Automation for a Changing World
Delta Linear Motion Products
www.deltaww.com
Delta Linear Motion Product Introduction
Delta's linear motion products provide the perfect combination of mechanism, drives and
motor system which not only offer immediate use, quick installation and high precision
but also feature high performance and robust control of motion. These products deliver
automation solutions that include single-axis, gantries (dual-axis), and multiaxis linear systems
for a variety of applications and industries to help customers save on labor costs, shorten
development time, and optimize use of resources.
To satisfy full application requirements, Delta's linear motion products are designed with
high accuracy, compact size and response. These high quality devices, and can significantly
enhance the stability of the system and easily achieve precise positioning control for
equipment upgrades and improvements along with Delta's professional technical support and
service.
Delta's linear motion products feature designs for applications in all fields, including
electronics, food packaging, metal processing, semiconductors and more.
Delta's linear motion products provide a complete solution for your automated applications.
Linear Stage
Mini Actuator
LA-S
LPA
Ball Screw Driven
Linear Motor Driven
Linear Motor Driven
Product Line-up
LU
P3
P17
1
Coming soon
Index
Direct Drive Motor Series
ECML-U
U Shaped Coreless
ECM-LU
Ironless Linear Motor
P39
Product Line-up
ECML-S
Linear Shaft Motor
1
Linear Stage LU Series
3
Linear Stage LA-S Series
17
Linear Shaft Motor
ECML-S Series
23
Coreless U-shaped Linear Motor
ECML-U Series
39
Delta-PBA Series
46
Ironless Linear Motor
ECM-LU Series
47
Linear Shaft Motor
ECM-LSP Series
67
Ironcore Linear Motor
ECM-LF Series
73
Direct Drive Rotary Motor
ECM-DD Series
79
Circular Voice Coil Motor
ECM-LCVC Series
93
Parameters Explanation
98
Product Selection Table
100
Servo Drive Specifications
107
P47
ECM-LSP
Linear Shaft Motor
P23
ECM-LF
Ironcore Linear Motor
Linear Motion Products
Introduction
P67
ECM-DD
Direct Drive Rotary Motor
P73
P79
ECM-LCVC
Circular Voice Coil Motor
P93
2
Linear Stage
LU Series
Product Features
► Non-coupling installation design
► Compact size for space saving
► Fast response
► Low inertia ratio
Characteristic Analysis
Delta LU Series
(without coupling)
Conventional Linear Stage
(with coupling)
Data Measured by Laser Interferometer
Conventionalactuator
actuator
Conventional
0.004
0.004
LUactuator
actuator
LU
0.003
0.003
20
msec
20msec
0.002
0.002
Test condition (without load)
Position (mm)
Position (mm)
0.001
0.001
■ Motor speed: 3,000 rpm
0.000
0.000
■ Acceleration time: 50 ms
-0.001
-0.001
■ No Load
-0.002
-0.002
-0.003
-0.003
-0.004
-0.004
-0.005
-0.005
Following
mm
Followingerror
error0.005
0.005mm
-0.006
-0.006
-0.007
-0.007
2.94
2.94
2.95
2.95
2.96
2.96
2.97
2.97
2.98
2.98
Time(sec)
(sec)
Time
3
2.99
2.99
3
3
3.01
3.01
3.02
3.02
Internal Structure
LU
Ballscrew
LA-S
Block
ECML-S
Rail
ECML-U
Motor Rotor
ECM-LU
Motor Stator
ECM-LSP
Encoder
ECM-LF
LU Series and Servo Drive Selection Table
Part Number of LU Series
Rated
Torque
(N-m)
Max.
Torque
(N-m)
50
2/6
0.159
0.477
ASD-A3-0121ASD-A2-0121ASD-B2-0121-
100
2/ 6
0.32
0.96
100
5 / 10
0.32
0.96
ASD-A3-0421ASD-A2-0421ASD-B2-0421-
400
10 / 20
1.27
3.82
LU-26110
LU-26111
LU-33111
LU-46214
*The boxes ( ) at the end of the servo drive model names are codes for the ASDA Series. For more detailed information,
please refer to the catalogues of ASDA Series servo drives.
4
ECM-LCVC
Lead
(mm)
ECM-DD
Motor
Output
(W)
Servo Drives
Ordering Information
LU - 33 1 1 1 15 0 A P 0 S
1
LU
Product
1
33
Nominal Width
2
1
3
1
Encoder Type
4
1
Motor Output
2
3
4
5
6
9 10
26, 33, 46
Motor Frame Size
1: F40 220 V
and Input Voltage
2: F60 220 V
1: Incremental Encoder, 20-bit
LU-26
Code
Watt
0
50 W
1
100 W
Model No.
Code
Watt
Model No.
Code
Watt
LU-33
1
100 W
LU-46
4
400 W
Model No.
LU-26
15
8
Linear Stage LU Series
Model No.
5
7
U-rail Length
LU-33
LU-46
Model No.
6
0
7
A
Block Type
8
P
Accuracy Grade
9
0
Cover
10
S
Special Order
Lead
LU-26
Units: mm
Code
15
20
25
30
Length
150
200
250
300
Code
15
20
30
40
50
60
Length
150
200
300
400
500
600
Code
34
44
54
64
74
94
Length
340
440
540
640
740
940
Units: mm
Model No.
Code
2
6
Length
2
6
LU-33
Units: mm
Model No.
Code
5
0
Length
5
10
A : 1 Normal Type Block
B : 2 Normal Type Blocks
N：Normal
P：Precision
0 : Standard Type, Without Cover
1 : With Cover
LU-46
C : 1 Short Type Block
D : 2 Short Type Blocks
Thrust Range (N)
2160
LU-46 (400W / Lead 20)
359
1080
LU-33 (100W / Lead 5)
362
1086
181
Continuous Thrust
Peak Thrust
543
LU-26 (100W / Lead 2)
LU-26 (50W / Lead 6)
20
(coming soon)
718
905
302
LU-26 (50W / Lead 2)
A
10
S : Delta Standard Product
LU-46 (400W / Lead 10)
LU-26 (100W / Lead 6)
0
Length
C : Fully enclosed
Performance
LU-33(100W / Lead 10)
Units: mm
Code
2714
905
450
150
1349
450
0
500
1000
1500
2000
2500
3000
Effective Stroke Range (Unit: mm)
LU-26
55 ~220
LU-33
54 ~ 528
LU-46
100 ~ 844
0
100
200
300
400
5
500
600
700
800
900
Specifications
LU
Basic Specifications
Ballscrew Specifications
Screw
Overall
Length
Screw Shaft
Diameter
A
B
C
D
L (mm)
D (mm)
150
70
-
-
-
191
8
200
120
55
-
-
241
8
250
170
105
-
-
291
8
300
220
155
-
-
341
8
150
54.5
-
78.8
26.6
194
12
200
104.5
-
128.8
76.6
244
12
300
204.5
128
228.8
176.6
344
12
400
304.5
228
328.8
276.6
444
12
500
404.5
328
428.8
376.6
544
12
600
504.5
428
528.8
476.6
644
12
340
208.2
100.4
244.7
173.4
399
15
440
308.2
200.4
344.7
273.4
499
15
540
408.2
300.4
444.7
373.4
599
15
640
508.2
400.4
544.7
473.4
699
15
740
608.2
500.4
644.7
573.4
799
15
940
808.2
700.4
844.7
773.4
999
15
ECML-S
Rail Length (mm)
LA-S
Model No.
Maximum Stroke (mm)
LU-26
ECM-LSP
ECM-LF
ECM-DD
ECM-LCVC
6
ECM-LU
LU-46
ECML-U
LU-33
Weight (Standard Type, Without Cover)
LU Series Specifications
Model No.
LU-26
LU-33
LU-46
B
A
Kg
B
Kg
150
1.4
-
1.48
-
200
1.6
1.79
1.68
1.87
250
1.8
1.99
1.88
2.07
300
2.01
2.2
2.09
2.28
C
D
LU-33111
A
B
Rail Length (mm)
Kg
150
2.17
-
2.07
2.3
200
2.48
-
2.36
2.59
300
3.06
3.41
2.95
3.18
400
3.65
4
3.55
3.78
500
4.35
4.7
4.23
4.46
600
4.96
5.31
4.84
5.07
C
D
LU Series Specifications
Model No.
LU-26111
A
Rail Length (mm)
LU Series Specifications
Model No.
LU-26110
LU-46214
A
B
Rail Length (mm)
Kg
340
9.25
10.45
8.85
9.65
440
10.54
11.74
10.14
10.94
540
11.84
13.04
11.44
12.24
640
13.15
14.35
12.75
13.55
740
14.55
15.75
14.15
14.95
940
16.84
18.04
16.44
17.24
7
Weight (With Cover)
Model No.
Kg
B
Kg
1.48
-
1.56
-
200
1.68
1.87
1.76
1.95
250
1.88
2.07
1.96
2.15
300
2.09
2.28
2.17
2.36
C
D
LU-33111
A
B
Rail Length (mm)
ECML-U
Kg
-
2.18
2.43
200
2.68
-
2.49
2.74
300
3.26
3.71
3.12
3.37
400
3.88
4.33
3.76
4.01
500
4.59
5.04
4.49
4.74
600
5.21
5.66
5.14
5.39
C
D
ECM-LF
2.36
LU-46214
A
B
Kg
9.85
11.25
9.05
10.05
440
11.14
12.54
10.34
11.34
540
12.44
13.84
11.64
12.64
640
13.75
15.15
12.95
13.95
740
15.15
16.55
14.35
15.35
940
17.44
18.84
16.64
17.64
8
ECM-LCVC
340
ECM-DD
Rail Length (mm)
ECM-LSP
150
ECM-LU
LU-46
A
150
Ballscrew Specifications
Model No.
B
ECML-S
LU-33
A
Rail Length (mm)
Ballscrew Specifications
Model No.
LU-26111
LA-S
LU-26
LU-26110
LU
Ballscrew Specifications
Loading Specifications
Loading Capacity
Linear Guideway
Model Lead
No.
(mm)
LU-26
LU-33
LU-46
2
6
5
10
10
20
Basic Dynamic
Load Rating C (kN)
Ballscrew
Basic Static Load
Rating C0 (kN)
Basic Dynamic Load
Rating C (kN)
Basic Static Load
Rating C0 (kN)
Normal
High (H)
Normal
(N)
Precision (P)
(N)
A,B
C,D
A,B
C,D
7.99
-
15.230
-
12.210
7.910
22.110
11.900
26.350
16.260
46.650
23.330
High (H)
Precision (P)
1.790
2.500
2.940
4.020
0.880
1.180
1.180
1.670
2.250
2.940
4.310
5.100
2.160
2.840
3.720
4.510
5.000
6.660
8.920
11.860
3.720
5.000
6.370
8.530
* A, B, C, D refer to block types
Static Permissible Moment
Unit: N-m
Static Permissible Moment
Model Lead
No.
(mm)
LU-26
LU-33
LU-46
2
6
5
10
10
20
MP
MY
MR
Block Type
Block Type
Block Type
A
B
C
D
A
B
C
D
A
B
C
D
107.3
501.8
-
-
107.3
501.8
-
-
278.6
557.3
-
-
156.6
858.5
43.8
326.4
156.6
858.5
43.8
326.4
462
924
248.8
497.6
575
2678
120
1245.6
575
2678
120
1245.6 1397.9 2795.8 798.8 1597.6
MY
MP
9
MR
Accuracy Grade
LU-33
LU-46
Backlash
Normal
(N)
Precision
(P)
Normal
(N)
Precision
(P)
Normal
(N)
Precision
(P)
Normal
(N)
Precision
±0.01
±0.003
-
0.02
-
0.01
0.02
0.003
±0.01
±0.003
-
0.02
0.003
0.02
0.003
ECML-U
LU-26
150
200
250
300
150
200
300
400
500
600
340
440
540
640
740
940
Positioning Accuracy Running of Parallelism
ECML-S
Rail
Length
Unit: mm
LA-S
Model
No.
Positioning
Repeatability
LU
Ballscrew
Specifications
0.02
0.01
-
0.025
0.015
0.025
±0.01
-
±0.003
(P)
0.015
-
0.03
0.04
0.02
0.03
Ballscrew Specifications (mm)
Model No.
Ballscrew Lead
Rail Length
2
6
LU-33
LU-46
20
500 / 5000
500 / 5000
390 / 4680
417 / 5000
340 / 4080
340 / 4080
790 / 4740
833 / 5000
650 / 3900
650 / 3900
520 / 3120
430 / 2580
1050 / 3150
840 / 2520
10
740 / 4440
730 / 4380
600 / 3600
1480 / 4440
1440 / 4320
1200 / 3600
ECM-LCVC
10
167 / 5000
ECM-DD
10
167 / 5000
ECM-LF
5
150
200
250
300
150
200
250
300
150
200
300
400
500
600
150
200
300
400
500
600
340
440
540
640
740
940
340
440
540
640
740
940
ECM-LSP
LU-26
Maximum Travel Speed (mm/s) / Maximum Motor RPM
Normal (N)
Precision (P)
ECM-LU
Maximum Travel Speed
Dimensions of the LU Series
LU-26
LU Series
Specifications
Model
No.
E
n
E1
n1
F
Rail Length
L1
(mm)
A
B
C
D
50W
100W
mm
-
mm
-
mm
150
70
-
-
-
257.1
278.6
35
2
35
-
80
LU-26
1
A
Overall Length L
(mm)
Maximum Stroke (mm)
200
120
250
2170
105
300
220
155
/8
55
3
-
-
-
-
-
-
4
307.1
328.6
20
3
357.1
378.6 5
45
3
407.1
428.6
30
4
6
20
-
45
-
30
-
160
160
7
8
240
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/8$VVHPEO\
9
'(&,0$/6
;
;; ;;; !a !a !a
!a !a !a
!a !a !a
3
86('21
4
5
A2
0[3['3
SIZE
PP
5(9
/86HULHV
THIRD ANGLE
PROJECTION
81,7
6
6&$/(
7
6+((72)
8
0[3['3
Power Cable
ཋᇃ
D
)
(
Sensor Rail
Ꮆኂ߷༞ʯɨ
Dimension
E
02725&211(&725
3,112
)81&7,21
&2/25
8
5('
9
:+7
:
%/.
*1'
*51<(/
(1&2'(5&211(&725
)81&7,21
3,112
ELW
&2/25
7
:+7
7
:+75('
'&9
%51
*1'
%/8
6+,(/'
6+,(/'
F
ᅡୂᐢٽ۹/
ᅡୂஃࣟ
ɣϷೡ
߷༞ٽ۹/
$
%
PP
PP
ENCODER
CONNECTOR
/8
PIN No.
COLOR
FUNCTION
WHT
1
T+
ێ໔
(
Q
(
)
PP
PP
PP
ECM-LCVC
(
%ێiԚ͂ɀᅟๅٽไᑓఞ
B: Use two carrier nuts with standard length
[Q 7KUX
['3
ECM-DD
Signal ໔ᇃ
Cable
;
ECM-LF
Sensor
Rail Dimension
Ꮆኂ߷༞ʯɨ
C
$1*/(6
! a ! a 3$5712
CONFIDENTIAL
/8
----------0LNH&KX
'$7(
',0(16,21$/72/(5$1&(6
FRAME NAME: DF-MEA2H-2R02.FRM
Q[
H
7+(6('5$:,1*6$1'63(&,),&$7,216$5(7+(
3523(57<2)'(/7$(/(&7521,&6,1&$1'6+$//
127%(5(352'8&('2586('$67+(%$6,6)25
7+(0$18)$&785(256(//2)$33$5$786(625
'(9,&(6:,7+2873(50,66,21
ECN NO.
ECM-LSP
/8
Q
ECM-LU
(1&2'(5&211(&725
)81&7,21
ELW
&2/25
7
:+7
7
:+75('
%51
2 '&9
*1'
%/8
6+,(/'
6+,(/'
1
LU-26111
[0[3['3
3,112
G
E
ECML-U
ENCODER CONNECTOR
ᅡୂᐢٽ۹/
ᅡୂஃࣟ
ɣϷೡ
(
FUNCTION
COLOR
߷༞ٽ۹/PIN No.
$
%
PP
PP
PP
1
T+
WHT
2
------
/8
3 --- ---- 4 TWHT/RED
Ꮆኂ߷༞ʯɨ
(
2
----
3
----
-------
4
T-
WHT/RED
5
----
----
PIN No.
FUNCTION
6
----
----
1
U
RED
7
DC+5V
BRN
2
V
WHT
MOTOR CONNECTOR
COLOR
8
GND
BLU
3
W
BLK
9
SHIELD
SHIELD
4
GND
GRN / YEL
G
'5$:1
'(6,*1
$33529(
7+(6('5$:,1*6$1'63(&,),&$7,216$5(7+(
3523(57<2)'(/7$(/(&7521,&6,1&$1'6+$//
127%(5(352'8&('2586('$67+(%$6,6)25
7+(0$18)$&785(256(//2)$33$5$786(625
'(9,&(6:,7+2873(50,66,21
12
H
'(6&5,37,21
86('21
1
FRAME NAME: DF-MEA2H-2R02.FRM
2
3
4
5
6
9
$1*/(6
'(&,0$/6
;
;; ;;; !a !a !a
!a !a !a
!a !a !a
! a ! a 3$5712
CONFIDENTIAL
/8$VVHPEO\
/8
A2
SIZE
81,7
7
'$7(
',0(16,21$/72/(5$1&(6
THIRD ANGLE
PROJECTION
PP
6&$/(
5(
/86HULHV
6+((72)
8
;
LU-33
LU Series
Specifications
Model
No.
Maximum Stroke (mm)
E
n
E1
n1
F
Rail Length
L1
(mm)
A
B
C
D
100W
mm
-
mm
-
mm
150
54.5
-
78.8
26.6
282.5
25
2
25
2
100
LU-33
1
200
104.5
-
128.8
76.6
332.5
50
2
50
2
100
300
204.5
128
228.8
176.6
432.5
50
3
50
2
200
50
4
100
50
5
400
304.5
500
404.5
/8
228
2
600
A
Total Length L (mm)
328.8
504.5
276.6
3
328
428.8
428
532.5
4
376.6
528.8
5
632.5
476.6
732.5
50
ዀိሬ͂ɺфᙶၰ
LU-33111
0
(Without Cover)
6
100
/
3
200
REV.
ECN NO.
00
-----------
0[3['3&
0[3['3
Q[
(
%ێiԚ͂ɀᅟๅٽไᑓఞ
B:
Use two carrier nuts with standard length
C
0[3['3
[Q [7KUX
['3
8
200
ไᑓఞێβ
$ێiԚ͂ȹᅟๅٽไᑓఞ
B
200
3
A: Use one carrier nut with standard length
(
2
7
50
Carrier-Nut
Type
&DUULHU1XW7\SH
/
6
C:
Use one carrier nut with short length
&ێԚ͂ȹێไᑓఞ
Sensor
Rail Dimension
Ꮆኂ߷༞ʯɨ
0[3['3&
0[3['3&
0[3['3
໔ᇃ
Signal Cable
Power Cable
ཋᇃ
Sensor Rail
(
D
Q[)
Ꮆኂ߷༞ʯɨ
Dimension
(
'ێԚ͂ɀێไᑓఞ
D: Use two carrier nuts with short length
)
E
[Q0[3['3
ENCODER CONNECTOR
PIN No.
1
LU-33111
/8
1
ዀိሬ͂фᙶၰ
3
/8
4
(With Cover)
B
H
5
6 7 8 6
9 & ---- '
T
--- --- DC+5V
GND
SHIELD
Q
(
Q
)
PP
PP
PP
MOTOR CONNECTOR
PIN No.
2
3
GND
GRN / YEL
'(9,&(6:,7+2873(50,66,21
'(6&5,37,21
3
4
5
0LNH&KX
'(6,*1
0LNH&KX
'$7(
9
'(&,0$/6
;
;; ;;; !a !a !a
A2
81,7
!a !a !a
$1*/(6
!a !a !a
3$5712
PP
6&$/(
B
! a ! a 5(9
THIRD ANGLE
PROJECTION
7
6+((72)
;
8
C
0[3['3
Sensor
Rail Dimension
Ꮆኂ߷༞ʯɨ
0[3['3
Power Cable
ཋᇃ
Cable
DSignal ໔ᇃ
-----------
.HYLQ&KXQJ
CONFIDENTIAL
6
&ێԚ͂ȹێไᑓఞ
C:
Use one carrier nut with short length
[Q [7KUX
['3
ECN NO.
