Performance Improvements from Slotless Motors. Robert Mastromattei Director of Business Developmet Celera Motion

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1 Performance Improvements from Slotless Motors Robert Mastromattei Director of Business Developmet Celera Motion

2 Smooth Motion Today we will explore the design differences, benefits, and tradeoffs of slotless motors over conventional slotted (toothed) motors. Smoothness is generally required in these applications; Scanning and imaging systems Precision positioning (i.e. w/microns or nanometer resolution) Coordinated interpolated gantry robots Scara robots and surgical robots Satellite tracking, pointing and gimbal systems Slotless permanent magnet brushless motors are designed for zero cogging and work best in these applications.

3 Smooth Motion Most permanent magnet brushless servo motors have cogging torque. Cogging torque is an un-energized torque disturbance due to a change in magnetic co-energy with position/angle. It is an interaction between the stator teeth/slots and rotor magnets. If you have a cogging torque induced smoothness problem, there are very few comprehensive solutions available. Both electronic and mechanical compensation means have limitations. Slotless motors the best approach to smooth motion. They are the rotary equivalent to air-core linear motors which have equivalent smoothness features.

4 Motor Construction Source: EDN Network

5 Conventional Brushless PM Motor Example Brushless Permanent Magnet direct drive frameless kit example Teeth/Slots Stator Rotor Note: the frameless motor kit is the electromagnetic basis for all PM brushless motors

6 Methods to Minimize Cogging => Skew Frameless stator shown with lamination Skew Frameless motor kit shown with magnet Skew S N Note: skew can take out the 1 st harmonic of cogging but leaves other harmonics and some 3D leakage that cause sub-harmonics

7 Slotless Motor Example Top down view of a Slotless Motor No teeth (slots) in the stator, just copper coils encapsulated in epoxy All torque is a function of current in the motor winding Torque linearity is excellent due to minimized magnetic saturation Stator Rotor

8 Torque versus Angle Curve Smoothness Performance with Cogging present Torque/Force Ripple with electrical angle (normalized) Slotted Motor Torque/Force versus angle theoretical curve Torque/Force Ripple during three phase sine drive operation Look Here 0.5 Cogging torque waveform at 5% Torque/Force versus angle for one phase with cogging added in -1.5

9 Torque versus Angle Curves Smoothness Performance with and without Cogging 1.5 Torque/Force Ripple with electrical angle (normalized) single phase analysis Torque/Force Ripple during three phase sine drive operation 1.5 Torque/Force Ripple with electrical angle (normalized) single phase analysis -- Slotless Motor Torque/Force Ripple during three phase sine drive operation Cogging torque waveform at 10% Torque versus angle with cogging added Torque/Force versus angle/displacement for one phase with no cogging

10 Slotless Motor Attributes/Performance Advantages Smooth motion (Zero Cogging) Minimum torque ripple Large through hole Thin radial cross section Low magnetic core loses Low attractive forces (radial and axial) Torque constant (Kt) linearity Disadvantages Approximately 75% of the rated torque of conventional slotted motors Depends on motor size, gap widens with larger motors Lower acceleration rates due to higher inertia rotor Depends on how the load inertia versus motor inertia and any gearing

11 Performance Comparison Parameter Smoothness Highest Torque Constant Kt Linearity Largest through hole High Acceleration Rates Conventional Slotless Note: Celera Motion produces both slotless and slotted conventional motor kits and assemblies

12 Thank You Robert Mastromattei Director of Business Development Celera Motion 5915 Jetton Lane Loomis, CA USA Telephone:

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