linmot designer software a training course by linmot, inc

LinMot Designer Software

A Training Course byLinMot, Inc.

LinMot Designer Course # 2

What Will We Teach You?

How to develop a motion profile.How to select a Motor and Servo Controller that will run the profile.How to view the mechanical mounting dimensions.How to save the Design File for use later.


School Supplies

You should have the following to get the most out of this course. LinMot Designer software version 1.5.0 Laptop computer with above software

installed LinMot Industrial Linear Motors Edition 15

You should also have a basic knowledge of the LinMot motor numbering system.


Why Do We Need Software?

To determine the correct motor and controller to use for a given application.To provide a single place where all application information is documented. Allows customer and supplier to agree on

given specifications

To do “what if” scenarios quickly.


What Are the Challenges?

There’s LOTS of math needed to determine: The maximum force available The force needed to make a move How speed will reduce available force Required servo controller Heat dissipation

LinMot Designer does all the math!


How Does LinMot Designer Help?

It knows the characteristics of both LinMot Linear Motors and Servo Controllers and uses these in its calculations.It allows fast computation and display of “what if” scenarios.It calculates required power dissipation.It makes cool pictures!


What Else?

It produces graphs that are useful when analyzing the application.It determines the size of the power supply.It determines maximum force needed.


What Else?

It allows you to create moves that you know will work when actually doing the application. Accel, decel and max velocity in the case of

a trapezoidal move.

It can print all this stuff in one easy-to-use document!

So Let’s Get Started!


NOTICE!

This program depends on the accurate input of data.Entering the wrong data, or ignoring something that shouldn’t be ignored, can result in selection of the wrong components. One way or the other, this will cost you time

and/or money!


What Info Must We Have?

Strokes Maximum stroke Strokes for each move

Masses Mass of the moving parts Mass of the payload

Times Time to make each move Dwell times


Let’s Do An Application

Stroke = 220 millimeter (mm)Global Mass = 1000 grams (g)

Global means “always there”.Speed = 82 products per minuteLocal Mass (Product) = 700 g

The Local Mass is only there for part of the move


More Detail on Speed

The speed is 82 products per minute

mss

products730

min1

60

82

min1

The customer has specified the following: 190 ms to move out 190 ms to move back Sit and wait for 350 ms Total = 730 ms


So Let’s Start the Software!

Click the LinMot Design icon on your desktop.

Click No at this box to start from scratch.


You Should Be Looking at This


Let’s Enter Some DataClick the Auto centering Mode icon. I’ll tell you why later

Click the Edit Global Settings icon.

Click this bar to pick a motor.


Let’s Enter Some Data

Pick the P01-37x240F/260x460 Motor. This is just a place to start We can change it later

Click OK



Pick the E11x0/B1100 Servo Controller Type (just to start).Type in a Voltage of 72 V (just to start).Click OK


Start Position of -130mm.Enter Mass of 1000g (spec).Enter Dry Friction of 20N.Click OK.

Click the Edit Global Settings icon.Click the Load tab.

We have now entered all the “Global” data.Now we’ll do the local settings.



Add the First Segment of the Move

Click on the Edit Selected Segment icon.Click on the Local Load Settings tab.Enter Mass of 700g. This is the mass that is only there for this move. It won’t be there all the time.Notice that the Global settings are also shown.


Now We’ll Add the Move

Click on the Curve Settings tab.Enter Duration of 190 ms (from our application)Enter Stroke of 220 mm (from our application).Click OK.


The red line is the actual application.The blue lines are the capabilities of the motor and servo controller system.Notice how the upper blue line dips due to counter EMF.

You Should See This


Now For That Cool PictureClick on the Layout tab.

Mtg. pos

Rear clearance

Range


Let’s Add the Second Move

Click the Limits S/F Tab.Click the (Add New Segment) line.Click the Add Segment icon.

Or - just double click the (Add New Segment) line.


Now We Enter the Move Back

Enter the Duration from the spec.Enter the Stroke. Note that it’s negative because we’re moving back. Out is positive In is negative


This Part’s Easy

Under Local Load Settings we don’t have to enter anything because we’re not moving product on the return stroke.Click OK


You Should Now See ThisNotice that the highlighted segment is shown in red.Next we have to add our wait or dwell time.


Here We Go

Click the (Add New Segment) line.Click the Add Segment icon.

Or - just double click the (Add New Segment) line.


This Is a Standstill

For the Type, we pick “Standstill”.Now we enter the amount of time to stand still (dwell). For our application, that’s 350ms.Press OK.


This is What You Should See


Now What Does It Tell Us?Press + or – to expand or shrink the various lists.

This tells us about our motor and controller.

This gives us performance data for the motor.

This tells us about our load. These are our “Globals”.


What Else?Press + or – to expand or shrink the lists.

This gives us some information about the segment that is highlighted.

This is REALLY useful. It gives us the maximum conditions.

REALLY important - tells us if our motor will OVERHEAT or not. Notice a fan adds more capacity.

This tells you how big your power supply needs to be.


What Else?

The Warnings section tells you if there’s anything you need to be concerned about.


So This Motor Will Work!Let’s save our work.Click one the Save icon.Save the file as “Training01.Idc”.

Now that we’ve saved our work, let’s play! ... I mean, let’s initiate an iterative design optimization process.


Can We Save Some Money?

There seems to be some room. Could we save some money and use a smaller motor?