00
2
8
REV.
',0(16,21$/72/(5$1&(6
86('21
C
BLK
A
7+(6('5$:,1*6$1'63(&,),&$7,216$5(7+(
3523(57<2)'(/7$(/(&7521,&6,1&$1'6+$//
127%(5(352'8&('2586('$67+(%$6,6)25
RED
WHT
0[3['3
7+(0$18)$&785(256(//2)$33$5$786(625
B:
Use two carrier nuts with standard length
%ێiԚ͂ɀᅟๅٽไᑓఞ
1
V
W
4 SIZE
FRAME NAME: DF-MEA2H-2R02.FRM
U
$33529(
COLOR
'5$:1
(
FUNCTION
1
Q[
(
---PP
PP
WHT/RED
---
---
BRN
BLU
SHIELD 7
&DUULHU1XW7\SH
/
(
%
4
COLOR
WHT
ᅡୂᐢٽ۹/
----
$ێiԚ͂ȹᅟๅٽไᑓఞ
A:
Use one carrier nut with standard length
/
3
ไᑓఞێβ
Carrier-Nut
Type
G
T+
ɣϷೡ ----
5
$
FUNCTION
2
1
ᅡୂஃࣟ
߷༞ٽ۹/
ێ໔
PP
02725&211(&725
3,112
)81&7,21
&2/25
8
5('
9
:+7
:
%/.
*1'
*51<(/
(1&2'(5&211(&725
)81&7,21
3,112
ELW
&2/25
7
:+7
7
:+75('
2 '&9
%51
*1'
%/8
6+,(/'
6+,(/'
F
A
D: Use two carrier nuts with short length
'ێԚ͂ɀێไᑓఞ
D
Sensor Rail
Dimension
Ꮆኂ߷༞ʯɨ
(
Q[)
(
G
H
F
E
/8
(1&2'(5&211(&725
)81&7,21
3,112
ELW
&2/25
7
:+7
7
:+75('
'&9
%51
*1'
%/8
6+,(/'
6+,(/'
02725&211(&725
3,112
)81&7,21
&2/25
8
5('
9
:+7
:
%/.
*1'
*51<(/
E
ENCODER CONNECTOR
ᅡୂஃࣟ
߷༞ٽ۹/
ێ໔
PP
$
PIN No.
ɣϷೡ
1
%
&
2
3 4 5
6
7
8
9
FUNCTION
ᅡୂᐢٽ۹/COLOR
(
Q
T+
WHT
'
:
PP ------ ---- ---- T- WHT/RED
------
------
DC+5V
BRN
GND
BLU
SHIELD
(
Q
)
PP PP PP
MOTOR CONNECTOR
PIN
No. FUNCTION
1 U
SHIELD
2 3
F
RED
V
WHT
W
BLK
GND
GRN / YEL
4
COLOR
G
13
'5$:1
'(6,*1
$33529(
7+(6('5$:,1*6$1'63(&,),&$7,216$5(7+(
3523(57<2)'(/7$(/(&7521,&6,1&$1'6+$//
127%(5(352'8&('2586('$67+(%$6,6)25
7+(0$18)$&785(256(//2)$33$5$786(625
'(9,&(6:,7+2873(50,66,21
'$7(
',0(16,21$/72/(5$1&(6
9
'(&,0$/6
;
;; ;;; !a !a !a
!a !a !a
!a !a !a
$1*/(6
! a ! a H
LU-46
LU Series
Specifications
Total Length L (mm)
E
n
E1
n1
F
Rail Length
L1
(mm)
A
B
C
D
400W
mm
-
mm
-
mm
340
208.2
100.4
244.7
173.4
506.9
70
3
70
2
-
1
308.2
200.4
344.7
273.4
606.9
70
4
20
3
-
408.2
300.4
444.7
373.4
706.9
70
5
70
3
-
640
508.2
400.4
544.7
473.4
806.9
70
6
20
4
-
740
608.2
500.4
644.7
573.4
906.9
70
7
70
4
-
940
808.2
700.4
844.7
773.4
9
70
5
-
2
/8
LU-46214
A
0
3
4
5
1106.9
(Without Cover)
$ێiԚ͂ȹᅟๅٽไᑓఞ
A:
Use one carrier nut with standard length
B: Use two carrier nuts with standard length
%ێiԚ͂ɀᅟๅٽไᑓఞ
C
C
C: Use one carrier nut with
&ێiԚ͂ȹێไᑓఞ
Cable
Q;
short length
Sensor Rail
Ꮆኂ߷༞ʯɨ
Dimension
(
D
ECML-U
Sensor
Rail Dimension
Ꮆኂ߷༞ʯɨ
[Q [7KUX
['3
0[3['3&
ཋᇃ
Power
(
D
0[3['3
'ێiԚ͂ɀێไᑓఞ
D:
Use two carrier nuts with short length
ECM-LU
0[3['3&
E
B
0[3['3
໔ᇃ
Signal Cable
A
0[3['3
ECML-S
(
B
-----------
Q[
ECN NO.
00
0[3['3&
/
(
8
REV.
ไᑓఞێβ
/
7
Carrier-Nut
Type
&DUULHU1XW7\SH
ዀိሬ͂ɺфᙶၰ
6
70
LA-S
LU-46
440
540
LU
Model
No.
Maximum Stroke (mm)
E
[Q0[3['3
1
1
4
5
(With Cover)
(
PP PP
Q
MOTOR CONNECTOR
PIN No.
1
2
3
4
FUNCTION
COLOR
U
RED
V
WHT
ไᑓఞێβ
Carrier-Nut Type
&DUULHU1XW7\SH
BLK
GRN / YEL
2
3
(V)
USED ON
%ێiԚ͂ɀᅟๅٽไᑓఞ
B: Use two carrier nuts with standard length
( )
DECIMALS
X
: 0.3
X.X : 0.2
X.XX : 0.1
<50
: 0.1
>50~100 : 0.15
>100~200 : 0.2
>200~
: 0.2%
LU-46
A2
SIZE
0
6
Mike Chu
DATE:
20141008
( )
( )
<50
: 0.15
>50~100 : 0.2
>100~200 : 0.25
>200~
: 0.25%
mm
<30
: 0.1
>30 ~60 : 0.3
>60 ~90 : 0.5
REV.
LU-46 Series
THIRD ANGLE
PROJECTION
UNIT
ANGLES
<50
: 0.2
>50~100 : 0.25
>100~200 : 0.3
>200~
: 0.3%
PART NO.:
CONFIDENTIAL
G
A
DESIGN:
DIMENSIONAL TOLERANCES
LU-4621474ABP0S
5
-----------
SCALE
0.300
8
H
B
X0
SHEET 1 OF 1
7
Ꮆኂ߷༞ʯɨ
[Q [7KUX
['3
0[3['3
0[3['3
4
DESCRIPTION:
ECN NO.
00
Sensor Rail Dimension
C
Mike Chu
REV.
ECM-DD
1
FRAME NAME: DF-MEA2H-2R02.FRM
(
0[3['3
DRAWN:
APPROVE: Kevin Chung
0[3['3
THESE DRAWINGS AND SPECIFICATIONS ARE THE
PROPERTY OF DELTA ELECTRONICS, INC. AND SHALL
NOT BE REPRODUCED OR USED AS THE BASIS FOR
THE MANUFACTURE OR SELL OF APPARATUSES OR
DEVICES WITHOUT PERMISSION.
Q[
(
H
B
A:
Use one carrier nut with standard length
$ێiԚ͂ȹᅟๅٽไᑓఞ
/
/
F
8
W
GND
ዀိሬ͂фᙶၰ
Q
ECM-LF
LU-46214
/8
/8
3
ENCODER CONNECTOR
PIN No.
FUNCTION
COLOR
ᅡୂᐢٽ۹/
ɣϷೡ T+
WHT (
---- PP
%
& ---- '
PP
------ 4
TWHT/RED
5
------ 6
------ 7
DC+5V
BRN
7
6 8
GND
BLU
9
SHIELD
SHIELD
ᅡୂஃࣟ
1
߷༞ٽ۹/
ێ໔
$2
PP
3
ECM-LSP
F
G
A
02725&211(&725
3,112
)81&7,21
&2/25
8
5('
9
:+7
:
%/.
*1'
*51<(/
(1&2'(5&211(&725
)81&7,21
3,112
ELW
&2/25
7
:+7
7
:+75('
2
'&9
%51
*1'
%/8
6+,(/'
6+,(/'
C
0[3['3
&ێiԚ͂ȹێไᑓఞ
C:
Use one carrier nut with short length
ཋᇃ
Power
໔ᇃ
Signal Cable
Cable
Q;
(
Sensor
Rail
Ꮆኂ߷༞ʯɨ
Dimension
D
'ێiԚ͂ɀێไᑓఞ
D:
Use two carrier nuts with short length
(1&2'(5&211(&725
)81&7,21
ELW
&2/25
7
:+7
7
:+75('
'&9
%51
*1'
%/8
6+,(/'
6+,(/'
F
E
[Q0[3['3
3,112
E
ECM-LCVC
(
D
02725&211(&725
3,112
)81&7,21
&2/25
8
5('
9
:+7
:
%/.
*1'
*51<(/
ENCODER CONNECTOR
PIN No.
FUNCTION
COLOR
ᅡୂᐢٽ۹/ (
ɣϷೡ
T+
WHT
%
& ---- '
PP
PP
------- --- 4 T- WHT/RED
5 ---- ---
6 ---- ---
7 DC+5V
BRN
8 GND
BLU
9
SHIELD
SHIELD
ᅡୂஃࣟ
1
߷༞ٽ۹/
ێ໔
$2
PP
3
/8
Q
(
PP PP
Q
F
MOTOR
CONNECTOR
No. FUNCTION
COLOR
PIN
1
U
RED
2
V
WHT
3
W
BLK
GND
GRN / YEL
4
G
G
14
H
Mike Chu
DRAWN:
APPROVE: Kevin Chung
THESE DRAWINGS AND SPECIFICATIONS ARE THE
PROPERTY OF DELTA ELECTRONICS, INC. AND SHALL
NOT BE REPRODUCED OR USED AS THE BASIS FOR
THE MANUFACTURE OR SELL OF APPARATUSES OR
DEVICES WITHOUT PERMISSION.
DESCRIPTION:
(V)
DECIMALS
X
: 0.3
X.X : 0.2
X.XX : 0.1
CONFIDENTIAL
LU-46 Assembly
DESIGN:
Mike Chu
DATE:
20141001
DIMENSIONAL TOLERANCES
A2
SIZE
( )
<50
: 0.1
>50~100 : 0.15
>100~200 : 0.2
>200~
: 0.2%
( )
<50
: 0.15
>50~100 : 0.2
>100~200 : 0.25
>200~
: 0.25%
PART NO.:
THIRD ANGLE
PROJECTION
( )
<50
: 0.2
>50~100 : 0.25
>100~200 : 0.3
>200~
: 0.3%
LU-46 Series
ANGLES
<30
: 0.1
>30 ~60 : 0.3
>60 ~90 : 0.5
REV.
X0
H
LU Series Recommended Sensor Model
The dimension of installation for detecting plate & mounting plate
Panasonic
GX-F12A, GX-F12B
a
Unit: mm
Model
No.
a
b
c
d
LU-26
38.9
7.9
6.2
6.2
LU-33
44
1
9.2
10
LU-46
57
1
22.2
23
c
b
d
a
Omron EE-SX671/SX971
e
Unit: mm
Model
No.
a
b
c
d
e
f
g
h
LU-26
46
15
2
2
58.5
27.5
10.5
10.5
LU-33
50.9
7.9
5
5
63.4
20.4
13.8
15
LU-46
63.9
7.9
18
18
76.4
20.4
26.5
28
c
g
f
b
d h
Omron EE-SX671/SX971
Unit: mm
Model
No.
a
b
c
d
e
f
g
h
LU-26
43.7
12.7
1.8
1.8
50
19
10.8
10.8
LU-33
48.6
5.6
4.8
4.8
54.9
11.9
13.8
14
LU-46
61.6
5.6
17.8
17.8
67.9
11.9
26.8
28.1
e
a
c
g
f
b
d h
15
LU
Aluminum Cover
Aluminum防塵蓋
Cover
LA-S
ECML-S
ECML-U
Sensor Rail
Connecting Bracket
ECM-LU
ECM-LSP
ECM-LF
ECM-DD
ECM-LCVC
16
Linear Stage
LA-S Series
Product Features
► Direct driving with zero backlash
Directly driven by a Delta linear motor, coupling with zero
backlash for no alignment issue.
► High speed and high precision
High speed capability of up to 4 m/s is possible, high
accuracy and superior stability of motion is guaranteed.
► Cog-free design with low thrust ripple
Utilizes an ironless forcer to bring zero cogging and low thrust ripple to achieve outstanding smoothness of
motion even at low speed.
► Save on Cost and Space for Application Scalability
Good performance on long travel distances (up to 2 m) for almost any positioning applications. Multiple
sliders move independently within a one stage unit for efficient space savings and better performance than
two separated ball screw driven stages.
Internal Structure
Motor Magnetic Way
Motor Coil Assembly
Optical Readhead*
THK Linear
Guideway
Scale (Optical Encoder)
* Optical encoder head specification: RENISHAW RH200
17
LA-S Series and Servo Drive Selection Table
Servo Drive
Motor Output (W)
ASD-A3-0221-
LA-S5
200 W
ASD-A2R-0221ASD-A3-0421-
LA-S7
ASD-A2R-0421-
LA-S8
LA-SA
LA-SB
400 W
LA-S
LA-S6
ASD-A3-0721-
750 W
ASD-A2R-0721-
Ordering Information
LA - S5 1 012 D 1 M S00
3
4
5
6
7
ECML-U
2
Product
Linear Stage LA-S Series
1
S5
Linear
MOTOR
MODEL
S4 : ECML-S 2004
S5 : ECML-S 2005
S6 : ECML-S 2504
S7 : ECML-S 2506
S8 : ECML-S 2508
SA : ECML-S 3206
SB : ECML-S 3208
2
1
Q'ty of
Forcer
Motors on single axis
1: one
2: two
3: three
4: four and so forth
3
012
Travel
E.g. 052 : 520 mm
034 : 340 mm
106 : 1060 mm
206 : 2060 mm
4
D
Encoder
Type
D : REINSHAW RH200, digital output, resolution 1μm
3 : Lateral Mounting (Vertical Cable Chains)
4 : Lateral Mounting (Horizontal Cable Chains)
5 : Upside-down Mounting (Vertical Cable Chains)
6 : Upside-down Mounting (Horizontal Cable Chains)
ECM-DD
2 : Horizontal Mounting (Horizontal Cable Chains)
Mounting
Direction
M
Cover
7
S00
Special
Order
M : Aluminum Extrusion
S00 : Delta Standard Product
* LA-S standard cable length is 5m. Please contact Delta sales offices or distributors for other customized requirements.
** LA-S Standard equipment include 2 optical sensors <Brand and Model Name: Omron EE-SX672+2m cable>
18
ECM-LCVC
6
ECM-LF
1 : Horizontal Mounting (Vertical Cable Chains)
ECM-LSP
1
ECM-LU
LA
5
ECML-S
*The boxes ( ) at the end of the servo drive model names are codes for the ASDA-A2R Series. For more detailed information, please refer
to the catalogues of ASDA-A2R Series servo drives.
1
LU
Model No.
LA-S4
Performance
LA-S4
44
LA-S5
Thrust Range (N)
Continuous Thrust
177
55
LA-S6
Peak Thrust
221
64
LA-S7
257
96
LA-S8
131
LA-SA
138
386
525
555
LA-SB
185
0
100
740
200
300
400
500
600
700
800
Effective Stroke Range (Unit: mm)
LA-S4
150 ~ 990
LA-S5
180 ~ 960
LA-S6
100 ~ 1300
LA-S7
120 ~ 1260
120 ~ 1200
LA-S8
LA-SA
140 ~ 2060
140 ~ 2000
LA-SB
0
200
400
600
800
1000
1200
1400
1600
1800
2000
2200
Specifications
LA-S4
LA-S5
LA-S6
LA-S7
LA-S8
LA-SA
LA-SB
Peak Thrust N
177
221
257
386
525
555
740
Continuous Thrust N
44
55
64
96
131
138
185
5.7
5.8
6.9
Maximum Speed (*1) m/s
4
Resolution μm
1
Repeatability μm
±1
Moving Part Weight (*2) kg
2.9
3.3
3.9
*1 Maximum speed will be different based on the load and stroke of applications
*2 Moving part weights only include motor and slider. External load is not included.
19
4.7
Dimensions of the LA-S Series
LU
LA-S4 / LA-S5
ø20 Magnetic Way / Effective Stroke Range: 150 ~ 990 mm
Slider Dimensions
Dimensions are in mm
F1
F2
LA-S4
165
135
67
LA-S5
195
165
75
-
+
81
Slider Total
Length F
LA-S
Model
No.
62.5
62.5
(13)
2-∅4H7 depth 8
8-M4x0.7P depth 10
HOME
ECML-U
114
90
S (stroke)
F
ECML-S
F2
F1
(87)
95
1
A
50
L
L1
nx120
(n-1)x120
B
ECM-LU
2(n+1)-M4x0.7P depth 9
(下鎖孔)
(Bottom mounting
hole)
A
50
B
16
∅4H7 slot, depth 8
80
ECM-LSP
Detail View C
39
50
C
80
∅4H7, depth 8
2(n+2)-∅4.5 THRU,∅8 depth 5
(上鎖孔)
(Top mounting
hole)
Dimensions are in mm
210
270
330
390
450
510
570
630
690
750
810
870
930
990
Total Weight
(kg)
11.2
11.9
12.6
13.3
13.9
14.6
15.3
15.9
16.6
17.3
18
18.7
19.4
20
20.7
Stroke (S)
–
180
240
300
360
420
480
540
600
660
720
780
840
900
960
Total Weight
(kg)
–
12.2
12.8
13.6
14.3
14.9
15.6
16.3
16.9
17.6
18.3
19
19.7
20.4
21
Stage Total
Length (L)
492
552
612
672
732
792
852
912
972
1032
1092
1152
1212
1272
1332
L1
440
500
560
620
680
740
800
860
920
980
1040
1100
1160
1220
1280
A
40
10
40
10
40
10
40
10
40
10
40
10
40
10
40
B
50
20
50
20
50
20
50
20
50
20
50
20
50
20
50
n
3
4
4
5
5
6
6
7
7
8
8
9
9
10
10
97
106
-
+
87.5
20
F2
F1
F
2-∅5H7 depth 10
(1)
LA-S5
8-M5x0.8P depth 10
S (stroke)
87.5
HOME
ECM-LCVC
150
ECM-DD
Stroke (S)
LA-S4
ECM-LF
Stroke and Base Mounting Dimensions Dimensions of the LA-S Series
LA-S6 / LA-S7 / LA-S8
ø25 Magnetic Way / Effective Stroke Range: 100 ~ 1300 mm
Slider Dimensions
Dimensions are in mm
Slider Total
Length F
F1
F2
LA-S6
185
165
85
LA-S7
225
205
85
LA-S8
285
265
145
-
+
97
Model
No.
