold & Serviced By:

0.3 Nm 3 Nm

10000 min-1

0.03 Nm

1000 min-1

100 min-1

Gearhead for high torque

Speed

Torque

Use of mechanics (gears)



[email protected]

Sold & Serviced By:

Autonomous robots at logistics companies

© YLOG GmbH

Brushless Slotless

Long + gear



[email protected]

Sold & Serviced By:

Example: Bionics

Sou

rce:

driv

en 3

/13



[email protected]

Sold & Serviced By:

0.3 Nm 3 Nm

10000 min-1

0.03 Nm

1000 min-1

100 min-1

Where do typical stepper motors fit into

this diagram?

Speed

Torque

hybrid stepper motor



[email protected]

Sold & Serviced By:

2. Brushed or brushless? Selection criteria for going

brushed or brushless

Brushed DC maxon DC

Brushless DC BLDC

maxon EC



[email protected]

Sold & Serviced By:

Service life

100 1000 10 000 Service life [hours]

rate of failure

Standard expectations

Worst case Optimum

100 1000 10 000 Service life [hours]

rate of failure

Standard ball bearing life

Higher life More predictable

current speed

cw-ccw vibrations

Brushed DC

Life limited by brushes

EC, brushless DC

Longer life limited by bearings



[email protected]

Sold & Serviced By:

Motorized caddy for the green

© YuCAD

Brushed Slotless

Long + gear



[email protected]

Sold & Serviced By:

Snake arm robot

© OC Robotics

Brushed Slotless

Long + ceramic gear



[email protected]

Sold & Serviced By:

Speed and torque

torque M

speed n

100 000

50 000

25 000

10 000

75 000

torque M

speed n

100 000

50 000

25 000

10 000

75 000

2-pole

4-pole

multi-pole 2-pole

Brushed DC

EC, brushless DC

high speed application

brushed motor operated at high speeds



[email protected]

Sold & Serviced By:

Grinders, drills

Brushless Slotless

Long



[email protected]

Sold & Serviced By:

Hull cleaning robot

© Sea Robotics

Brushless Slotted

Flat + gear



[email protected]

Sold & Serviced By:

Speed and torque

torque M

speed n

100 000

50 000

25 000

10 000

75 000

torque M

speed n

100 000

50 000

25 000

10 000

75 000

2-pole

4-pole

multi-pole 2-pole

Brushed DC

EC, brushless DC

high speed application

reduced life more vibrations and brush fire more audible noise



[email protected]

Sold & Serviced By:

Special Ambient Conditions Brushed DC

Complications

EC, brushless DC

Easier to adapt for special ambient

Brushfire electromagnetic noise explosive environments Graphite brushes clean room applications use in optical systems high and ultra-high vacuum Lubricant of metal brushes high and ultra-high vacuum

Sterilizable (autoclavable) motors Vacuum, clean room low outgassing level high temperature no graphite dust

Down-hole drilling: Heavy duty motors high temperature high pressure high vibration / shocks

Mercury 167°C

Venus 464°C

Earth 15°C

Mars -63°C

Jupiter -108°C

Saturn -138°C

Uranus -197°C

Neptun -200°C

Pluto -229°C



[email protected]

Sold & Serviced By:

Heavy Duty motors in down hole drilling

Brushless Slotless

Long + gear



[email protected]

Sold & Serviced By:

Heavy Duty motors in particle accelerator

© Diamond Light Source (DLS)

Brushless Slotless

Long



[email protected]

Sold & Serviced By:

Implantable pump system

© iStock Photo

Brushless Slotless

Long Sterilizable

Bio compatible



[email protected]

Sold & Serviced By:

Operation and control Brushed DC

Simple operation

EC, brushless DC

Needs electronics

additional cost for electronics more cables

+ +

or

or …

+

DC or EC



[email protected]

Sold & Serviced By:

http://images.google.ch/imgres?imgurl=http://www.schulbilder.org/batterie-t10096.jpg&imgrefurl=http://www.schulbilder.org/de-malvorlagen-ausmalbilder-foto-batterie-i10096.html&usg=__i0myywIpfR5B6xke17HU7sjsHm8=&h=531&w=750&sz=22&hl=de&start=2&tbnid=2fO-wHxdnI2G4M:&tbnh=100&tbnw=141&prev=/images?q=batterie&gbv=2&hl=de

Automatic wind deflector

© Mercedes Benz AG

Brushed Slotless

Long + gear



[email protected]

Sold & Serviced By:

3. Windings with and without iron core

Slotted and slottless



[email protected]

Sold & Serviced By:

Brushed: Slotted vs. coreless conventional, slotted

e.g. Dunkermotor

coreless e.g. maxon



[email protected]

Sold & Serviced By:

Brushless: Slotted vs. slotless

slotted e.g. maxon EC flat

slotless e.g. maxon EC motor



[email protected]

Sold & Serviced By:

What makes coreless motors special? no cogging smooth motor running even at low speed less vibrations and audible noise smooth position control behavior

DC motors - overview



[email protected]

Sold & Serviced By:

Surgical robot

© 2010 Intuitive Surgical Inc

Metal brushed Slotless



[email protected]

Sold & Serviced By:

Hobby-Eberly-Telescope (Texas)

© 2012 HET

Brushless Slotless

Long + encoder + brakes

+controller



[email protected]

Sold & Serviced By:

What makes coreless motors special? no iron losses => high efficiency

Why is high efficiency important for hand-held tools?