Let’s Try a P01-37x120/280x360

It looks like it’ll work!


Let’s Try a P01-37x120/280x360

It looks like it’ll work!

But what about power dissipation? No dice!So our choice is, use a fan or use the bigger motor.


So What If I Need a Fan?

Fans only work well in clean environments.The fan requires 24 Vdc power.It’s another part that can fail.


What Else Can I Do?

There are several things that you can do to solve the problem of having too little power dissipation. Lower the ambient temperature Increase the Standstill time Increase other times Reduce masses (global or local) Reduce stroke lengths Reduce friction


Printing Your Results

Now that we’re done we can print out our work (if you have a printer that is). Just click the Print icon.The printout can be Faxed to your customer, or you can print to a PDF file and e-mail it.The printout will look like this.


Page 1


Page 2


Page 3


Page 4


Types of Moves

When entering a segment, you can choose the type of move you want to make. There are six choices: Standstill Sine Point to Point Minimal Jerk Custom

Let’s look at each one.


Standstill Move

Stay in the same place, no movement at all.Also called a “dwell” time.These are important for determining power dissipation. Generally, adding more standstill time

reduces power dissipation

We’ve already discussed this move.


Sine Move

The position is a sinusoidal function of time (it’s a smooth move).This is the easiest move to make, i.e. it requires the least amount of force from the motor.With LinMot controllers, the software will automatically calculate the sine move.

Note that the E1100-MP and E1100-MT controllers do not do sine moves.

Sine moves are typically best for short moves (longer moves typically use point to point moves or trapezoidal moves).


Point to Point Move

aka Trapezoidal moveWith this move, you specify the acceleration, deceleration, and maximum velocity.You DO NOT specify the time. You either calculate these parameters or you play with the numbers until you get the time you want.This is typically the move to use when making long moves (as opposed to the sine move).


Let’s Do A Point To Point Move

Change Segment 1 from a Sine move to a Point to Point move. Max. Velocity = 1.7m/s Acceleration and Deceleration = 29m/s2

Notice that the duration box is grayed out (you can’t change the time).You should see something like the following:


Point to Point


Minimal Jerk Move

This move minimizes the “Jerk” on the load.With this move: Acceleration starts at zero Acceleration increases for the first ¼ of the move Acceleration decreases for the next ½ of the

move, passing through zero at the half way point and then going negative (negative acceleration is deceleration remember, so deceleration increases)

Acceleration increases (deceleration decreases) for the last ¼ of the move, finally reaching zero at the end of the move


Let’s Do One

Change Segment 2 from a Sine move to a Minimal Jerk move.Notice that the time box is active (you enter the time and the stroke, it does the rest).You should see something like the following:


Minimal Jerk


Shall We Look a Little Closer?

Click on the Kinematics tab.Be aware that these graphs exist.Discuss what the velocity, acceleration and force do for the two different moves.


Custom Move

With this move you can import a csv file containing position points.This allows use of any kind of move.


Any Questions?

We finished our first exercise! Any questions?Are there any applications that you have that we can look at?


Those Are the Basics

There are a few more things to discuss but those are the major points. Any questions?Let’s look at a few more things.


UnitsThe software can work in either English or metric units.You can switch back and forth any time you want to. To do this either:

Click on the Edit Measurement Settings icon

Or Double click on the Units window

Lower left of the window

Give it a try.


Constant Force/MagSpring

In the global load settings, there is a box for “Constant Force”. This is used when there is a constant force acting on the motor at all times (and in the same direction, unlike friction).How do you create a constant force on the slider regardless of position? When you use a MagSpring!Let’s look at an example.


New Design

Global Settings - Motor Motor is a P01-

37x120/180x260 E11x0/B1100 controller everything else default

Global Settings - Load Start Position: 50mm Mass: 1,500g Angle: -90deg

We’re just picking it up.


First Move (Segment 1)

Curve Settings Sine move -100mm (moving up) 500ms

Local Load Settings Mass: 2,000g (this is the mass of the

payload just for the up move)


Second Move (Segment 2)

Curve Settings. Standstill move 1,000ms

Local Load Settings. Mass: 2,000g


Third Move (Segment 3)

Curve Settings Sine move 100mm (moving down) 500ms

Local Load Settings Mass: 0g (we’ve dropped the payload)


Last Move (Segment 4)

Curve Settings. Standstill move 300ms

Local Load Settings. Mass: 0g

Let’s take a look


It Looks Like This

Power dissipation is too high (otherwise it’s OK).


What Can We Do About That?

Add a MagSpring! We’ll pick one with 40N

of force Slider mass is 160g

Under Global Load Settings we enter a External Force of -40N.Also, add 160g to Mass for the MagSpring slider.Let’s look.


Like This

Mass of 1660 (1500g+160g)Constant Force of -40 NIt’s good practice to add some friction.


And It Looks Like This

Wow! Power was 25 Watts, now it’s only 3.1W.Let’s try a smaller motor and save some $$$.


Enter The Next Smaller Stator

P01-23x160/130x270


And You Get

This works well and costs less.It will also stay up during a power failure!


That’s It!!

Any other questions?

The End

Thanks for Coming!

linmot designer software a training course by linmot, inc

Documents

linmot designer course

linmot designer help

ms slide

linmot linear motors

linmot design icon

training course

linmot motor numbering

global mass