F2
F1
F
87.5
S (stroke)
87.5
2-∅5H7 depth 10
(1)
106
HOME
130
8-M5x0.8P depth 10
(87)
112
L
L1
1
nx120
A
2(n+1)-M5x0.8P depth 10
(Bottom mounting
hole)
(下鎖孔)
60
A
(n-1)x120
B
60
B
25
60
C
52
∅4H7 slot, depth 8
Detail View C
80
80
2(n+2)-∅4.5 THRU,∅8 depth 5
(Top mounting
hole)
(上鎖孔)
∅4H7, depth 8
Stroke and Base Mounting Dimensions
LA-S6
LA-S7
LA-S8
Stroke (S)
Dimensions are in mm
100 160 220 280 340 400 460 520 580 640 700 760 820 880 940 1000 1060 1120 1180 1240 1300
Total Weight 13.6 14.5 15.5 16.5 17.4 18.4 19.3 20.3 21.3 22.2 23.2 24.1 25.1 26.1
(kg)
27
27.9 28.9 29.9 30.8 31.8 32.8
Stroke (S)
–
120 180 240 300 360 420 480 540 600 660 720 780 840 900 960 1020 1080 1140 1200 1260
Total Weight
(kg)
–
15.6 16.5 17.5 18.5 19.4 20.4 21.3 22.3 23.3 24.2 25.2 26.1 27.1 28.1
Stroke (S)
–
–
120 180 240 300 360 420 480 540 600 660 720 780 840 900 960 1020 1080 1140 1200
Total Weight
(kg)
–
–
17.6 18.6 19.6 20.5 21.5 22.4 23.4 24.4 25.3 26.3 27.2 28.2 29.2 30.1 31.1
29
29.9 30.9 31.8 32.8 33.8
32
33
33.9 34.9
Stage Total
Length (L)
512 572 632 692 752 812 872 932 992 1052 1112 1172 1232 1292 1352 1412 1472 1532 1592 1652 1712
L1
460 520 580 640 700 760 820 880 940 1000 1060 1120 1180 1240 1300 1360 1420 1480 1540 1600 1660
A
50
20
50
20
50
20
50
20
50
B
50
20
50
20
50
20
50
20
50
n
3
4
4
5
5
6
6
7
7
106
+
20
50
20
50
20
50
20
50
20
50
20
50
20
50 - 20
50
20
50
20
50
20
50
20
50
8
8
9
10
10
11
11
12
12
13
13
F2
F1
81
F
2-∅5H7 depth 10
116
21
8-M5x0.8P depth 12
9
S (stroke)
81
HOME
LU
LA-SA / LA-SB
ø32 Magnetic Way / Effective Stroke Range: 140 ~ 2060 mm
Slider Dimensions
Dimensions are in mm
F1
F2
LA-SA
223
201
91
LA-SB
278
256
116
-
+
106
Slider Total
Length F
LA-S
Model
No.
81
S (stroke)
F
ECML-S
F2
F1
81
2-∅5H7 depth 10
HOME
8-M5x0.8P depth 12
116
143
ECML-U
(87)
120
2(n+1)-M5x0.8P depth 10
(Bottom mounting
hole)
(下鎖孔)
A
(n-1)x120
B
65
B
27
Detail View C
80
80
∅5H7, depth 8
Stroke and Base Mounting Dimensions
LA-SA
LA-SA
LA-SB
200
260
320
380
440
500
560
620
680
740
800
860
920
980
1040
Total Weight (kg)
16.3
17.5
18.7
19.9
21.2
22.4
23.7
24.9
26.1
27.4
28.6
29.4
30.7
31.9
33.2
34.4
1100
35.7
Stroke (S)
–
140
200
260
320
380
440
500
560
620
680
740
800
860
920
980
1040
Total Weight (kg)
–
19.3
20.5
21.7
22.9
24.2
25.4
26.6
27.9
29.1
30.3
31.6
32.8
34
35.3
36.5
37.7
Stage Total Length
(L)
572
632
692
752
812
872
932
992
1052
1112
1172
1232
1292
1352
1412
1472
1532
L1
520
580
640
700
760
820
880
940
1000
1060
1120
1180
1240
1300
1360
1420
1480
A
20
50
20
50
20
50
20
50
20
50
20
50
20
50
20
50
20
B
15
45
15
45
15
45
15
45
15
45
15
45
15
45
15
45
15
n
4
4
5
5
6
6
7
7
8
8
9
9
10
10
11
11
12
Stroke (S)
1160
1220
1280
1340
1400
1460
1520
1580
1640
1700
1760
1820
1880
1940
2000
2060
Total Weight
(kg)
37.2
38.4
39.7
40.9
42.1
43.3
44.6
45.8
47.1
48.3
49.5
50.7
51.9
53.2
54.5
55.7
Stroke (S)
1100
1160
1220
1280
1340
1400
1460
1520
1580
1640
1700
1760
1820
1880
1940
2000
40.2
41.4
42.6
43.9
45.1
46.3
47.5
48.8
50
51.2
52.5
53.7
54.9
56.1
57.4
Total Weight
38.9
(kg)
Stage Total Length
1592
(L)
L1
1540
1652
1712
1772
1832
1892
1952
2012
2072
2132
2192
2252
2312
2372
2432
2492
1600
1660
1720
1780
1840
1900
1960
2020
2080
2140
2200
2260
2320
2380
2440
A
50
20
50
20
50
20
50
20
50
20
50
20
50
20
50
20
B
45
15
45
15
45
15
45
15
45
15
45
15
45
15
45
15
n
12
13
13
14
14
15
15
16
16
17
17
18
18
19
19
20
22
ECM-LCVC
140
ECM-DD
LA-SB
Dimensions are in mm
Stroke (S)
ECM-LF
2(n+2)-∅5.5 THRU,∅9 depth 6
(Top mounting
hole)
(上鎖孔)
ECM-LSP
C
58
∅5H7 slot, depth 8
70
1
nx120
A
65
ECM-LU
L
L1
Linear Shaft Motor
ECML-S Series
Product Features
► Simple mechanism structure for quick
installation
► Direct driving mechanism, easy to replace
ballscrew mechanism
► No cogging forces, low thrust ripple
► Excellent dynamic response
► No backlash
► Built-in temperature sensor and hall sensor
► Large air gap for easy installation
► Installation holes on both sides in the coil assembly for easy mounting to customer's system
S Series and Servo Drive Selection Table
Coil Assembly
ECML-S1606A2DNS
ECML-S1608A2DNS
Magnetic Way
Servo Drive Model No.
Drive Output (W)
ECML-SM16
ASD-A3-0121ASD-A2R-0121-
100 W
ECML-SM20
ASD-A3-0221ASD-A2R-0221-
200 W
ASD-A3-0421ASD-A2R-0421-
400 W
ASD-A3-0721ASD-A2R-0721-
750 W
ECML-S2003A2DNS
ECML-S2004A2DNS
ECML-S2005A2DNS
ECML-S2504A2DNS
ECML-S2506A2DNS
ECML-SM25
ECML-S3204A2DNS
ECML-SM32
ECML-S2508A2DNS
ECML-SM25
ECML-S3206A2DNS
ECML-S3208A2DNS
ECML-S3505A2DNS
ECML-S3506A2DNS
ECML-SM32
ASD-A3-0721- □
ASD-A2R-0721- □
ASD-A3-1021- □
ASD-A2R-1021- □
ECML-SM35
750W
1 kW
*The boxes ( ) at the end of the servo drive model names are codes for the ASDA-A3/A2R Series. For more detailed information, please
refer to the catalogues of the ASDA-A2R Series servo drives.
23
Ordering Information
LU
Coil Assembly
ECML - S 1608 A 2 D N S
1
Product
S
Linear Motor Type
1608
Magnetic Way
Dimensions
3
5
6
7
ECML: Linear Motor
S: Shaft Type Coreless
Magnetic Way Diameter (mm)
2
4
Codes
3
A
Wiring Method
4
2
Input Voltage
2: 220 V
5
D
Hall Sensor Type
D: Digital
6
N
Cooling Type
N: N/A
7
S
Special Order
Delta Standard Product
Ø16
Ø20
Ø25
Ø32
Ø35
1606
2003
2504
3204
3505
1608
2004
2506
3206
3506
2005
2508
3208
A: Wiring Method A
ECML-U
ECM-LU
ECM-LSP
Magnetic Way
ECML - SM 16 1000
1
2
1
SM
Linear Motor Type
2
16
Magnetic Way
Diameter
16: Ø16 mm
25: Ø25 mm
20: Ø20 mm
32: Ø32 mm
1000
Magnetic Way
Length
Range:
0340: 340 mm
250~2310 mm
0520: 520 mm
ECML: Linear Motor
S: Shaft Type Coreless
E.g.:
35：Ø35 mm
ECM-DD
Product
3
ECM-LF
ECML
3
ECML-S
ECML
2
LA-S
1
1060: 1060 mm
ECM-LCVC
24
Performance
Thrust Range (N)
ECML-S1606
21 87
Continuous Thrust
ECML-S1608
29 116
Peak Thrust
ECML-S2003
33
ECML-S2004
44
ECML-S2005
55
ECML-S2504
64
133
177
221
258
97
ECML-S2506
387
131
ECML-S2508
525
87
ECML-S3204
350
140
ECML-S3206
561
187
ECML-S3208
748
276
ECML-S3505
1190
352
ECML-S3506
0
200
1380
400
600
800
1000
1200
Length of Magnetic Way
Shaft Diameter
Length of Magnetic Way (Dimensions are in mm)
Minimum Length
Maximum Length
Increments
Ø16
250
1240
30
Ø20
250
1270
60
Ø25
330
1650
60
Ø32
450
2310
60
Ø35
810
2490
120
25
1400
Specifications
ECML
Peak. Force (N)
S16
S20
S25
S32
06
08
03
04
05
04
06
08
04
21.8
29
33.2
44.3
55.3
64.4
96.7
131.3
87.4
06
S35
08
05
06
140.3 187.1 276.2 352.8
349.6 561.3 748.4 1190 1379.7
1.1
1.1
1.1
1.7
1.7
2.5
1.9
2.7
2.7
2.8
5.6
Peak Current (Arms)
2.64
2.64
4.4
4.4
4.4
6.8
6.8
10.0
7.6
10.8
10.8
11.2
21.9
Force Constant（N/Arms）
33
44
30.2
40.3
50.3
37.9
56.9
52.5
46
51.9
69.3 106.24
BEMF Constant (Vrms/(m/s))
11
14.7
10.1
13.4
16.8
12.6
19
17.5
15.3
17.3
23.1
35.4
21.0
Armature Resistance (Ohm)
55.7
74.2
15.5
21.6
25.9
11.6
17.4
12.6
13.36
10.7
14.3
18
5.3
Armature Inductance (mH)
10.5
14
7
9
11
14.6
22
23
16
12.5
16.6
Rated Power (W)
47
62.6
46.9
62.3
78
64.9
97.4
152.5
93.4
151
201.8 273.24 321.82
Max. Instantaneous Power (W)
751.7
1001.3
749.7
997.1
Motor Constant (N/ W )
3.2
4.6
4.3
5
5.6
8.0
9.8
10.6
9.0
11.4
13.2
18
19.7
Electric Constant (ms)
0.19
0.19
0.35
0.34
0.33
1.26
1.26
1.83
1.2
1.17
1.16
2.13
2.18
Thermal Resistance (ºC / W)
1.6
1.2
1.6
1.2
0.96
1.16
0.77
0.49
0.8
0.5
0.37
0.27
0.23
Weight of Coil Assembly (kg)
0.35
0.45
0.65
0.83
1.0
1.1
1.6
2.1
1.5
2.2
2.8
3.2
3.84
Length of Coil Assembly (mm)
108
138
108
138
168
138
198
258
138
198
258
318
378
Vertical Attraction Force (N)
0
0
0
0
0
0
0
0
0
0
0
0
0
Air Gap (mm)
30
63
38.32 11.54
1248.3 1038.6 1557.8 2439.6 1494.1 2416.5 3229.5 4371.85 4921.77
60
0.75
60
60
120
120
1
1.75
3
3
Insulation Resistance
>10 MΩ, DC 500 V
Withstand Voltage
1500 VAC, 60 sec
Operating Ambient Temperature
0 ºC ~ 40 ºC
Storage Temperature
-10 ºC ~ 80 ºC
Operating Relative Humidity
20 ~ 80% RH (non-condensing)
Storage Humidity
20 ~ 80% RH (non-condensing)
Approvals
26
ECM-LCVC
130
ECM-DD
Allowable Winding Temp. (ºC)
ECM-LF
0.66
ECM-LSP
0.66
ECM-LU
Continuous Current (Arms)
ECML-U
525
ECML-S
87.12 116.16 132.8 177.3 221.3 257.7 386.9
Magnetic Pole Pitch (mm)
LA-S
Continuous Force (N)
LU
Electrical Specifications
Thrust-Speed Curve
ECML-S1606
ECML-S1608
• ECML-S1606A2DNS
• ECML-S1608A2DNS
Continous area
Acceleration / Deceleration area
Speed (m/s)
Continous area
Acceleration / Deceleration area
Speed (m/s)
4.5
4.0
4.0
3.5
3.0
3.0
2.5
2.0
2.0
1.5
1.0
1.0
0.5
0
0
10 20 30 40 50 60 70 80 90 100 110 120 130 Force (N)
ECML-S2003
10 20 30 40 50 60 70 80 90 100 110 120 130 Force (N)
ECML-S2004
ECML-S2005
• ECML-S2004A2DNS
• ECML-S2003A2DNS
Continous area
Acceleration / Deceleration area
• ECML-S2005A2DNS
Continous area
Acceleration / Deceleration area
Continous area
Acceleration / Deceleration area
Speed (m/s)
Speed (m/s)
Speed (m/s)
4.0
4.0
4.0
3.0
3.0
3.0
2.0
2.0
2.0
1.0
1.0
1.0
0
0
20 40 60 80 100 120 140 160 180 200 220 240 260 Force (N)
ECML-S2504
20 40 60 80 100 120 140 160 180 200 220 240 260 Force (N)
ECML-S2506
• ECML-S2504A2DNS
• ECML-S2508A2DNS
Continous area
Acceleration / Deceleration area
Continous area
Acceleration / Deceleration area
Speed (m/s)
Speed (m/s)
Speed (m/s)
4.0
4.0
4.0
3.0
3.0
3.0
2.0
2.0
2.0
1.0
1.0
1.0
0
50
100 150 200 250 300 350 400 450 500 550
20 40 60 80 100 120 140 160 180 200 220 240 260 Force (N)
ECML-S2508
• ECML-S2506A2DNS
Continous area
Acceleration / Deceleration area
0
Force (N)
0
50
100 150 200 250 300 350 400 450 500 550
27
Force (N)
0
50
100 150 200 250 300 350 400 450 500 550
Force (N)
ECML-S3206
• ECML-S3204A2DNS
Speed
(m/s)
• ECML-S3208A2DNS
Continous area
Acceleration / Deceleration area
Speed
(m/s)
4.0
4.0
3.0
3.0
3.0
2.0
2.0
2.0
1.0
1.0
1.0
0
100
200
300
400
ECML-S
4.0
0
Continous area
Acceleration / Deceleration area
LA-S
Speed
(m/s)
ECML-S3208
• ECML-S3206A2DNS
Continous area
Acceleration / Deceleration area
LU
ECML-S3204
0
100
200
300
400
500
600
100
200
300
400
500
600
700
ECML-U
ECML-S3505
ECML-S3506
• ECML-S3505A2DNS
• ECML-S35062DNS
ECM-LU
Continous area
Acceleration / Deceleration area
Continous area
Acceleration / Deceleration area
Speed (m/s)
Speed (m/s)
2.5
4
ECM-LSP
2
3
1.5
1
2
0.5
1
0
200
400
600
800
1000
0
1200 Force (N)
200
400
600
800
1000
1200
1400
1600 Force (N)
ECM-LF
ECM-DD
ECM-LCVC
28
Coil Assembly Dimensions
M2 x L2
T4
CL
n × P2
T2
P1
W2
W3
W5
W1
CW
SD
W4
M1 x L1
CH
T1
■ ECML-S2504
ECML-S2506
ECML-S2508
ECML-S3204
ECML-S3206
ECML-S3208
n × P4
T3
■ ECML-S1606
ECML-S1608
ECML-S2003
ECML-S2004
ECML-S2005
P3
PD
W1
CD
Dimensions are in mm
Model
S1606
S1608
S2003
S2004
S2005
S2504
S2506
S2508
S3204
S3206
S3208
S3505
S3506
CH
42
42
52
52
52
62
62
62
70
70
70
70
70
CW
32
32
42
42
42
52
52
52
60
60
60
60
60
CD
17.5
17.5
21.5
21.5
21.5
27
27
27
35.5
35.5
35.5
38
38
CL
108
138
108
138
168
138
198
258
138
198
258
318
378
P1
29
29
29
29
29
37
37
37
37
37
37
37
37
n × P2
50
80
50
80
110
64
124
2×92
64
124
2×92
P3
21
21
21
21
21
27
27
27
27
27
27
n × P4
66
96
66
96
126
84
144
3×68
84
144
3×68
T1
3.5
3.5
3.5
3.5
3.5
5
5
5
5
5
5
5
5
T2
25
25
35
35
35
42
42
42
50
50
50
50
50
T3
3.5
3.5
3.5
3.5
3.5
5
5
5
5
5
5
5
5
T4
25
25
35
35
35
42
42
42
50
50
50
50
50
M1 × L1 M4×4.5 M4×4.5
M4×7
M4×7
M4×7
M5×8
M5×8
M5×8
M6×10 M6×10 M6×10 M6 × 9 M6 × 9
M2 × L2 M4×4.5 M4×4.5
M4×7
M4×7
M4×7
M5×8
M5×8
M5×8
M6×10 M6×10 M6×10 M6 × 9 M6 × 9
122 × 2 76 × 4
27
27
88 × 3 108 × 3
W1
16
16
21
21
21
26
26
26
30
30
30
30
30
W2
1.5
1.5
1.5
1.5
1.5
1.5
1.5
1.5
1.5
1.5
1.5
1.5
1.5
W3
17
17
17
17
17
21
21
21
21
21
21
21
21
W4
9
9
11
11
11
11
11
11
13
13
13
13
13
W5
14
14
20
20
20
30
30
30
34
34
34
34
34
PD
6
6
6
6
6
7
7
7
7
7
7
7
7
SD
6
6
6
6
6
6
6
6
6
6
6
6
6
29
Magnetic Way Explanation
LU
(Shaft(夾持長度)
Support Length)
L4
(Shaft (夾持長度)
Support Length)
L4
L5
LA-S
(Movable(有效作動區域)
Section Working Area)
L3
L2
ECML-S
L2
(Overall
Length)
(總長)
L1
Dimensions are in mm
L5
Approx. Mass(kg)
250
280
310
340
370
400
430
460
490
520
550
580
610
640
670
700
730
760
790
820
850
880
910
940
970
1000
1030
1060
1090
1120
1150
1180
1210
1240
250
280
310
340
370
400
430
460
490
520
550
580
610
640
670
700
730
760
790
820
850
880
910
940
970
1000
1030
1060
1090
1120
1150
1180
1210
1240
35
35
35
35
35
35
35
35
35
35
35
35
35
35
35
35
35
35
35
35
35
35
35
35
35
35
35
35
35
35
35
35
35
35
180
210
240
270
300
330
360
390
420
450
480
510
540
570
600
630
660
690
720
750
780
810
840
870
900
930
960
990
1020
1050
1080
1110
1140
1170
25
25
25
25
25
40
40
40
40
40
40
40
40
40
40
40
40
40
40
60
60
60
60
60
60
60
60
60
60
60
60
60
60
60
200
230
260
290
320
320
350
380
410
440
470
500
530
560
590
620
650
680
710
700
730
760
790
820
850
880
910
940
970
1000
1030
1060
1090
1120
0.37
0.42
0.46
0.51
0.55
0.60
0.64
0.69
0.73
0.78
0.82
0.87
0.91
0.96
1.00
1.05
1.09
1.14
1.18
1.23
1.27
1.32
1.36
1.41
1.45
1.50
1.54
1.59
1.63
1.68
1.72
1.77
1.81
1.86
30
ECM-LCVC
L4
ECM-DD
L3
ECM-LF
L2
ECM-LSP
L1
ECM-LU
Model : SM16
ECML-U
► Ø16 Magnetic Way Dimensions
Magnetic Way Explanation
(Shaft(夾持長度)
Support Length)
L4
(Shaft (夾持長度)
Support Length)
L4
L5
(Movable(有效作動區域)
Section Working Area)
L3
L2
L2
(Overall
Length)
(總長)
L1
► Ø20 Magnetic Way Dimensions
Dimensions are in mm
Model : SM20
L1
L2
L3
L4
L5
Approx. Mass
(kg)
250
250
35
180
35
180
0.59
310
310
35
240
35
240
0.73
370
370
35
300
35
300
0.87
430
430
35
360
35
360
1.01
490
490
35
420
35
420
1.15
550
550
35
480
50
450
1.29
610
610
35
540
50
510
1.43
670
670
35
600
50
570
1.57
730
730
35
660
50
630
1.71
790
790
35
720
50
690
1.85
850
850
35
780
50
750
1.99
910
910
35
840
60
790
2.13
970
970
35
900
60
850
2.27
1030
1030
35
960
60
910
2.41
1090
1090
35
1020
60
970
2.55
1150
1150
35
1080
60
1030
2.69
1210
1210
35
1140
60
1090
2.83
1270
1270
35
1200
60
1150
2.97
31
LU
► Ø25 Magnetic Way Dimensions
Dimensions are in mm
330
45
240
45
240
1.21
390
390
45
300
45
300
1.43
450
450
45
360
45
360
1.65
510
510
45
420
45
420
1.87
570
570
45
480
45
480
2.08
630
630
45
540
45
540
2.30
690
690
45
600
60
570
2.52
750
750
45
660
60
603
2.74
810
810
45
720
60
690
2.96
870
870
45
780
60
750
3.18
930
930
45
840
60
810
3.4
990
990
45
900
60
870
3.62
1050
1050
45
960
60
930
3.84
1110
1110
45
1020
60
990
4.06
1170
1170
45
1080
60
1050
4.28
1230
1230
45
1140
60
1110
4.50
1290
1290
45
1200
60
1170
4.72
1350
1350
45
1260
70
1210
4.94
1410
1410
45
1320
70
1270
5.16
1470
1470
45
1380
70
1330
5.38
1530
1530
45
1440
70
1390
5.60
1590
1590
45
1500
70
1450
5.81
1650
1650
45
1560
70
1510
6.03
32
ECM-LCVC
330
ECM-DD
Approx. Mass
(kg)
ECM-LF
L5
ECM-LSP
L4
ECM-LU
L3
ECML-U
L2
ECML-S
L1
LA-S
Model : SM25
Magnetic Way Explanation
(Shaft(夾持長度)
Support Length)
L4
(Shaft (夾持長度)
Support Length)
L4
L5
(Movable(有效作動區域)
Section Working Area)
L3
L2
L2
(Overall
Length)
(總長)
L1
► Ø32 Magnetic Way Dimensions
Dimensions are in mm
Model : SM32
L1
L2
L3
L4
L5
Approx. Mass(kg)
450
510
570
630
690
750
810
870
930
990
1050
1110
1170
1230
1290
1350
1410
1470
1530
1590
1650
1710
1770
1830
1890
1950
2010
2070
2130
2190
2250
2310
450
510
570
630
690
750
810
870
930
990
1050
1110
1170
1230
1290
1350
1410
1470
1530
1590
1650
1710
1770
1830
1890
1950
2010
2070
2130
2190
2250
2310
45
45
45
45
45
45
45
45
45
45
45
45
45
45
45
45
45
45
45
45
45
45
45
45
45
45
45
45
45
45
45
45
360
420
480
540
600
660
720
780
840
900
960
1020
1080
1140
1200
1260
1320
1380
1440
1500
1560
1620
1680
1740
1800
1860
1920
1980
2040
2100
2160
2220
60
60
60
60
60
60
60
60
90
60
90
90
90
90
90
90
90
90
90
100
100
100
100
100
100
100
100
100
100
100
100
100
330
390
450
510
570
630
690
750
750
810
870
930
990
1050
1110
1170
1230
1290
1350
1390
1450
1510
1570
1630
1690
1750
1810
1870
1930
1990
2050
2110
2.70
3.06
3.42
3.77
4.13
4.49
4.85
5.21
5.57
5.93
6.29
6.65
7.01
7.37
7.73
8.09
8.45
8.81
9.17
9.53
9.89
10.25
10.61
10.96
11.32
11.68
12.04
12.40
12.76
13.12
13.48
13.84
33
810
45
720
60
690
5.81
930
930
45
840
90
750
6.67
1050
1050
45
960
90
870
7.53
1170
1170
45
1080
90
990
8.39
1290
1290
45
1200
90
1110
9.25
1410
1410
45
1320
90
1230
10.11
1530
1530
45
1440
100
1330
10.97
1650
1650
45
1560
100
1450
11.83
1770
1770
45
1680
100
1570
12.69
1890
1890
45
1800
100
1690
13.55
2010
2010
45
1920
100
1810
14.41
2130
2130
45
2040
100
1930
15.27
2250
2250
45
2160
100
2050
16.13
2370
2370
45
2280
100
2170
16.99
2490
2490
45
2400
100
2290
17.85
34
ECM-LCVC
810
ECM-DD
Approx. Mass (kg)
ECM-LF
L5
ECM-LSP
L4
ECM-LU
L3
ECML-U
L2
ECML-S
L1
LA-S
Model : SM35
LU
Unit: mm
Wiring
Encoder cable
Contains 7 core cables, which are for Hall Sensor
and NTC thermistor. Connects to CN2 or CN5.