Bild Handgerät

driven 2/14



[email protected]

Sold & Serviced By:

Battery driven drive systems for surgery.

Brushless Slotless

Long, autoclavable

Source: driven 2/14



[email protected]

Sold & Serviced By:

Dosing systems

8mm brushed Slotless

Long + gear + encoder

6mm brushless Slotless

Long + gear



[email protected]

Sold & Serviced By:

driven 2/14

What makes coreless motors special? no iron losses => high efficiency

Why is high efficiency important for hand-held tools?

Bild Handgerät



[email protected]

Sold & Serviced By:

What makes coreless motors special? stronger magnets possible high torque and power density small rotor mass inertia high dynamics

Coreless maxon RE 30 Ø 30 x 68mm

85 mNm 33.7 gcm2

260g 3 ms

Conventional, with iron core Ø 45 x 70mm 38 mNm 71 gcm2

390g 12 ms



[email protected]

Sold & Serviced By:

Kenshiro: Robot with 160 muscles and 93 maxon motors


Brushless Slotless

Long



[email protected]

Sold & Serviced By:

4. The perfect maxon motor

Selection of “motor size” based on load torque and speed Winding selection



[email protected]

Sold & Serviced By:

Application: Load operating points

torque M

e.g. continuous operation at constant speed and friction torque

e.g. high torque needed for short-term acceleration e.g. maintaining a

position against gravity

speed n



[email protected]

Sold & Serviced By:

Application: Load key values

torque M

Extreme operation point: max. load speed and load torque (limited time)

Key load data

speed n

RMS average load torque (continuous)



[email protected]

Sold & Serviced By:

Motor torque and speed limit

torque M


Nominal torque MN

nmax

Continuous operation

Short term operation

speed n



[email protected]

Sold & Serviced By:

Overload MN 2 MN 3 MN


torque M


Nominal torque MN

nmax

Continuous operation


speed n

Duration approx. 5 τW 0.3 τW



[email protected]

Sold & Serviced By:

Winding series of a motor type

resistance increases from left to right

low resistance

winding

high resistance

winding



[email protected]

Sold & Serviced By:

The perfect speed constant

torque M

speed n

current I Mmot

nmot

𝑘𝑘𝑛𝑛 > 𝑘𝑘𝑛𝑛,𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡 =𝑛𝑛𝑚𝑚𝑚𝑚𝑚𝑚 + ∆𝑛𝑛

∆𝑀𝑀 ∙ 𝑀𝑀𝑚𝑚𝑡𝑡𝑡𝑡

𝑈𝑈𝑚𝑚𝑚𝑚𝑚𝑚 =

8000 + 110 ∙ 5024

= 563𝑟𝑟𝑟𝑟𝑚𝑚𝑉𝑉

8‘000 rpm 50 mNm



[email protected]

Sold & Serviced By:

Summary



[email protected]

Sold & Serviced By:

Brushed DC EC

brushless DC

Multipole

Service life

Special conditions

Operation and Control

Approx. < 3000 hrs

Approx. > 10’000 hrs

< 10 000 rpm

< 100 000 rpm

haptic

Speed / Torque

with gear with gear



[email protected]

Sold & Serviced By:

http://images.google.ch/imgres?imgurl=http://www.schulbilder.org/batterie-t10096.jpg&imgrefurl=http://www.schulbilder.org/de-malvorlagen-ausmalbilder-foto-batterie-i10096.html&usg=__i0myywIpfR5B6xke17HU7sjsHm8=&h=531&w=750&sz=22&hl=de&start=2&tbnid=2fO-wHxdnI2G4M:&tbnh=100&tbnw=141&prev=/images?q=batterie&gbv=2&hl=de

Climate control system


Reliable, long service life => brushless

Varying ambient conditions (temperature, humidity, pressure) => brushless

Valves: Rather low speed but higher torque => multipole, slotted

Size and weight restrictions => flat, low weight gear



[email protected]

Sold & Serviced By:

Thank you!

Visit also www.maxonmotor.com/academy www.maxonmotorusa.com/academy www.electromate.com



[email protected]

Sold & Serviced By:

Questions?

Contact: Urs Kafader

maxon motor ag

6072 Sachseln (Switzerland)

Phone +41 41 666 16 74

Email [email protected]

Thank you!



[email protected]

Sold & Serviced By:

Maxon Motor Webinar. DC Motor Types and Usage in Typical Applications

Technology

Transcript of Maxon Motor Webinar. DC Motor Types and Usage in Typical Applications