Motor power cable
Contains 4 core cables, which are for U, V, W and
ground wire. Connects to the output port of the
servo drive and grounding terminal.
MOTOR MODEL
ECML-S16
ECML-S20
ECML-S25
ECML-S32
ECML-S35
S
S
S
S
S
Power Cable Definition
Color
AWG
U
Red
20
V
White
20
W
Black
20
CASE GROUND
Green
20
U
Red
18
V
White
18
W
Black
18
CASE GROUND
Green
18
◆ U, V, W are bare wire, which has no connector and terminal.
◆ The total length of standard cable is 500 mm.
◆ The cover of the green grounding cable is heat-shrink tubing. If you cut off the grounding cable and re-connect it, please
connect it to the shielded net for better noise separation.
MOTOR MODEL
ECML-S16
ECML-S20
ECML-S25
ECML-S32
ECML-S35
Motor Signal Cable Definition
S
S
S
S
S
Color
AWG
Hall sensor 5 V
Black
26
Hall sensor 0 V
Black / Red
26
U phase signal of hall sensor
White
26
V phase signal of hall sensor
Brown
26
W phase signal of hall sensor
Blue
26
Temperature signal +
Orange
26
Temperature signal -
Orange / Red
26
◆ U, V, W are bare wire, which has no connector and terminal.
◆ The total length of standard cable is 500 mm.
◆ The cover of the green grounding cable is heat-shrink tubing. If you cut off the grounding cable and re-connect it, please
connect it to the shielded net for better noise separation.
35
Installation of Linear Shaft Motor
ECML-U
Magnet Shaft
ECML-S
Magnet shaft may bend due to gravitational
force or the force of magnetic attraction.
LA-S
◆ When the magnet shaft is fixed by shaft supports on two sides and an application requires a very
long stroke, the magnet shaft may bend due to gravitational force or the force of magnetic attraction.
Please see Figure 1.
LU
◆ When installing a linear shaft motor, please ensure there is no physical contact between the coil
assembly and magnet shaft as their contact may cause intermittent friction and errors in the setup
and adjustment of the system.
ECM-LU
Adjust the bending shape of the
shaft with a piece of sheet metal.
Adjust the bending shape of the
shaft with a piece of sheet metal.
ECM-DD
Magnet Shaft
ECM-LF
◆ When the magnet shaft bends out of tolerance, it may touch the coil assembly and cause intermittent
friction. Please insert two pieces of sheet metal to the fixed points of the shaft or adjust the fixed
angle of the shaft on two sides to offset the bending deformation.
ECM-LSP
Figure 1
ECM-LCVC
Figure 2
36
Linear Motor System Configuration
Basic Elements
A linear motor system consists of
A
Servo drive
E
Load table: connects load and linear motor
B
Linear motor is composed of coil assembly
and magnetic shaft
F
Shaft support: holds the magnetic shaft
C
Linear position sensor: optical or magnetic
sensing
G
Base
D
Linear bearing: linear ball rail is the most
common employment
H
Cable carrier
E
C
Linear
Scale
C
Read
head
B
Coil Assembly
B
Magnetic Shaft
F
A
H
D
G
37
LU
Applications
◆ Multiple Slider Operation:
Multiple coil assemblies controlled by independent motor drives are used on a single magnetic axis.
LA-S
See Fig.1
ECML-S
ECML-U
ECM-LU
Figure 1. Coil assemblies operates independently
ECM-LSP
◆ Gantry Systems:
A gantry architecture comprises two sets of linear motors in parallel architecture. One application is
control two parallel motors. See fig. 2
ECM-LF
using dual-drive to simultaneously run 2 axes motion. The other application is using a single drive to
ECM-DD
ECM-LCVC
Figure 2. Gantry System
38
Linear U-Shape Motor
ECML-U Series
Product Features
► Design for Z axis application
Mechanism Design for Nozzle joints, Linear Guideway,
Linear Scale
► Compact and space-saving
Measured width: 12 & 15 mm, light weight: 50 g
► High speed, high acceleration
► Zero backlash, Low speed / force ripple,
Fast dynamic response
ECML-U Series and Servo Drive
Selection Table
Coil
Assembly
Magnet
Track
Servo Drive
Model
Drive
Output
(W)
ECML-UM120126L
Read
Read
head
head
ECML-UM120126T
ECML-UM150072S
Linear
Linear
guideway
guideway
Linear
Linear
scale
scale
ECMLU1202A2NNS
ECMLU1501A2NNS
Coil
Coil assy
assy
ASD-A3-0121ASD-A2R-0121-
Nozzle
Nozzle
joints
joints
Spring
Spring
100 W
Belt
Belt
ECMLU1502A2NNS
ECML-UM150108S
ECMLU1503A2NNS
ECML-UM150252S
Gear
Gear
* The boxes ( ) at the end of the servo drive model names are codes for the ASDA-A3/A2R
Series. For more detailed information, please refer to the catalogues of ASDA-A3/A2R
Series servo drives.
39
Motor
Motor
Z Axis Application: Linear & Rotary
Ordering Information
ECML - U 15 01 A N N
1
3
4
5
7
12 (mm)
15 (mm)
1202
1501
Product
ECML: Linear Motor
U
Linear Motor Type
U: U Shape Coreless
1501
Motor Spec.
Codes
1502
ECML-S
2
6
ECML
Width of Motor
S
LA-S
1
2
LU
Coil Assembly
1503
3
A
Wiring Method
4
2
Input Voltage
2: 220V
5
N
Hall Sensor Type
N: N/A
6
N
Cooling Type
N: N/A
7
S
Special Order
Delta Standard Product
A: Wiring Method A
ECML-U
ECM-LU
Magnetic Track
ECML - UM 15 0072
2
Product
1
UM
Linear Motor Type
2
15
Motor Spec.
3
0072
ECML: Linear Motor
UM: U Shape Coreless Magnet Track
Width of Motor
12 = 12 mm
ECM-LF
ECML
3
ECM-LSP
1
15 = 15 mm
0072: 72 mm
Magnetic Way Length 0108: 108 mm
0252: 252 mm
ECM-DD
Performance
13
ECML-U1501A2NNS
5.5
Continuous Thrust
44.8
Peak Thrust
18.7
12.0
ECML-U1502A2NNS
41.2
18.2
ECML-U1503A2NNS
0
10
ECM-LCVC
ECML-U1202A2NNS
Thrust Range (N)
62.5
20
30
40
40
50
60
70
80
90
Specifications
Electrical Specifications
ECML
U12
U15
02
01
02
03
Continuous Force (N)
13.08
5.46
12.03
18.25
Peak Force (N)
44.86
18.74
41.24
62.57
Continuous Current (Arms)
0.70
0.70
0.70
0.70
Peak Current (Arms)
2.40
2.40
2.40
2.40
Force Constant (N/Arms)
18.69
7.81
17.18
26.07
BEMF Constant-KE (Vrms/(m/s))
15.26
6.37
14.03
21.29
Armature Resistance (Ohm)
13.46
6.37
13.34
20.10
Armature Inductance (mH)
2.38
1.17
2.34
3.52
Rated Power (W)
12.03
5.69
11.92
17.97
Max. Instantaneous Power (W)
141.43
66.92
140.17
211.20
Motor Constant (N/ √ W)
3.77
2.29
3.48
4.31
Electric Constant (ms)
5.66
5.44
5.70
5.71
Thermal Resistance (℃ /W)
6.23
12.47
6.26
4.17
Weight of Coil Assembly (Kg)
0.12
0.05
0.09
0.13
Vertical Attraction Force (N)
0
0
0
0
Magnetic Pole Pitch (mm)
18
18
18
18
Air Gap (mm)
0.5
0.5
0.5
0.5
Allowable Winding Temp. (℃ )
100
100
100
100
Insulation Resistance
>10 MΩ, 500 VDC
Withstand Voltage
1500 VAC, 60 sec
Operating Ambient Temperature
0 ~ 40℃
Storage Temperature
-10 ~ 80℃
Operating Relative Humidity
20 ~ 80% RH (non-condensing)
Approvals
41
Thrust-Speed Curve
ECML-U1501
• ECML-U1202A2NNS
• ECML-U1501A2NNS
Continous area
Acceleration / Deceleration area
Speed (m/s)
4.5
4.0
4.0
3.5
3.5
3.0
3.0
2.5
2.5
2.0
2.0
1.5
1.5
1.0
1.0
0.5
0.5
0
0
5
10
15
20
25
30
35
40
45
50
55
60
Force (N)
0
10
15
20
25
30
35
40
45
50
55
60
Force (N)
55
60
Force (N)
ECM-LU
ECML-U1502
5
ECML-U1503
• ECML-U1502A2NNS
• ECML-U1503A2NNS
Continous area
Acceleration / Deceleration area
4.5
4.0
4.0
3.5
3.5
3.0
3.0
2.5
2.5
2.0
2.0
1.5
1.5
1.0
1.0
0.5
0.5
0
0
5
10
15
20
25
30
35
40
45
50
55
60
Force (N)
0
5
10
15
20
25
30
35
40
45
50
ECM-DD
Speed (m/s)
4.5
ECM-LF
Speed (m/s)
ECM-LSP
Continous area
Acceleration / Deceleration area
0
ECML-U
0
ECML-S
4.5
LA-S
Continous area
Acceleration / Deceleration area
Speed (m/s)
LU
ECML-U1202
ECM-LCVC
42
Coil Assembly Dimensions
ECML-U1202A2NNS
ECML-U1202A2NNS
CL (mm) ±0.3
156
P4 (mm)
2.5
EH (mm) ±0.1
64.5
P5 (mm)
12
EW (mm)
3
P6 (mm)
25
T1 (mm)
1.8
M1×L1 (mm)
M2.6×THR
T2 (mm)
8
M2×L2 (mm)
M2.6×L4.5
T3(mm)
2.3
M3×L3 (mm)
M5×THR
T4 (mm)
7
D1
Ø2.2 ×THR
T5(mm)
5.75
D2
Ø6 ×THR
P1 (mm)
4.5
PCL (mm) ±25
500
T5
P2
P1
PCL
CW
CL
T5
D1
M2 X
L2
M3 X
L3
EW
ECML-U15 Series
ECML-U15
01A2NNS 02A2NNS 03A2NNS
13.5
CH (mm) ±0.1
10
CL (mm) ±0.3
48
84
EH (mm) ±0.1
45
EW (mm)
3
T1 (mm)
2
T2 (mm)
2
P1 (mm)
13.5
P2 (mm)
15×2
P3 (mm)
P4 (mm)
15×4
M1 X
L1
120
P2
P1
CL
P4
P3
PCL
M2 X
L2
CW
CH
CW (mm) ±0.3
EH
Model name
T2
►
P3
P5
147
CH
P3 (mm)
EH
29
T3
CH (mm) ±0.1
T4
17
T2
P2 (mm)
T1
11.5
P5
P4
CW (mm) ±0.3
P6
Model name
T1
►
15×6
9.5
15×2
15×4
M1×L1 (mm)
M3×4
M2×L2 (mm)
M3×4
PCL (mm) ±25
500
EW
15×6
43
Magnet Track Dimensions
►
ECML-UM120126T
LU
ML
MW
Unit: mm
ECML-UM12
Model name
126
MH (mm) ±0.1
45
45
MW (mm) ±0.2
8.2
7.6
T1 (mm)
3.5
4.1
A1 (mm)
9
9
A2 (mm)
18×6
18×6
A3 (mm)
9
9
M1×L1
M3×5
M3×5
Mass (Kg)
0.28
0.3
6
M1 x L1
7
T1
A2
A1
►
A3
ECML-UM120126L
MW
ML
MH
6
7
ECM-LU
126
ECML-U
ML (mm) ±0.1
MH
ECML-S
0126L
LA-S
0126T
M1 x L1
T1
A3
Unit: mm
Model name
0072
0108
0252
72
108
252
42.5
MW (mm) ±0.2
14.8
A1 (mm)
12
A2 (mm)
24
36×1
B1 (mm)
36×2
A1
ML
36×6
18
B2 (mm)
36×1
T1 (mm)
7.4
T2 (mm)
4.5
Mass()Kg)
0.24
36×2
MH
36×6
T2
B1
0.36
A3
0.84
44
A2
ECM-LCVC
A3 (mm)
T1
ECM-DD
MH (mm) ±0.1
MW
ECML-UM15
ECM-LF
ML (mm) ±0.1
►
ECML-UM15
ECM-LSP
A2
A1
B2
Wiring
Motor power cable
Contains 4 core cables, which are for U, V, W and
ground wire. Connects to the output port of the
servo drive and grounding terminal.
MOTOR MODEL
Power Cable Definition
Color
AWG
ECML-U1202A2NNS
U
Red
24
ECML-U1501A2NNS
V
White
24
ECML-U1502A2NNS
W
Black
24
ECML-U1503A2NNS
Case Ground
Green
24
45
46
HIGH SPEED
“zero” cogging with minimal velocity ripple
ECM-LU Series
IRONLESS LINEAR MOTOR
High Speed Ironless Linear Motors With Minimal Velocity Ripple
ECM-LU series' ironless patented overlapping winding forcers provide excellent force
density Vs coil size ratio resulting in high force and acceleration generation. ECM-LU series
coil's overlapping manufacturing technology allows for the selection of smaller size motors
in comparison to the competition due to its higher force density and further improved heat
dissipation achieved through optional forced air-cooling methods.
All ECM-LU series are designed with high flex cables, embedded hall effect sensor and over
temperature protection (thermostats or PT100) that makes it the ideal choice for the most
demanding applications. The Modular U-channel Magnet tracks available in 60 mm length
increments allows for easy assembly of un-restricted stroke length.
■ Low speed/torque ripple
■ Fast dynamic response
■ Zero backlash
■ Maintenance free
■ High acceleration
■ Long strokes without performance loss
■ Easy assembly over long stroke lengths
Application
•
•
•
•
•
•
•
•
•
•
•
•
•
•
Laser Trimming
Precise Positioning
Linear Stages
Photonics
Biotech Handlers
Fpd / Lcd Transfer
Wire And Die Bonding
47
Microscope Stages
Semiconductor
Industrial Machinery
Diamond Cutting
Micro Precise
Manufacturing
Precision Stamping
Peak
Current (Apk)
Continuous
Current AC (Apk)
Coil
Length (mm)
ECM-LU22
63.3
12.7
14.01
2.8
22-85
ECM-LU22H
229
60
21
5.46
61-151
ECM-LU36
724
188
47.25
12.29
61-301
ECM-LU39
1339
348
52.50
13.65
61-361
ECM-LU50
5191
1247
93.75
22.50
121-901
ECM-LU54
5366
1234
67.50
15.53
121-721
Coil Assembly
ECM-L U
1
S
2
N
N
1
N
S
2
3
4
5
6
7
8
9
10
Product
ECM-L Linear Motor Series (Delta-PBA)
Linear Motor Type
U : U Shape Coreless
U
2
22
3
1
Coil Assembly Specification
1 , 2 , 3 , 4 ,5 …..
4
S
Wiring Method
S：Serial ; P：Parallel
5
2
Input Voltage
2：220 V
6
N
Temperature Sensor
Specification
C = PT 100 Sensor
M : Thermostat (U22 & U22H Excluded)
7
N
Cooling Type
N : Standard
A：Air Cooling (Customized)
W：Water Cooling (Customized)
8
1
Cable Length
D : 0.5 m (Standard)
1 = 1 m ; 3 =3 m ; 5 = 5 m
9
B
Connector Type
B = 9 Pin D-SUB Male (For Hall Sensor)
10
S
Special Order
S = Delta-PBA Standard Product
Width of Motor (mm)
Motor Spec.
Codes
22
22H
36
50
54
39
50
54
ECM-LSP
39
ECM-LF
ECM-DD
Magnet Track
ECM-L UM 22 120
ECM-L
2
3
Product
ECM-L Linear Motor Series (Delta-PBA)
UM : U Shape Coreless Magnet Track
1
UM
Linear Motor Type
2
22
Motor Spec.
3
120
Magnet Way Length
ECM-LCVC
1
ECM-LU
1
ECML-U
22
1
ECM-L
ECML-S
Ordering Information
LA-S
Continuous
Force AC (N)
LU
Peak Force (N)
Model
Width of Motor (mm)
Codes
22
22H
36
063 = 63 mm
240 = 240 mm
084 = 84 mm
600 = 600 mm
105 = 105 mm
300 = 300 mm
120 = 120 mm
660 = 660 mm
180 = 180 mm
360 = 360 mm
480 = 480 mm
900 = 900 mm
48
ECM-LU22
• Ironless Motor
• Peak force to 63N, Continuous force to 12N
• Ideal for high precision/smooth motion
IRONLESS LINEAR MOTOR
SPECIFICATIONS
ECM-LU221S ECM-LU222S ECM-LU223S ECM-LU224S
Peak Force
N
15.8
31.6
47.5
63.3
Continuous Force @ 120 ºC*
N
3.2
6.3
9.5
12.7
Peak Power @ 120 ºC
W
316
631
947
1262
Continuous Power @ 120 ºC*
W
12.6
25.2
37.9
50.5
Peak Current
Apk
14.01
Continuous Current @ 120 ºC*
Apk
2.80
Continuous Stall Current @ 120 ºC*
Arms
1.98
Force Constant
N/Apk
1.1
2.3
3.4
4.5
Vpk/m/s
1.3
2.6
3.9
5.2
Coil Resistance L-L @ 25 ºC
ohm
1.6
3.1
4.7
6.2
Coil Resistance L-L @ 120 ºC*
ohm
2.1
4.3
6.4
8.6
Inductance L-L @ 1kHz
mH
0.11
0.22
0.33
0.44
Motor Constant @ 25 ºC*
N/ √ W
1.05
1.48
1.81
2.09
Motor Constant @ 120 ºC*
N/ √ W
0.89
1.26
1.54
1.78
2.51
1.88
Back EMF Constant
Max. Terminal Voltage
Thermal Resistance @ 120 ºC*
60
VDC
ºC/W
7.53
3.66
Max. Coil Temperature
ºC
Coil Weight
kg
0.02
0.04
0.06
0.08
Coil Length
mm
22
43
64
85
Attractive Force
Electrical Cycle Length
120
N
0
mm
21
Notes:
1. Apk = 1.414 * Arms; Vpk = 1.414 * Vrms.
2. * Ambient temperature 25 ºC, heat dissipation by natural convection, without heat sink attached.
3. Specifications tolerance – inductance +/-30%, all others +/-10%.
4. Only available in series winding.
49
Dimensions
LU
ECM-LU22
LA-S
ECML-S
ECML-U
ECM-LU
ECM-LSP
ECM-LF
Standard Magnet Track
TRACK LENGTH
(mm)
WEIGHT
(kg)
NUMBER OF
MOUNTING HOLES A
NUMBER OF
MOUNTING HOLES B
63
62.7
0.15
2
3
84
83.7
0.20
3
4
105
104.7
0.25
4
5
MOTOR MODEL
WEIGHT
(kg)
NUMBER OF MOUNTING HOLES C
(TOP MOUNT)
MOUNTING HOLE
PITCH D (mm)
ECM-LU221S
0.02
4
12.0
ECM-LU222S
0.04
6
16.0
ECM-LU223S
0.06
8
16.0
ECM-LU224S
0.08
10
16.0
For COOLING OPTIONS, please ask for detail drawing
50
ECM-LCVC
Motor Coil
ECM-DD
SIZE
ECM-LU22H
• Ironless Motor
• Peak force to 229N, Continuous force to 60N
• Integrated Hall Sensor
IRONLESS LINEAR MOTOR
SPECIFICATIONS
ECM-LU22H2 ECM-LU22H3 ECM-LU22H4 ECM-LU22H5
Connection Type
N
Peak Force
N
92
137
183
229
Continuous Force @ 120 ºC*
N
18
27
37
46
Continuous Force AC @ 120 ºC^
N
24
36
48
60
1488
1860
S
P
S
P
S
P
S
P
Peak Power @ 120 ºC
W
744
1116
Continuous Power @ 120 ºC*
W
30
45
60
74
Continuous Power AC @ 120 ºC^
W
50
75
101
126
Peak Current
Apk
10.50
21.00
10.50
21.00
10.50
21.00
10.50
21.00
pk
2.10
4.20
2.10
4.20
2.10
4.20
2.10
4.20
pk
2.73
5.46
2.73
5.46
2.73
5.46
2.73
5.46
Arms
1.40
2.80
1.40
2.80
1.40
2.80
1.40
2.80
pk
8.70
4.40
13.10
6.50
17.40
8.70
21.80
10.9
V /m/s
10.0
5.0
15.0
7.50
20.1
10.0
25.10
12.5
Coil Resistance L-L @ 25 ºC
ohm
6.5
1.6
9.8
2.4
13.0
3.3
16.3
4.1
Coil Resistance L-L @ 120 ºC*
ohm
9.0
2.2
13.5
3.4
18.0
4.5
22.5
5.6
Inductance L-L @ 1kHz
mH
1.53
0.38
2.30
0.57
3.06
0.77
3.83
Continuous Current @ 120 ºC*
Continuous Current AC @ 120 ºC^
Continuous Stall Current @ 120 ºC*
Force Constant
Back EMF Constant
A
A
N/A
pk
0.96
Motor Constant @ 25 ºC*
N/ √ W
3.95
4.84
5.59
6.24
Motor Constant @ 120 ºC*
N/ √ W
3.36
4.11
4.75
5.31
Max. Terminal Voltage
400
VDC
Thermal Resistance @ 120 ºC*
ºC/W
3.19
2.13
1.60
1.28
Thermal Resistance AC @ 120 ºC^
ºC/W
1.89
1.26
0.94
0.76
Max. Coil Temperature
ºC
Coil Weight
kg
0.11
0.17
0.23
0.28
Coil Weight AC^
kg
0.11
0.17
0.23
0.28
mm
61
91
121
151
Coil Length
Attractive Force
Electrical Cycle Length
120
N
0
mm
30
Notes:
1. Apk = 1.414 * Arms; Vpk = 1.414 * Vrms.
2. * Ambient temperature 25 ºC, heat dissipation by natural convection, without heat sink attached.
3. Specifications tolerance – inductance +/-30%, all others +/-10%.
51
Dimensions
LU
ECM-LU22H
LA-S
ECML-S
ECML-U
ECM-LU
ECM-LSP
TRACK LENGTH
(mm)
WEIGHT
(kg)
NUMBER OF
MOUNTING HOLES A
NUMBER OF
MOUNTING HOLES B
120
119.7
0.44
2
2
180
179.7
0.66
3
3
240
239.7
0.88
4
4
300
299.7
1.10
5
5
359.7
1.32
6
6
479.7
1.76
8
8
660
659.7
2.42
11
11
Motor Coil
MOTOR MODEL
WEIGHT
(kg)
NUMBER OF MOUNTING HOLES C
(TOP MOUNT)
MOUNTING HOLE
PITCH D (mm)
ECM-LU22H2
0.11
3
2
ECM-LU22H3
0.17
5
3
ECM-LU22H4
0.23
7
4
ECM-LU22H5
0.28
9
5
For COOLING OPTIONS, please ask for detail drawing
52
ECM-LCVC
360
480
ECM-DD
SIZE
ECM-LF
Standard Magnet Track
ECM-LU36
• Ironless Motor
• Peak force to 724N, Continuous force to 188N
• Integrated Hall Sensor
IRONLESS LINEAR MOTOR
SPECIFICATIONS
ECM-LU361
ECM-LU362
ECM-LU363
Connection Type
N
Peak Force
N
145
289
434
Continuous Force @ 120 ºC*
N
29
58
87
Continuous Force AC @ 120 ºC^
N
38
75
113
2086
S
P
S
P
Q
S
P
Peak Power @ 120 ºC
W
695
1390
Continuous Power @ 120 ºC*
W
28
56
83
Continuous Power AC @ 120 ºC^
W
47
94
141
Peak Current
Apk
11.81
23.63
11.81
23.63
47.25
11.81
23.63
pk
2.36
4.73
2.36
4.73
9.45
2.36
4.73
pk
3.07
6.14
3.07
6.14
12.29
3.07
6.14
Arms
1.75
3.50
1.75
3.50
7.00
1.75
3.50
pk
12.3
6.1
24.5
12.3
6.1
36.8
18.4
V /m/s
14.1
7.0
28.2
14.1
7.0
42.3
21.1
Coil Resistance L-L @ 25 ºC
ohm
4.8
1.2
9.6
2.4
0.6
14.4
3.6
Coil Resistance L-L @ 120 ºC*
ohm
6.6
1.7
13.3
3.3
0.8
19.9
5.0
Inductance L-L @ 1kHz
mH
3.00
0.75
6.00
1.50
0.38
9.00
Continuous Current @ 120 ºC*
Continuous Current AC @ 120 ºC^
Continuous Stall Current @ 120 ºC*
Force Constant
Back EMF Constant
A
A
N/A
pk
2.25
Motor Constant @ 25 ºC*
N/ √ W
6.46
9.13
11.18
Motor Constant @ 120 ºC*
N/ √ W
5.49
7.76
9.51
Max. Terminal Voltage
400
VDC
Thermal Resistance @ 120 ºC*
ºC/W
3.42
1.71
1.14
Thermal Resistance AC @ 120 ºC^
ºC/W
2.02
1.01
0.67
Max. Coil Temperature
ºC
Coil Weight
kg
0.21
0.41
0.43
0.62
Coil Weight AC^
kg
0.23
0.46
0.48
0.69
mm
61
Coil Length
Attractive Force
Electrical Cycle Length
120
121
N
0
mm
60
Notes:
1. Apk = 1.414 * Arms; Vpk = 1.414 * Vrms.
2. * Ambient temperature 25 ºC, heat dissipation by natural convection, without heat sink attached.
3. ^ Air cool (AC), 6mm/4mm (OD/ID) 2m long air hose, pressure >2bar.
4. Specifications tolerance – inductance +/-30%, all others +/-10%.
53
181
ECM-LU36
LU
• Ironless Motor
• Peak force to 724N, Continuous force to 188N
• Integrated Hall Sensor
LA-S
IRONLESS LINEAR MOTOR
ECM-LU364
ECM-LU365
Connection Type
N
Peak Force
N
579
724
Continuous Force @ 120 ºC*
N
116
145
Continuous Force AC @ 120 ºC^
N
150
188
2781
3476
S
P
Q
S
P
W
111
139
Continuous Power AC @ 120 ºC^
W
188
235
Peak Current
Apk
Continuous Current @ 120 ºC*
Continuous Current AC @ 120 ºC^
Continuous Stall Current @ 120 ºC*
23.63
47.25
11.81
23.63
2.36
4.73
9.45
2.36
4.73
pk
3.07
6.14
12.29
3.07
6.14
Arms
1.75
3.50
7.00
1.75
3.50
pk
A
A
49.0
24.5
12.3
61.3
30.6
pk
V /m/s
56.4
28.2
14.1
70.4
35.2
Coil Resistance L-L @ 25 ºC
ohm
19.2
4.8
1.2
24.0
6.0
Coil Resistance L-L @ 120 ºC*
ohm
26.6
6.6
1.7
33.2
8.3
Inductance L-L @ 1kHz
mH
12.00
3.00
0.75
15.00
Back EMF Constant
N/A
3.75
N/ √ W
12.91
14.44
Motor Constant @ 120 ºC*
N/ √ W
10.98
12.27
400
VDC
ºC/W
0.85
0.68
Thermal Resistance AC @ 120 ºC^
ºC/W
0.51
0.40
Max. Coil Temperature
ºC
Coil Weight
kg
0.83
0.88
1.04
Coil Weight AC^
kg
0.93
0.97
1.16
Electrical Cycle Length
241
mm
301
N
0
mm
60
Notes:
1. Apk = 1.414 * Arms; Vpk = 1.414 * Vrms.
2. * Ambient temperature 25 ºC, heat dissipation by natural convection, without heat sink attached.
3. ^ Air cool (AC), 6mm/4mm (OD/ID) 2m long air hose, pressure >2bar.
4. Specifications tolerance – inductance +/-30%, all others +/-10%.
54
ECM-LCVC
Coil Length
120
ECM-DD
Thermal Resistance @ 120 ºC*
Attractive Force
ECM-LF
Motor Constant @ 25 ºC*
Max. Terminal Voltage
ECM-LSP
Force Constant
11.81
pk
ECM-LU
W
ECML-U
Peak Power @ 120 ºC
Continuous Power @ 120 ºC*
ECML-S
SPECIFICATIONS
Dimensions
ECM-LU36
Standard Magnet Track
SIZE
TRACK LENGTH
(mm)
WEIGHT
(kg)
NUMBER OF
MOUNTING HOLES A
NUMBER OF
MOUNTING HOLES B
120
119.7
1.14
2
2
180
179.7
1.71
3
3
240
239.7
2.28
4
4
300
299.7
2.85
5
5
360
359.7
3.42
6
6
480
479.7
4.56
8
8
Motor Coil
MOTOR MODEL
WEIGHT
(kg)
NUMBER OF MOUNTING HOLES C
(TOP MOUNT)
MOUNTING HOLE
PITCH D (mm)
ECM-LU361
0.21
0.23
3
ECM-LU362
0.41
0.46
7
ECM-LU363
0.62
0.69
11
ECM-LU364
0.83
0.93
15
ECM-LU365
1.04
1.16
19
55
ECM-LU39
LU
• Ironless Motor
• Peak force to 1339N, Continuous force to 348N
• Integrated Hall Sensor
LA-S
IRONLESS LINEAR MOTOR
ECM-LU391
ECM-LU392
ECM-LU393
Connection Type
N
Peak Force
N
223
446
669
Continuous Force @ 120 ºC*
N
45
89
134
Continuous Force AC @ 120 ºC^
N
58
116
174
1502
2253
S
P
S
P
Q
S
P
751
W
30
60
90
Continuous Power AC @ 120 ºC^
W
51
102
152
Peak Current
Apk
26.25
13.13
26.25
52.50
13.13
26.25
2.63
5.25
2.63
5.25
10.50
2.63
5.25
pk
3.41
6.83
3.41
6.83
13.65
3.41
6.83
Arms
2.10
4.20
2.10
4.20
8.40
2.10
4.20
pk
17.0
8.5
34.0
17.0
8.5
51.0
25.5
V /m/s
19.6
9.8
39.1
19.6
9.8
58.7
29.3
Coil Resistance L-L @ 25 ºC
ohm
4.2
1.1
8.4
2.1
0.5
12.6
3.2
Coil Resistance L-L @ 120 ºC*
ohm
5.8
1.5
11.6
2.9
0.7
17.4
4.4
Inductance L-L @ 1kHz
mH
3.11
0.78
6.22
1.56
0.39
9.33
Continuous Current @ 120 ºC*
Continuous Current AC @ 120 ºC^
Continuous Stall Current @ 120 ºC*
Force Constant
Back EMF Constant
A
A
N/A
pk
2.33
N/ √ W
9.58
13.55
16.59
Motor Constant @ 120 ºC*
N/ √ W
8.14
11.51
14.10
400
VDC
ºC/W
3.16
1.58
1.05
Thermal Resistance AC @ 120 ºC^
ºC/W
1.87
0.94
0.62
ºC
Coil Weight
kg
0.25
0.52
0.54
0.76
Coil Weight AC^
kg
0.28
0.57
0.60
0.85
mm
61
Attractive Force
Electrical Cycle Length
120
121
N
0
mm
60
Notes:
1. Apk = 1.414 * Arms; Vpk = 1.414 * Vrms.
2. * Ambient temperature 25 ºC, heat dissipation by natural convection, without heat sink attached.
3. ^ Air cool (AC), 6mm/4mm (OD/ID) 2m long air hose, pressure >2bar.
4. Specifications tolerance – inductance +/-30%, all others +/-10%.
56
181
ECM-LCVC
Max. Coil Temperature
ECM-DD
Thermal Resistance @ 120 ºC*
Coil Length
ECM-LF
Motor Constant @ 25 ºC*
Max. Terminal Voltage
ECM-LSP
13.13
pk
ECM-LU
W
ECML-U
Peak Power @ 120 ºC
Continuous Power @ 120 ºC*
ECML-S
SPECIFICATIONS
ECM-LU39
• Ironless Motor
• Peak force to 1339N, Continuous force to 348N
• Integrated Hall Sensor
IRONLESS LINEAR MOTOR
SPECIFICATIONS
ECM-LU394
ECM-LU394
ECM-LU395
ECM-LU396
Connection Type
N
Peak Force
N
893
1116
1339
Continuous Force @ 120 ºC*
N
179
223
268
Continuous Force AC @ 120 ºC^
N
232
290
348
S
P
Q
S
P
S
P
Peak Power @ 120 ºC
W
3004
3755
4506
Continuous Power @ 120 ºC*
W
120
150
180
Continuous Power AC @ 120 ºC^
W
203
254
305
Peak Current
Continuous Current @ 120 ºC*
Continuous Current AC @ 120 ºC^
Continuous Stall Current @ 120 ºC*
Force Constant
pk
13.13
26.25
52.50
13.13
26.25
52.50
pk
2.63
5.25
10.50
2.63
5.25
10.50
pk
3.41
6.83
13.65
3.41
6.83
13.65
Arms
2.10
4.20
8.40
2.10
4.20
8.40
pk
A
A
A
68.0
34.0
17.0
85.0
42.5
25.5
pk
V /m/s
78.2
39.1
19.6
97.8
48.9
29.3
Coil Resistance L-L @ 25 ºC
ohm
16.8
4.2
1.1
21.0
5.3
1.6
Coil Resistance L-L @ 120 ºC*
ohm
23.2
5.8
1.5
29.1
7.3
2.2
Inductance L-L @ 1kHz
mH
12.44
3.11
0.78
15.55
3.89
Back EMF Constant
N/A
1.17
Motor Constant @ 25 ºC*
N/ √ W
19.16
21.42
23.46
Motor Constant @ 120 ºC*
N/ √ W
16.28
18.21
19.94
Max. Terminal Voltage
400
VDC
Thermal Resistance @ 120 ºC*
ºC/W
0.79
0.63
0.53
Thermal Resistance AC @ 120 ºC^
ºC/W
0.47
0.37
0.31
Max. Coil Temperature
ºC
Coil Weight
kg
1.07
1.05
1.25
1.58
Coil Weight AC^
kg
1.19
1.17
1.40
1.75
301
361
Coil Length
Attractive Force
Electrical Cycle Length
120
241
mm
N
0
mm
60
Notes:
1. Apk = 1.414 * Arms; Vpk = 1.414 * Vrms.
2. * Ambient temperature 25ºC, heat dissipation by natural convection, without heat sink attached.
3. ^ Air cool (AC), 6mm/4mm (OD/ID) 2m long air hose, pressure >2bar.
4. Specifications tolerance – inductance +/-30%, all others +/-10%.
57
Dimensions
LU
ECM-LU39
LA-S
ECML-S
ECML-U
ECM-LU
ECM-LSP
Standard Magnet Track
TRACK LENGTH
(mm)
WEIGHT
(kg)
NUMBER OF
MOUNTING HOLES A
NUMBER OF
MOUNTING HOLES B
120
119.5
1.73
2
2
180
179.5
2.60
3
3
3.46
4
4
4.33
5
5
360
359.5
5.20
6
6
480
479.5
6.92
10
10
ECM-LCVC
239.5
299.5
ECM-DD
240
300
ECM-LF
SIZE
Motor Coil
MOTOR MODEL
WEIGHT
(kg)
WEIGHT
AIR COOL (kg)
NUMBER OF MOUNTING
HOLES C
(TOP MOUNT)
ECM-LU391
0.25
0.28
3
ECM-LU392
0.52
0.57
7
ECM-LU393
0.76
0.85
11
ECM-LU394
1.07
1.19
15
ECM-LU395
1.25
1.40
19
ECM-LU396
1.58
1.75
23
58
ECM-LU50
• Ironless Motor
• Peak force to 5191N, Continuous force to 1038N
• Integrated Hall Sensor
IRONLESS LINEAR MOTOR
SPECIFICATIONS
ECM-LU502
Connection Type
N
S
P
ECM-LU503
S
ECM-LU504
P
S
P
ECM-LU505
S
P
Peak Force
N
692
1038
1384
1384
Continuous Force @ 120 ºC*
N
138
208
277
277
Continuous Force AC @ 120 ºC^
N
173
260
346
346
Peak Power @ 120 ºC
W
1951
2927
3902
3902
Continuous Power @ 120 ºC*
W
78
117
156
156
Continuous Power AC @ 120 ºC^
W
122
183
244
244
Peak Current
A
15.63
31.25
15.63
31.25
15.63
31.25
15.63
31.25
Continuous Current @ 120 ºC*
Apk
3.13
6.25
3.13
6.25
3.13
6.25
3.13
6.25
pk
3.91
7.81
3.91
7.81
3.91
7.81
3.75
7.50
Continuous Current AC @ 120 ºC^
pk
A
Continuous Stall Current @ 120 ºC*
Arms
2.50
5.00
2.50
5.00
2.50
5.00
2.50
5.00
Force Constant
N/Apk
44.3
22.2
66.5
33.2
88.6
44.3
110.8
55.4
50.9
25.5
76.4
38.2
101.9
50.9
127.4
63.7
Back EMF Constant
pk
V /m/s
Coil Resistance L-L @ 25 ºC
ohm
7.7
1.9
11.6
2.9
15.4
3.9
19.3
4.8
Coil Resistance L-L @ 120 ºC*
ohm
10.7
2.7
16.0
4.0
21.3
5.3
26.6
6.7
Inductance L-L @ 1kHz
mH
9.11
2.28
13.67
3.42
18.22
4.56
22.78
5.69
Motor Constant @ 25 ºC*
N/ √ W
18.4
22.6
26.1
29.1
Motor Constant @ 120 ºC*
N/ √ W
15.7
19.2
22.2
24.8
Max. Terminal Voltage
600
VDC
Thermal Resistance @ 120 ºC*
ºC/W
1.22
0.81
0.61
0.49
Thermal Resistance AC @ 120 ºC^
ºC/W
0.78
0.52
0.39
0.34
Max. Coil Temperature
ºC
Coil Weight
kg
1.05
1.57
2.09
2.61
Coil Weight AC^
kg
1.13
1.69
2.25
2.81
mm
121
181
241
301
Coil Length
Attractive Force
Electrical Cycle Length
120
N
0
mm
60
Notes:
1. Apk = 1.414 * Arms; Vpk = 1.414 * Vrms.
2. * Ambient temperature 25ºC, heat dissipation by natural convection, without heat sink attached.
3. ^ Air cool (AC), 6mm/4mm (OD/ID) 2m long air hose, pressure >2bar.
4. Specifications tolerance – inductance +/-30%, all others +/-10%.
59
ECM-LU50
LU
• Ironless Motor
• Peak force to 5191N, Continuous force to 1038N
• Integrated Hall Sensor
LA-S
IRONLESS LINEAR MOTOR
ECM-LU506
Connection Type
N
S
ECM-LU506
P
ECM-LU508
Q
S
ECM-LU508
P
S
N
2077
2769
N
415
554
Continuous Force AC @ 120 ºC^
N
498
-
Peak Power @ 120 ºC
W
5854
7805
Continuous Power @ 120 ºC*
W
234
312
Continuous Power AC @ 120 ºC^
W
337
-
ECML-U
Peak Force
Continuous Force @ 120 ºC*
P
A
15.63
31.25
62.5
15.63
15.63
15.63
Apk
3.13
6.25
12.5
3.13
3.13
3.13
pk
3.75
7.50
15.00
-
-
-
Continuous Current AC @ 120 ºC^
A
Arms
2.50
5.00
10.00
2.50
2.50
2.50
Force Constant
N/Apk
132.9
66.5
33.2
177.2
177.2
177.2
Vpk/m/s
152.8
76.4
38.2
203.8
203.8
203.8
Coil Resistance L-L @ 25 ºC
ohm
23.1
5.8
1.4
30.8
30.8
30.8
Coil Resistance L-L @ 120 ºC*
ohm
32.0
8.0
2.0
42.6
42.6
42.6
Inductance L-L @ 1kHz
mH
27.33
6.83
1.71
36.44
36.44
36.44
Back EMF Constant
N/ √ W
31.9
36.9
N/ √ W
27.1
31.3
Max. Terminal Voltage
ECM-LF
Motor Constant @ 25 ºC*
Motor Constant @ 120 ºC*
600
VDC
Thermal Resistance @ 120 ºC*
ºC/W
0.41
0.30
Thermal Resistance AC @ 120 ºC^
ºC/W
0.28
-
ºC
Coil Weight
kg
3.13
3.23
4.36
4.43
Coil Weight AC^
kg
3.37
3.47
-
-
Electrical Cycle Length
361
481
N
0
mm
60
Notes:
1. Apk = 1.414 * Arms; Vpk = 1.414 * Vrms.
2. * Ambient temperature 25ºC, heat dissipation by natural convection, without heat sink attached.
3. ^ Air cool (AC), 6mm/4mm (OD/ID) 2m long air hose, pressure >2bar.
4. Specifications tolerance – inductance +/-30%, all others +/-10%.
60
ECM-LCVC
Attractive Force
mm
120
ECM-DD
Max. Coil Temperature
Coil Length
ECM-LSP
Continuous Stall Current @ 120 ºC*
ECM-LU
Peak Current
Continuous Current @ 120 ºC*
pk
ECML-S
SPECIFICATIONS
ECM-LU50
• Ironless Motor
• Peak force to 5191N, Continuous force to 1247N
• Integrated Hall Sensor
IRONLESS LINEAR MOTOR
SPECIFICATIONS
ECM-LU50A
ECM-LU50A
ECM-LU50C
ECM-LU50F
Q
P
P
Connection Type
N
Peak Force
N
3461
4153
5191
Continuous Force @ 120 ºC*
N
692
831
1038
Continuous Force AC @ 120 ºC^
N
-
-
-
Peak Power @ 120 ºC
W
9756
11707
14634
Continuous Power @ 120 ºC*
W
390
468
585
Continuous Power AC @ 120 ºC^
W
-
-
-
Peak Current
A
Continuous Current @ 120 ºC*
Apk
Continuous Current AC @ 120 ºC^
pk
pk
A
S
P
15.63
31.25
62.50
62.50
93.75
3.13
6.25
12.5
12.50
18.75
-
-
-
-
-
Continuous Stall Current @ 120 ºC*
Arms
2.50
5.00
Force Constant
N/Apk
221.5
110.8
55.4
66.5
55.4
V /m/s
254.7
127.4
63.7
76.4
63.7
Coil Resistance L-L @ 25 ºC
ohm
38.5
9.6
2.4
2.9
1.6
Coil Resistance L-L @ 120 ºC*
ohm
53.3
13.3
3.3
4.0
2.2
Inductance L-L @ 1kHz
mH
45.55
11.39
2.85
3.42
1.90
Back EMF Constant
pk
10
15.00
Motor Constant @ 25 ºC*
N/ √ W
41.2
45.2
50.5
Motor Constant @ 120 ºC*
N/ √ W
35.0
38.4
42.9
0.20
0.16
-
-
Max. Terminal Voltage
600
VDC
Thermal Resistance @ 120 ºC*
ºC/W
Thermal Resistance AC @ 120 ºC^
ºC/W
0.24
-
-
Max. Coil Temperature
ºC
Coil Weight
kg
5.45
5.54
6.64
8.55
Coil Weight AC^
kg
-
-
-
-
721
901
Coil Length
Attractive Force
Electrical Cycle Length
120
601
mm
N
0
mm
60
Notes:
1. Apk = 1.414 * Arms; Vpk = 1.414 * Vrms.
2. * Ambient temperature 25ºC, heat dissipation by natural convection, without heat sink attached.
3. ^ Air cool (AC), 6mm/4mm (OD/ID) 2m long air hose, pressure >2bar.
4. Specifications tolerance – inductance +/-30%, all others +/-10%.
61
Dimensions
LU
ECM-LU50
LA-S
ECML-S
60.0 (PITCH)
CABLE OUT
ECML-U
STANDARD COIL
AIR COOLED COIL
ECM-LU
TRACK LENGTH
TRACK LENGTH
(mm)
WEIGHT
(kg)
NUMBER OF
MOUNTING HOLES A
NUMBER OF
MOUNTING HOLES B
180
179.5
4.50
3
3
240
239.5
6.00
4
4
300
299.5
7.50
5
5
360
359.5
9.00
6
6
480
479.5
12.00
8
8
WEIGHT
(kg)
WEIGHT
AIR COOL (kg)
NUMBER OF MOUNTING
HOLES C
(TOP MOUNT)
ECM-LU502
1.05
1.13
4
ECM-LU503
1.57
1.69
6
ECM-LU504
2.09
2.25
8
ECM-LU505
2.61
2.81
10
ECM-LU506
3.13
3.37
12
ECM-LU508
4.36
4.69
16
ECM-LU50A
5.45
5.86
20
ECM-LU50C
6.64
7.14
24
ECM-LU50F
8.55
9.16
30
62
ECM-LCVC
MOTOR MODEL
ECM-DD
Motor Coil
ECM-LF
SIZE
ECM-LSP
Standard Magnet Track
ECM-LU54
• Ironless Motor
• Peak force to 5366N, Continuous force to 1234N
• Integrated Hall Sensor
IRONLESS LINEAR MOTOR
SPECIFICATIONS
ECM-LU542 ECM-LU543 ECM-LU544 ECM-LU546
ECM-LU546
Connection Type
N
Peak Force
N
894
1342
1789
2683
Continuous Force @ 120 ºC*
N
179
268
358
537
Continuous Force AC @ 120 ºC^
N
215
322
429
617
S
P
S
P
S
P
S
P
P
Peak Power @ 120 ºC
W
2217
3325
4433
6650
Continuous Power @ 120 ºC*
W
89
133
177
266
Continuous Power AC @ 120 ºC^
W
128
192
255
352
Peak Current
A
16.88
33.75
16.88
33.75
16.88
33.75
16.88
33.75
67.50
Continuous Current @ 120 ºC*
Apk
3.38
6.75
3.38
6.75
3.38
6.75
3.38
6.75
13.50
pk
4.05
8.10
4.05
8.10
4.05
8.10
3.88
7.76
15.53
Continuous Current AC @ 120 ºC^
pk
A
Continuous Stall Current @ 120 ºC*
Arms
2.70
5.40
2.70
5.40
2.70
5.40
2.70
5.40
10.80
Force Constant
N/Apk
53.0
26.5
79.5
39.8
106.0
53.0
159.0
79.5
39.8
61.0
30.5
91.4
45.7
121.9
61.0
182.9
91.4
45.7
Back EMF Constant
pk
V /m/s
Coil Resistance L-L @ 25 ºC
ohm
7.5
1.9
11.3
2.8
15.0
3.8
22.5
5.6
1.4
Coil Resistance L-L @ 120 ºC*
ohm
10.4
2.6
15.6
3.9
20.8
5.2
31.1
7.8
1.9
Inductance L-L @ 1kHz
mH
8.51
2.13
12.77
3.19
17.03
4.26
25.54
6.39
1.60
Motor Constant @ 25 ºC*
N/ √ W
22.3
27.4
31.6
38.7
Motor Constant @ 120 ºC*
N/ √ W
19.0
23.3
26.9
32.9
Max. Terminal Voltage
600
VDC
Thermal Resistance @ 120 ºC*
ºC/W
1.07
0.71
0.54
0.36
Thermal Resistance AC @ 120 ºC^
ºC/W
0.74
0.50
0.37
0.27
Max. Coil Temperature
ºC
Coil Weight
kg
1.30
1.95
2.56
3.90
4.00
Coil Weight AC^
kg
1.39
2.08
2.74
4.16
4.27
mm
121
181
241
Coil Length
Attractive Force
Electrical Cycle Length
120
N
0
mm
60
Notes:
1. Apk = 1.414 * Arms; Vpk = 1.414 * Vrms.
2. * Ambient temperature 25ºC, heat dissipation by natural convection, without heat sink attached.
3. ^ Air cool (AC), 6mm/4mm (OD/ID) 2m long air hose, pressure >2bar.
4. Specifications tolerance – inductance +/-30%, all others +/-10%.
63
361
ECM-LU54
• Ironless Motor
LU
• Peak force to 5366N, Continuous force to 1234N
• Integrated Hall Sensor
LA-S
IRONLESS LINEAR MOTOR
ECM-LU548 ECM-LU548 ECM-LU54A ECM-LU54A ECM-LU54C
Connection Type
N
Peak Force
N
3578
4472
5366
Continuous Force @ 120 ºC*
N
716
894
1073
S
P
Q
S
P
Q
Q
N
-
-
-
W
8867
11084
13300
Continuous Power @ 120 ºC*
W
355
443
532
Continuous Power AC @ 120 ºC^
W
Peak Current
Apk
16.88
33.75
67.50
16.88
33.75
67.50
Continuous Current @ 120 ºC*
Apk
3.38
6.75
13.50
3.38
6.75
13.50
-
ECM-LU
Continuous Current AC @ 120 ºC^
-
-
-
-
-
-
-
Continuous Stall Current @ 120 ºC*
Arms
2.70
5.40
10.80
2.70
5.40
10.80
Force Constant
N/Apk
212.0
106.0
53.0
265.0
132.5
66.3
79.5
V /m/s
243.8
121.9
61.0
304.8
152.4
76.2
91.4
Coil Resistance L-L @ 25 ºC
ohm
30.0
7.5
1.9
37.5
9.4
2.3
2.8
Coil Resistance L-L @ 120 ºC*
ohm
41.5
10.4
2.6
51.9
13.0
3.2
3.9
mH
34.06
8.51
2.13
42.57
10.64
2.66
3.19
Inductance L-L @ 1kHz
pk
N/ √ W
44.7
50.0
54.7
Motor Constant @ 120 ºC*
N/ √ W
38.0
42.5
46.5
Max. Terminal Voltage
600
VDC
Thermal Resistance @ 120 ºC*
ºC/W
0.27
0.21
0.18
Thermal Resistance AC @ 120 ºC^
ºC/W
-
-
-
ºC
kg
5.17
5.31
6.46
6.63
7.96
Coil Weight AC^
kg
-
-
-
-
-
Coil Length
Electrical Cycle Length
mm
481
601
N
0
mm
60
Notes:
1. Apk = 1.414 * Arms; Vpk = 1.414 * Vrms.
2. * Ambient temperature 25ºC, heat dissipation by natural convection, without heat sink attached.
3. ^ Air cool (AC), 6mm/4mm (OD/ID) 2m long air hose, pressure >2bar.
4. Specifications tolerance – inductance +/-30%, all others +/-10%.
64
721
ECM-LCVC
Attractive Force
120
ECM-DD
Max. Coil Temperature
Coil Weight
ECM-LF
Motor Constant @ 25 ºC*
ECM-LSP
Back EMF Constant
A
pk
ECML-U
Continuous Force AC @ 120 ºC^
Peak Power @ 120 ºC
ECML-S
SPECIFICATIONS
Dimensions
ECM-LU54
CABLE OUT
STANDARD COIL
AIR COOLED COIL
TRACK LENGTH
Standard Magnet Track
SIZE
TRACK LENGTH
(mm)
WEIGHT
(kg)
NUMBER OF
MOUNTING HOLES A
NUMBER OF
MOUNTING HOLES B
TL 240
239.5
8.50
4
4
TL 300
299.5
10.50
5
5
TL 360
359.5
12.50
6
6
TL 480
479.5
16.80
8
8
Motor Coil
MOTOR MODEL
WEIGHT (kg)
WEIGHT AIR COOL (kg)
NUMBER OF MOUNTING HOLES C
(TOP MOUNT)
ECM-LU542
1.30
1.39
4
ECM-LU543
1.95
2.08
6
ECM-LU544
2.56
2.74
8
ECM-LU546
3.90
4.16
12
ECM-LU548
5.17
5.52
16
ECM-LU54A
6.46
6.90
20
ECM-LU54C
7.96
8.48
24
65
Applications
LU
LA-S
ECML-S
ECML-U
ECM-LU
ECM-LSP
ECM-LF
ECM-DD
ECM-LCVC
66
COMPACT HIGH SPEED SHAFT MOTOR
precise and efficient linear motion system
ECM-LSP Series
LINEAR SHAFT MOTOR
Conventional Ballscrew Form Factor Shaft Motors For Precise
And Efficient Linear Motion Systems
Delta-PBA Linear Shaft motors were designed with similar form factor dimensional outlines
and functionality to that of a mechanical ballscrew / nut to provide equivalent upgrades for
traditional ballscrew and pneumatic cylinder applications.
The coils of the PSM motor surround the magnets allowing for optimal use of magnetic flux
which makes the air gap non-critical and allows for max efficiency as the motor requires less
current and mass to produce similar force ranges when compared to other brushless linear
motors.
Resulting performance characteristics from the above design are precision positioning and
minimal speed ripple which makes the range of applications unlimited and highly diverse.
■ Zero cogging
■ Precise speed and positional capability
■ Low torque ripple
■ Simple economical construction
■ Compact and light weight
■ Non critical air gap
■ Easy upgrade for existing ballscrew systems
Application
•
•
•
•
•
•
•
•
•
•
Z Axis Ic Picking Head
Pcb Indexer
Smt Alignment
Biomedical Pippetting
Active Dispensing
67
Precision Pick & Place
Scanning
Leadframe Indexing
Bptech Open Frame
Linear Stages
Continuous
Force AC (N)
Peak
Current (Apk)
Continuous
Current AC (Apk)
Coil
Length (mm)
ECM-LSP12
89.1
17.8
12.37
2.47
34-112
ECM-LSP25
513
102.6
21.92
4.38
62-218
LA-S
Ordering Information
ECM-L SP 121 S
2
C
N
D
B
S
1
4
5
6
7
8
9
1
SP
Product
ECM-L Linear Motor Series (Delta-PBA)
Linear Motor Type
SP：Shaft-type Ironless
ECML-U
ECM-L
3
Width of Motor (mm)
Diameter of Magnetic Shaft (mm)
121
Motor Spec.
Codes
Ø12
Ø25
121
251
122
252
123
253
124
254
S
Wiring Method
S：Serial
4
2
Input Voltage
2：220 V
5
C
Temperature Sensor
Specification
C = PT 100 Sensor (Standard)
M：Thermostat
6
N
Cooling Type
N：Standard
A：Air Cooling (Customized)
W：Water Cooling (Customized)
7
D
Cable Length
D：0.5 m (Standard)
1 = 1m ; 3 = 3m ; 5 = 5m
8
B
Connector Type
B = 9 Pin D-SUB Male (For Hall Sensor)
9
S
Special Order
S = Delta-PBA Standard Product
ECM-LSP
3
ECM-LU
2
ECML-S
Coil Assembly
2
LU
Peak
Force (N)
Model
ECM-LF
ECM-DD
Magnet Track
1
ECM-L
1
SPM
2
12
3
0081
2
3
Product Series
ECM-L Linear Motor Series(Delta-PBA)
Linear Motor Type
SPM : Shaft-type Ironless
Magnetic Way Diameter
12 : Ø12 mm ; 25 : Ø25 mm
Magnetic Way Length
Range: 81 ~ 978 mm
EX: 0081 = 63 mm ; 0978 = 978 mm
68
ECM-LCVC
ECM-L SPM 12 0081
ECM-LSP
• Linear Shaft Motor
• Peak force to 89N, Continuous force to 17N
LINEAR SHAFT MOTOR
SPECIFICATIONS
ECM-LSP121S
ECM-LSP122S
ECM-LSP123S
ECM-LSP124S
Peak Force
N
29.0
50.4
67.8
89.1
Continuous Force @ 120ºC*
N
5.8
10.1
13.6
17.8
Continuous Stall Force @ 120ºC*
N
4.1
7.1
9.6
12.6
Peak Power @ 120ºC
W
438
658
794
1029
Continuous Power @ 120ºC*
W
17.5
26.3
31.8
41.2
Peak Current
Apk
5.30
9.19
12.37
8.13
pk
1.06
1.84
2.47
1.63
0.75
1.30
1.75
1.15
Continuous Current @ 120ºC*
A
Continuous Stall Current @ 120ºC*
Arms
Force Constant
N/Apk
Back EMF Constant
pk
V /m/s
5.5
11.0
6.3
12.6
Coil Resistance L-L @ 25ºC
ohm
15.0
7.5
5.0
15.0
Coil Resistance L-L @ 120ºC*
ohm
20.8
10.4
6.9
20.8
Inductance L-L @ 1kHz
mH
2.80
1.40
0.93
2.80
Motor Constant @ 25ºC*
N/ √ W
1.63
2.31
2.83
3.27
Motor Constant @ 120ºC*
N/ √ W
1.4
2.0
2.4
2.8
2.99
2.31
1.65
2.1
Max. Terminal Voltage
Thermal Resistance @ 120ºC*
ºC/W
Max. Winding Temperature
ºC
Coil Weight
kg
Attractive Force
Electrical Cycle Length
100
VDC
5.43
3.61
120
0.57
1.1
N
0
mm
26
Notes:
1. Apk = 1.414 * Arms; Vpk = 1.414 * Vrms.
2. * Ambient temperature 22ºC, heat dissipation by natural convection, without heat sink attached.
3. Specifications tolerance – inductance +/-30%, all others +/-10%.
69
Dimensions
LU
ECM-LSP
LA-S
ECML-S
ECML-U
NUMBER OF MOUNTING HOLES A
ECM-LSP121
4
8
ECM-LSP123
12
ECM-LSP124
16
ECM-LSP
ECM-LSP122
ECM-LU
MOTOR MODEL
81
52
0.050
107
78
0.072
133
104
0.093
159
130
0.114
185
156
0.135
211
182
0.156
237
208
0.178
263
234
0.199
289
260
0.220
315
286
0.241
341
312
0.262
367
338
0.284
393
364
0.305
419
390
0.326
445
416
0.347
471
442
0.368
497
468
0.390
70
ECM-LCVC
SHAFT WEIGHT (KG)
ECM-DD
EFFECTIVE LENGTH (MM)
ECM-LF
MAGNET WAY LENGTH (MM)
ECM-LSP
• Linear Shaft Motor
• Peak force to 513N, Continuous force to 102N
LINEAR SHAFT MOTOR
SPECIFICATIONS
ECM-LSP251S
ECM-LSP252S
ECM-LSP253S
ECM-LSP254S
Peak Force
N
162.0
279.0
405.0
513.0
Continuous Force @ 120ºC*
N
32.4
55.8
81.0
102.6
Continuous Stall Force @ 120ºC*
N
22.9
39.5
57.3
72.6
Peak Power @ 120ºC
W
1365
2024
2844
3422
Continuous Power @ 120ºC*
W
54.6
81.0
113.7
136.9
Peak Current
Apk
12.73
21.92
10.61
20.15
Continuous Current @ 120ºC*
Apk
2.55
4.38
2.12
4.03
Continuous Stall Current @ 120ºC*
Arms
1.80
3.10
Force Constant
N/Apk
Back EMF Constant
pk
V /m/s
1.50
2.85
12.7
38.2
25.5
14.6
43.9
29.3
Coil Resistance L-L @ 25ºC
ohm
8.1
4.1
24.4
8.1
Coil Resistance L-L @ 120ºC*
ohm
11.2
5.6
33.7
11.2
Inductance L-L @ 1kHz
mH
6.20
3.10
18.60
6.20
Motor Constant @ 25ºC*
N/ √ W
5.16
7.30
8.94
10.32
Motor Constant @ 120ºC*
N/ √ W
4.4
6.2
7.6
8.8
0.84
0.69
1.20
1.62
Max. Terminal Voltage
Thermal Resistance @ 120ºC*
ºC/W
Max. Winding Temperature
ºC
Coil Weight
kg
Attractive Force
Electrical Cycle Length
500
VDC
1.74
1.17
120
0.40
0.84
N
0
mm
52
Notes:
1. Apk = 1.414 * Arms; Vpk = 1.414 * Vrms.
2. * Ambient temperature 22ºC, heat dissipation by natural convection, without heat sink attached.
3. Specifications tolerance – inductance +/-30%, all others +/-10%.
71
Dimensions
LU
ECM-LSP
LA-S
ECML-S
ECML-U
ECM-LU
NUMBER OF MOUNTING HOLES A
ECM-LSP251
4
ECM-LSP252
8
ECM-LSP253
12
ECM-LSP254
16
ECM-LSP
MOTOR MODEL
EFFECTIVE LENGTH (MM)
SHAFT WEIGHT (KG)
146
104
0.45
198
156
0.64
208
0.83
260
1.02
354
312
1.21
406
364
1.40
458
416
1.59
468
1.78
562
520
1.97
614
572
2.16
666
624
2.35
718
676
2.54
770
728
2.73
822
780
2.92
874
832
3.11
926
884
3.30
978
936
3.49
72
ECM-LCVC
510
ECM-DD
250
302
ECM-LF
MAGNET WAY LENGTH (MM)
HIGH FORCE
heavy load capacity motion with minimal cogging
ECM-LF Series
IRONCORE LINEAR MOTOR
Heavy Duty Motors For Hi-Speed Point-To-Point Applications
ECM-LF Ironcore motors offer an affordable high force solution to demanding linear
applications with minimal cogging effect that is associated with traditional iron core linear
motors.
Our Ironcore design provides for optimal dissipation of heat and is thus capable of extremely
high forces (>9000N). These motor coils are manufactured with high flex cables and optional
external hall effect attachments widely used in multiple general automation applications.
Modular Flat Magnet tracks are available in different length increments to complete this
product selection and allow for easy assembly of un-restricted effective stroke by butting
tracks of different lengths together.
■ High force / thrust
■ Maintenance Free
■ High stiffness
■ Compact size
■ Minimal cogging
Application
•
•
•
•
• Large Format Printing
• Textile Printing
• Digital Printing
Material Transfer / Pick And Place
Laser Cutting
Extruders
Machine Tools
73
MOTOR MODEL
Continuous Force AC (N)
ECM-LF542
542
108
ECM-LF54H2
943
189
ECM-LF742
893
179
ECM-LF74H2
1515
303
ECM-LFA42
1393
279
ECM-LF54H2
2307
461
Compatible Magnet
Track Length (mm)
LU
Peak Force (N)
64-320
LA-S
ECML-S
Ordering Information
Coil Assembly
54
2
S
2
N
N
D
B
S
2
3
4
5
6
7
8
9
10
1
ECM-L
1
F
Product Series
ECM-L Linear Motor Series (Delta-PBA)
Linear Motor Type
F：Flat Iron core
2
22
Motor Spec.
Codes
54
74
A4 (104)
54H
74H
A4H (104)
1
Coil Assembly Specification
2
4
S
Wiring Method
S：Serial ; P：Parallel
5
2
Input Voltage
2：220 V
6
N
Temperature Sensor
Specification
C = PT 100 Sensor (Standard)
M：Thermostat
7
N
Cooling Type
N：Standard
A：Air Cooling (Customized)
W：Water Cooling (Customized)
8
1
Cable Length
D：0.5 m (Standard) ; 1 = 1 m ; 3 =3 m ; 5 = 5 m
9
N
Connector Type
B = 9 Pin D-SUB Male (For Hall Sensor)
10
S
Special Order
S = Delta-PBA Standard Product
2
3
Product Series
ECM-L Linear Motor Series (Delta-PBA)
F : Flat type Iron core
1
FM
Linear Motor Type
2
22
Motor Spec.
3
120
Magnetic Way Length
ECM-LCVC
ECM-L
ECM-DD
ECM-L FM 54 064
1
Width of Motor (mm)
Codes
54
Codes
74
74
ECM-LF
Magnet Track
ECM-LSP
3
ECM-LU
Width of Motor (mm)
ECML-U
ECM-L F
A4 (104)
064 = 64 mm
128 = 128 mm
192 = 192 mm
320 = 320 mm
ECM-LF Series
• Peak force to 1393N, Continuous force to 279N
• Hall Sensor
IRONLESS LINEAR MOTOR
SPECIFICATIONS
ECM-LF54
ECM-LF74
ECM-LFA4
S
S
S
Connection Type
N
Peak Force
N
542
893
1393
Continuous Force @ 120 ºC*
N
108
179
279
Continuous Stall Force @ 120 ºC*
N
77
126
197
Peak Power @ 120 ºC
W
1823
2323
2932
Continuous Power @ 120 ºC*
W
73
93
117
Peak Current
Continuous Current @ 120 ºC*
pk
A
P
30.4
60.8
P
29.3
58.7
P
27.9
55.7
6.1
12.2
5.9
11.7
5.6
11.1
Continuous Stall Current @ 120 ºC*
Arms
4.30
8.60
4.15
8.30
3.94
7.88
Force Constant
N/Apk
17.8
8.9
30.4
15.2
50.0
25.0
Back EMF Constant
pk
A
V /m/s
20.5
10.3
35
17.5
57.5
28.8
Coil Resistance L-L @ 25 ºC
ohm
1.9
0.5
2.6
0.7
3.6
0.9
Coil Resistance L-L @ 120 ºC*
ohm
2.6
0.7
3.6
0.9
5.0
1.3
mH
4.8
1.2
7.0
1.8
10.5
Inductance L-L @ 1kHz
pk
2.6
Motor Constant @ 25 ºC*
N/ √ W
14.9
21.8
30.3
Motor Constant @ 120 ºC*
N/ √ W
12.7
18.5
25.7
1.3
1.02
Max. Terminal Voltage
Thermal Resistance @ 120 ºC*
600
VDC
ºC/W
0.81
Max. Coil Temperature
ºC
Coil Weight
kg
1.3
2.0
3.1
Attractive Force
N
1560
2600
4160
Electrical Cycle Length
120
32
mm
Notes:
1. Apk = 1.414 * Arms; Vpk = 1.414 * Vrms.
2. * Ambient temperature 25 ºC, heat dissipation by natural convection, without heat sink attached.
3. Specifications tolerance – inductance +/-30%, all others +/-10%.
4. Peak force and current - 4% duty ratio and 1 second duration.
75
Dimensions
LU
ECM-LF Series
OPTIONAL
HALL SENSOR
LA-S
ECML-S
ECML-U
ECM-LU
ECM-LSP
W (mm)
Y (mm)
NUMBER OF MOUNTING HOLES Z
COMPATIBLE TRACK
ECM-LF542
54
16
4
ECM-LFM54XXX
ECM-LF742
74
36
4
ECM-LFM74XXX
ECM-LFA42
104
66
6
ECM-LFMA4XXX
MAGNET TRACK
ECM-LFMA4
R (mm)
N
M
WEIGHT (g)
1
4
207.6
3
8
415.2
5
12
622.8
M064
64
M128
128
M192
192
M320
320
9
20
1038
M064
64
1
4
300.3
M128
128
3
8
600.6
M192
192
5
12
901
M320
320
9
20
1501.6
54
74
44
64
M064
64
1
4
439.4
M128
128
3
8
878.8
M192
192
5
12
1318.2
M320
320
9
20
2197
104
94
76
MOTOR MODEL
ECM-LF54H
ECM-LF74H
ECM-LFA4H
ECM-LCVC
ECM-LFM74
S (mm)
ECM-DD
ECM-LFM54
L (mm)
ECM-LF
MOTOR MODEL
ECM-LF Series
• Peak force to 2307N, Continuous force to 461N
• Hall Sensor (Optional)
IRONCORE LINEAR MOTOR
SPECIFICATIONS
ECM-LF54H
ECM-LF74H
ECM-LFA4H
S
S
S
Connection Type
N
Peak Force
N
943
1515
2307
Continuous Force @ 120 ºC*
N
189
303
461
Continuous Stall Force @ 120 ºC*
N
133
214
326
Peak Power @ 120 ºC
W
2144
2662
3457
Continuous Power @ 120 ºC*
W
86
106
138
Peak Current
Continuous Current @ 120 ºC*
pk
A
P
21.9
43.8
P
20.5
41.0
P
19.8
39.6
4.4
8.8
4.1
8.2
4.0
7.9
Continuous Stall Current @ 120 ºC*
Arms
3.10
6.20
2.90
5.80
2.80
5.60
Force Constant
N/Apk
43.0
21.5
73.9
37.0
116.5
58.3
Back EMF Constant
pk
A
V /m/s
49.5
24.8
85.0
42.5
134.0
67.0
Coil Resistance L-L @ 25 ºC
ohm
4.3
1.1
6.1
1.5
8.5
2.1
Coil Resistance L-L @ 120 ºC*
ohm
6.0
1.5
8.4
2.1
11.8
2.9
mH
40.0
10.0
60.0
15.0
87.0
Inductance L-L @ 1kHz
pk
21.8
Motor Constant @ 25 ºC*
N/ √ W
24.0
34.6
46.1
Motor Constant @ 120 ºC*
N/ √ W
20.4
29.4
39.2
1.11
0.89
Max. Terminal Voltage
Thermal Resistance @ 120 ºC*
600
VDC
ºC/W
0.69
Max. Coil Temperature
ºC
Coil Weight
kg
2.1
3.1
4.6
Attractive Force
N
1560
2600
4160
Electrical Cycle Length
120
32
mm
Notes:
1. Apk = 1.414 * Arms; Vpk = 1.414 * Vrms.
2. * Ambient temperature 25 ºC, heat dissipation by natural convection, without heat sink attached.
3. Specifications tolerance – inductance +/-30%, all others +/-10%.
4. Peak force and current - 4% duty ratio and 1 second duration.
77
Dimensions
LU
ECM-LF Series
OPTIONAL
HALL SENSOR
LA-S
ECML-S
ECML-U
ECM-LU
ECM-LSP
W (mm)
Y (mm)
NUMBER OF
MOUNTING HOLES Z
COMPATIBLE TRACK
ECM-LF54H
54
16
4
ECM-LFM54XXX
ECM-LF74H
74
36
4
ECM-LFM74XXX
ECM-LFA4H
104
66
6
ECM-LFMA4XXX
MAGNET TRACK
ECM-LFMA4
R (mm)
N
M
WEIGHT (g)
1
4
207.6
3
8
415.2
5
12
622.8
M064
64
M128
128
M192
192
M320
320
9
20
1038
M064
64
1
4
300.3
M128
128
3
8
600.6
M192
192
5
12
901
M320
320
9
20
1501.6
M064
64
1
4
439.4
M128
128
3
8
878.8
M192
192
5
12
1318.2
M320
320
9
20
2197
54
74
104
44
64
94
78
MOTOR MODEL
ECM-LF54H
ECM-LF74H
ECM-LFA4H
ECM-LCVC
ECM-LFM74
S (mm)
ECM-DD
ECM-LFM54
L (mm)
ECM-LF
MOTOR MODEL
HIGH RPM + TORQUE + ACCURACY
high speed precise rotary motion system
ECM-DD Series
DIRECT DRIVE ROTARY MOTOR
Optimally Designed For High Speed Precise Rotary Applications
The ECM-DD's built in hi-res encoder design enables high performance resolution,
repeatability, accuracy motion profile with direct mounting of rotary table/load without
additional mechanical power transmission mechanisms that eventually lead to accuracy loss
due to gearing backlash, slippage or coupling compliance errors. This results in a compact
size solution which allows for significant amount of space saving and simplifies the machine
design process.
The ECM-DD's special iron core construction design enables the motor to achieve a very
high torque with almost negligible cogging forces, which is most favorable for constant speed
precision applications.
■ Excellent for dynamic motion profile
■ High positional repeatability and accuracy
■ Compact design
■ High torque Vs size ratio
■ Optimal high and low speed control
■ Zero maintenance
■ Easy integration
Application
•
•
•
•
•
•
•
•
•
•
•
•
Radars
Scanners
Rotary Indexing Table
Robots
Lathes
Wafer Handling
Dvd Handler
79
Packaging
Turret Inspection Station
Direction Change
Conveyor System
General Automation
Max Speed
(RPS)
Repeatability
(arcsec)
Accuracy
(arcsec)
ECM-DD110006IN
6.0
10.0
+/-2.5
+/-30
ECM-DD110012IN
12.0
8.0
+/-2.5
+/-30
ECM-DD110018IN
18.0
5.0
+/-2.5
+/-30
ECM-DD150004IN
4.3
10.0
+/-2
+/-30
ECM-DD150015OT
15.7
5.0
+/-2
+/-30
ECM-DD150030OT
32.2
5.0
+/-2
+/-30
ECM-DD150050OT
54.4
5.0
+/-2
+/-30
ECM-DD150080OT
86.6
5.0
+/-2
+/-30
ECM-DD160040IN
40.0
8.0
+/-4
+/-30
ECM-DD160080IN
81.0
9.0
+/-4
+/-30
ECM-DD240030IN
30.7
5.0
+/-2
+/-30
ECM-DD240080IN
80.6
4.5
+/-2
+/-30
ECM-DD240132IN
132.0
2.8
+/-2
+/-30
ECM-DD300150IN
150.1
2.9
+/-2
+/-30
ECM-DD300300IN
299.7
3.0
+/-2
+/-30
ECM-DD300450IN
450.9
2.0
+/-2
+/-30
LU
Peak Torque
(N.m)
Model
LA-S
ECML-S
ECML-U
ECM-LU
Ordering Information
ECM-LSP
ECM-DD 150 004 IN 1 F 00
1
ECM-DD
Product Series
2
150
Motor Outer
Diameter (mm)
3
4
5
6
7
ECM-LF
1
2
ECM-DD (Delta-PBA)
110
150
160
240
300
Motor Series
110
150
160
240
300
Compatible Codes
006
012
018
004
015
030
050
080
040
080
030
080
132
150
300
450
004
4
IN
5
1
Encoder Resolution
6
F
Flange
N：No flange ; All machine types (Except ECM-DD150004IN)
F：Flange ; ECM-DD150004IN & ECM-DD300 Series
7
00
Special Order
00 = Delta-PBA Standard Product
Peak Torque (N-m)
Rotation Type
IN : inner
OT : outer
Specification
Codes
Analog
X40
X100
X256
X200
X250
X512
X1024
A
1
(Standard)
2
3
4
5
6
7
80
ECM-LCVC
3
ECM-DD
Codes
ECM-DD Series
ECM-DD110
• High RPM, speed and precision
• Peak torque 12Nm
Direct Drive Rotary Motor
SPECIFICATIONS
ECM-DD110006IN
ECM-DD110012IN
ECM-DD110018IN
Peak Torque
N.m
6.0
12.0
18.0
Continuous Torque @ 100ºC*
N.m
2.0
4.0
6.0
W
188.2
327.1
58.0
Continuous Power @ 100ºC
W
20.9
36.3
6.4
Peak Current
Apk
4.2
Continuous Current @ 100ºC*
Apk
1.4
Peak Power @ 100ºC
Continuous Stall Current @ 100ºC*
Torque Constant
1.0
Arms
1.4
2.8
4.2
V /rad/s
1.6
3.3
4.9
Resistance L-L @ 25°C
Ohm
10.7
18.6
3.3
Resistance L-L @ 100°C
Ohm
13.9
24.2
4.3
mH
18.9
37.8
26.8
N.m/ √ W
0.4
0.7
2.4
Back EMF Constant
Inductance L-L @ 1kHz
Motor Constant @ 100°C
Max. Terminal Voltage
Thermal Resistance @ 100°C
Max. Winding Temperature
N.m/Apk
pk
400.0
VDC
ºC/W
3.59
2.06
11.63
120.0
ºC
Rotor Inertia
kg.m^2
0.0007
0.0012
0.0023
Motor Weight
kg
3.9
5.4
6.9
Number of Pole Pairs
N-S
Max. Speed*
RPS
Max. Axial Load
10.0
10.0
8.0
90.0
kg
Max. Moment Load
N.m
12.0
Axial Run-out (no load)***
um
20/10/5
Radial Run-out (no load)***
um
20/10/5
Parallelism****
um
Resolution (after quadrature)
CPR
5.0
50/30/20
1
(standard)
2
3
4
5
6
7
518,400
1,296,000
3,317,760
2,592,000
3,240,000
6,635,520
13,271,040
Repeatability**
arcsec
+/-2.5
Accuracy
arcsec
+/-30
Notes:
1. Apk = 1.414 * Arms; Vpk = 1.414 * Vrms.
2. * Ambient temperature 25ºC, heat dissipation by natural convection, without heat sink attached.
3. ** Depend on encoder resolution.
4. *** Standard run-out 20um. Contact Delta-PBA for 10um and 5um.
5. **** Standard parallelism 50um. Contact Delta-PBA for 30um and 20um.
6. Specifications tolerance – inductance +/-30%, all others +/-10%.
81
Dimensions
LU
6- M 4 DP12 PCD52
60 ° Equal Pitch
ECM-DD110
30 °
Rotating Part
LA-S
Z-Pulse Alignment
Φ 20 (Hollow Diameter)
0.05/0.03/0.02
±0
.01
A
2- Φ 3 H7 DP8
0.02/0.01/0.005
Φ60 g6
L±0.4
ECM-LU
( 2.5 )
ECML-U
0.02/0.01/0.005
ECML-S
52
ECM-LSP
Φ 110
A
ECM-LF
9- M 4 DP8 PCD102
36 ° Equal Pitch
Sensor
(Hall/Thermal)
Encoder
Power
ECM-LCVC
102
Cable Length
(500mm)
ECM-DD
36°
30 °
2- Φ 4 H7 DP8
± 0
.0
1
* Forward direction = CCW
MODEL
ECM-DD110006IN
ECM-DD110012IN
ECM-DD110018IN
L (mm)
85
116
147
82
ECM-DD Series
ECM-DD150004IN
• High RPM, speed and precision
• Peak torque up to 4.3N.m
Direct Drive Rotary Motor
SPECIFICATIONS
ECM-DD150004IN
Peak Torque
N.m
Continuous Torque @ 100ºC*
4.3
N.m
1.4
Peak Power @ 100ºC
W
263.4
Continuous Power @ 100ºC*
W
29.3
Peak Current
pk
A
5.1
Continuous Current @ 100ºC*
Apk
1.7
Continuous Stall Current @ 100ºC*
1.2
Arms
Torque Constant
N.m/A
0.8
Back EMF Constant
Vpk/rad/s
1.0
Resistance L-L @ 25°C
Ohm
10.4
Resistance L-L @ 100°C
Ohm
13.6
mH
8.3
N.m/ √ W
0.3
Inductance L-L @ 1kHz
Motor Constant @ 100°C
Max. Terminal Voltage
pk
VDC
400.0
ºC/W
2.56
ºC
120.0
Rotor Inertia
kg.m^2
0.00226
Motor Weight
kg
4.4
Number of Pole Pairs
N-S
8.0
Max. Speed*
RPS
10.0
kg
120.0
Max. Moment Load
N.m
15.0
Thermal Resistance @ 100°C
Max. Winding Temperature
Max. Axial Load
Axial Run-out (no load)***
um
20/10/5
Radial Run-out (no load)***
um
20/10/5
Parallelism****
um
Repeatability**
arcsec
40/20/10
1
2
3
4
5
6
7
(standard)
655,360 1,638,400 4,194,304 3,276,800 4,096,000 8,388,608 16,777,216
+/-2
Accuracy
arcsec
+/-30
Resolution (after quadrature)
CPR
Notes:
1. Apk = 1.414 * Arms; Vpk = 1.414 * Vrms.
2. * Ambient temperature 25ºC, heat dissipation by natural convection, without heat sink attached.
3. ** Depend on encoder resolution.
4. *** Standard run-out 20um. Contact Delta-PBA for 10um and 5um.
5. **** Standard parallelism 40um. Contact Delta-PBA for 30um and 20um.
6. Specifications tolerance – inductance +/-30%, all others +/-10%.
83
Dimensions
LU
ECM-DD150-T
LA-S
ECML-S
ECML-U
ECM-LU
ECM-LSP
ECM-LF
ECM-DD
ECM-LCVC
* Forward direction = CCW
84
ECM-DD Series
ECM-DD150
• High RPM, speed and precision
• Peak torque up to 86N.m
Direct Drive Rotary Motor
SPECIFICATIONS
ECM-DD150015OT ECM-DD150030OT ECM-DD150050OT ECM-DD150080OT
Peak Torque
N.m
15.7
32.2
54.4
86.6
Continuous Torque @ 100ºC*
N.m
5.2
10.7
18.1
28.9
Peak Power @ 100ºC
W
359.0
601.9
794.5
1155.6
Continuous Power @ 100ºC*
W
39.9
66.9
88.3
128.4
Peak Current
Continuous Current @ 100ºC*
Continuous Stall Current @ 100ºC*
Torque Constant
Back EMF Constant
pk
7.6
15.7
pk
2.5
5.2
1.8
3.7
A
A
Arms
2.1
pk
N.m/A
5.5
4.0
6.3
Ohm
6.3
2.5
3.3
4.8
Resistance L-L @ 100°C
Ohm
8.2
3.3
4.3
6.3
mH
31.8
15.9
26.8
39.7
N.m/ √ W
0.8
1.3
1.9
2.5
0.85
0.58
0.024
0.029
12.2
15.6
Inductance L-L @ 1kHz
Motor Constant @ 100°C
Max. Terminal Voltage
Thermal Resistance @ 100°C
Max. Winding Temperature
Rotor Inertia
Motor Weight
2.4
3.5
Resistance L-L @ 25°C
pk
V /rad/s
400.0
VDC
ºC/W
1.88
1.12
120.0
ºC
kg.m^2
0.012
0.021
kg
6.4
9.8
Number of Pole Pairs
N-S
10.0
Max. Speed*
RPS
5.0
Max. Axial Load
kg
530.0
Max. Moment Load
N.m
96.0
Axial Run-out (no load)***
um
20/10/5
Radial Run-out (no load)***
um
20/10/5
Parallelism****
um
50/30/20
Resolution (after quadrature)
CPR
1
(standard)
655,360
2
3
4
5
1,638,400
4,194,304
3,276,800
4,096,000
Repeatability**
arcsec
+/-2
Accuracy
arcsec
+/-30
Notes:
1. Apk = 1.414 * Arms; Vpk = 1.414 * Vrms.
2. * Ambient temperature 25ºC, heat dissipation by natural convection, without heat sink attached.
3. ** Depend on encoder resolution.
4. *** Standard run-out 20um. Contact Delta-PBA for 10um and 5um.
5. **** Standard parallelism 50um. Contact Delta-PBA for 30um and 20um.
6. Specifications tolerance – inductance +/-30%, all others +/-10%.
85
6
7
8,388,608 16,777,216
Dimensions
LU
ECM-DD150
Φ
LA-S
ECML-S
ECML-U
ECM-LU
ECM-LSP
ECM-LF
Ø
ECM-DD
ECM-LCVC
* Forward direction = CCW
MODEL
ECM-DD150015OT
ECM-DD150030OT
ECM-DD150050OT
ECM-DD150080OT
L (mm)
85
117
139
171
A (mm)
24.5
25.5
25.5
25.5
B (mm)
2
5.5
5.5
5.5
86
ECM-DD Series
ECM-DD160
• High RPM, speed and precision
• Peak torque up to 81N.m
Direct Drive Rotary Motor
SPECIFICATIONS
Peak Torque
N.m
Continuous Torque @ 100ºC*
ECM-DD160040IN
ECM-DD160080IN
40.0
81.0
N.m
13.3
27.0
Peak Power @ 100ºC
W
975.5
1851.8
Continuous Power @ 100ºC*
W
108.4
205.8
18.2
38.2
6.1
12.7
4.3
9.0
Peak Current
A
Continuous Current @ 100ºC*
Apk
Continuous Stall Current @ 100ºC*
pk
Arms
Torque Constant
N.m/A
2.2
2.1
Back EMF Constant
Vpk/rad/s
2.5
2.4
Resistance L-L @ 25°C
Ohm
3.0
1.3
Resistance L-L @ 100°C
Ohm
3.9
1.7
mH
10.4
4.6
N.m/ √ W
1.3
1.9
Inductance L-L @ 1kHz
Motor Constant @ 100°C
Max. Terminal Voltage
Thermal Resistance @ 100°C
Max. Winding Temperature
pk
400.0
VDC
0.69
ºC/W
0.36
120.0
ºC
Rotor Inertia
kg.m^2
0.0031
0.0052
Motor Weight
kg
13.2
19.0
Number of Pole Pairs
N-S
Max. Speed*
RPS
Max. Axial Load
10.0
8.0
9.0
kg
100.0
Max. Moment Load
N.m
20.0
Axial Run-out (no load)***
um
20/10/5
Radial Run-out (no load)***
um
20/10/5
Parallelism****
um
Resolution (after quadrature)
CPR
50/30/20
1
(standard)
327,680
2
3
4
5
6
7
819,200
2,097,152
1,638,400
2,048,000
4,194,304
8,388,608
Repeatability**
arcsec
+/-4
Accuracy
arcsec
+/-30
Notes:
1. Apk = 1.414 * Arms; Vpk = 1.414 * Vrms.
2. * Ambient temperature 25ºC, heat dissipation by natural convection, without heat sink attached.
3. ** Depend on encoder resolution.
4. *** Standard run-out 20um. Contact Delta-PBA for 10um and 5um.
5. **** Standard parallelism 50um. Contact Delta-PBA for 30um and 20um.
6. Specifications tolerance – inductance +/-30%, all others +/-10%.
87
Dimensions
LU
ECM-DD160
Bottom Type
Side Type
LA-S
Ø
Ø
ECML-S
Ø
ECML-U
Ø
ECM-LU
ECM-LSP
ECM-LF
ECM-DD
ECM-LCVC
* Forward direction = CCW
MODEL
ECM-DD160040IN
ECM-DD160080IN
L (mm)
125
187
88
ECM-DD Series
ECM-DD240
• High RPM, speed and precision
• Peak torque up to 132N.m
Direct Drive Rotary Motor
SPECIFICATIONS
ECM-DD240030IN ECM-DD240080IN ECM-DD240132IN
Peak Torque
N.m
Continuous Torque @ 100ºC*
30.7
80.6
132.0
N.m
10.2
26.9
44.0
Peak Power @ 100ºC
W
760.5
1333.9
1800.8
Continuous Power @ 100ºC*
W
84.5
148.2
200.1
pk
13.2
17.8
17.0
4.4
5.9
5.7
3.1
4.2
4.0
Peak Current
A
Continuous Current @ 100ºC*
Apk
Continuous Stall Current @ 100ºC*
Arms
Torque Constant
N.m/A
2.3
4.5
7.8
Back EMF Constant
Vpk/rad/s
2.7
5.2
8.9
Resistance L-L @ 25°C
Ohm
4.5
4.3
6.4
Resistance L-L @ 100°C
Ohm
5.9
5.6
8.3
mH
30.0
32.0
30.0
N.m/ √ W
1.1
2.2
3.1
Inductance L-L @ 1kHz
Motor Constant @ 100°C
Max. Terminal Voltage
Thermal Resistance @ 100°C
Max. Winding Temperature
pk
400.0
VDC
0.89
ºC/W
0.51
0.37
120.0
ºC
Rotor Inertia
kg.m^2
0.0092
0.0143
0.0203
Motor Weight
kg
10.7
14.7
19.7
Number of Pole Pairs
N-S
Max. Speed*
RPS
Max. Axial Load
16.0
5.0
4.5
kg
410.0
Max. Moment Load
N.m
80.0
Axial Run-out (no load)***
um
20/10/5
Radial Run-out (no load)***
um
20/10/5
Parallelism****
um
50/30/20
Resolution (after quadrature)
CPR
1
(standard)
655,360
2.8
2
3
4
5
1,638,400
4,194,304
3,276,800
4,096,000
Repeatability**
arcsec
+/-2
Accuracy
arcsec
+/-30
Notes:
1. Apk = 1.414 * Arms; Vpk = 1.414 * Vrms.
2. * Ambient temperature 25ºC, heat dissipation by natural convection, without heat sink attached.
3. ** Depend on encoder resolution.
4. *** Standard run-out 20um. Contact Delta-PBA for 10um and 5um.
5. **** Standard parallelism 50um. Contact Delta-PBA for 30um and 20um.
6. Specifications tolerance – inductance +/-30%, all others +/-10%.
89
6
7
8,388,608 16,777,216
Dimensions
LU
ECM-DD240
LA-S
ECML-S
ECML-U
ECM-LU
ECM-LSP
ECM-LF
ECM-DD
ECM-LCVC
* Forward direction = CCW
MODEL
PDDR240-30-I
PDDR240-80-I
PDDR240-132-I
L (mm)
59
80
105
90
ECM-DD Series
ECM-DD300
• High RPM, speed and precision
• Peak torque up to 450N.m
Direct Drive Rotary Motor
SPECIFICATIONS
Peak Torque
N.m
Continuous Torque @ 100ºC*
ECM-DD300150IN
ECM-DD300300IN
ECM-DD300450IN
150.1
299.7
450.9
N.m
50.0
99.9
150.3
Peak Power @ 100ºC
W
1566.8
3133.9
4131.0
Continuous Power @ 100ºC*
W
174.1
348.2
459.0
Peak Current
A
Continuous Current @ 100ºC*
Apk
Continuous Stall Current @ 100ºC*
pk
Arms
17.4
38.2
5.8
12.7
4.1
9.0
Torque Constant
N.m/A
8.6
7.9
11.8
Back EMF Constant
Vpk/rad/s
9.9
9.0
13.6
Resistance L-L @ 25°C
Ohm
5.3
2.2
2.9
Resistance L-L @ 100°C
Ohm
6.9
2.9
3.8
mH
43.4
19.6
26.9
N.m/ √ W
3.8
5.4
7.0
Inductance L-L @ 1kHz
Motor Constant @ 100°C
Max. Terminal Voltage
Thermal Resistance @ 100°C
Max. Winding Temperature
pk
400.0
VDC
0.43
ºC/W
0.22
0.16
120.0
ºC
Rotor Inertia
kg.m^2
0.1004
0.1288
0.1576
Motor Weight
kg
45.0
55.0
65.0
Number of Pole Pairs
N-S
Max. Speed*
RPS
Max. Axial Load
16.0
5.0
3
kg
1100.0
Max. Moment Load
N.m
250.0
Axial Run-out (no load)***
um
20/10/5
Radial Run-out (no load)***
um
20/10/5
Parallelism****
um
50/30/20
Resolution (after quadrature)
CPR
1
(standard)
864,000
2
3
4
2,160,000
5,529,600
4,320,000
Repeatability**
arcsec
+/-2
Accuracy
arcsec
+/-30
Notes:
1. Apk = 1.414 * Arms; Vpk = 1.414 * Vrms.
2. * Ambient temperature 25ºC, heat dissipation by natural convection, without heat sink attached.
3. ** Depend on encoder resolution.
4. *** Standard run-out 20um. Contact Delta-PBA for 10um and 5um.
5. **** Standard parallelism 50um. Contact Delta-PBA for 30um and 20um.
6. Specifications tolerance – inductance +/-30%, all others +/-10%.
91
2.0
5
6
7
5,400,000 11,059,200 22,118,400
Dimensions
LU
ECM-DD300
Flangeless Type
Flange Type
LA-S
ECML-S
ECML-U
ECM-LU
ECM-LSP
ECM-LF
ECM-DD
ECM-LCVC
* Forward direction = CCW
MODEL
ECM-DD300150IN
ECM-DD300300IN
ECM-DD300450IN
L (mm)
140
173
207
92
ULTRA HIGH FREQUENCY
short stroke motion system
ECM-LCVC Series
CIRCULAR VOICE COIL MOTOR
Ultra High Frequency for Short Stroke Motion Systems
PBA's Circular voice coil motors are simple electric linear motors consisting of a magnetic
housing and a lightweight coil. Voice coil motors do not need commutation and are often used
for pure frequency oscillation. However, sub-micron positional control is easily achieved when
worked in tandem with high resolution linear encoders.
Applying a voltage across the terminals of the motor causes the motor to move in one
direction. Reversing the polarity of the applied voltage will move the motor in the opposite
direction. The generated force is proportional to the current that flows through the motor coil.
This force is almost constant in the specified stroke range of the motor. The non-commutated
motor construction increases reliability and the direct coupling of the motor to the load allows
for dynamic acceleration/deceleration and resultant high speed operation.
■ Zero Cogging, zero backlash and zero hysteresis
■ Extremely dynamic and high frequency motion profile
■ Negligible speed and force ripple at low speeds
■ Multiple Diameter sizes and force options
■ Simple operation – Only 2 terminals connections
■ High force versions available
■ Zero maintenance
■ High reliability
Application
•
•
•
•
•
• Laser Mirror Steer/Tilt
• General Automation
• Dynamic Z-Axis
Frequency Oscillator
Force/Pressure Control
Camera Lens Zoom/Focus
Syringe Dispensing
Biomed Simulators
93
0.81
3.03
1.01
ECM-LCVC19S06
3.54
1.18
2.72
0.90
ECM-LCVC20S10
4.92
1.64
2.57
0.85
ECM-LCVC24S12
8.11
2.70
2.55
0.85
ECM-LCVC26S07
10.27
3.42
1.74
0.58
ECM-LCVC30S15
13.60
4.53
1.88
0.62
ECM-LCVC35S08
129.6
28.8
3.60
0.80
ECM-LCVC38S10
25.26
8.42
2.25
0.75
ECM-LCVC40S05
20.45
6.82
2.65
0.88
ECM-LCVC40S07
55.45
18.48
2.15
0.71
ECM-LCVC40S20
28.75
9.58
1.88
0.62
ECM-LCVC44S13
32.59
10.86
3.36
1.12
ECM-LCVC50S30
44.95
14.98
2.54
0.84
ECM-LCVC60S25
72.20
24.07
3.51
1.17
ECM-LCVC60H20
131.1
43.70
2.85
0.95
ECM-LCVC90H20
384.44
128.15
9.46
3.15
Ordering Information
2
05
D
00
3
4
5
6
ECM-LCVC
2
16
3
S
Force
S：Standard Force ; H：High Force
4
05
Stroke
Ex：05 = 5 mm
5
D
Cable Length
A：0.15 m ; D：0.5 m ; 1：1 m
6
00
Special Order
00 = Delta-PBA Standard Product
Product Series
Motor Outer Diameter (mm)
ECM-LCVC Voice Coil Motor (Delta-PBA)
Ø
94
16
19
20
24
26
30
38
40
44
50
60
90
35
ECM-LCVC
1
ECM-DD
1
S
ECM-LF
ECM-LCVC 16
ECM-LSP
2.43
ECM-LU
ECM-LCVC16S05
ECML-U
Continuous
Current (A)
ECML-S
Peak
Current (A)
LA-S
Continuous
Force (N)
LU
Peak Force (N)
MOTOR MODEL
ECM-LCVC Series
• Direct Drive
• Peak force to 384.44N, Continuous force to 128.15N
• Fast response, low moving mass
• Non contact between core and coil movement
• Excellent reliability
ECMLCVC
16S05
ECMLCVC
19S06
ECMLCVC
20S10
ECMLCVC
24S12
ECMLCVC
26S07
ECMLCVC
30S15
ECMLCVC
35S08
mm
5
6.4
10
11
7
15
8
Peak Force
N
2.43
3.54
4.92
8.11
10.27
13.60
129.60
Continuous Stall Force @ 100ºC*
N
0.71
1.03
1.43
2.39
3.01
3.97
25.20
Continuous Stall Force @ 125ºC*
N
0.81
1.18
1.64
2.70
3.42
4.53
28.80
Peak Power @ 125ºC*
W
21.96
29.42
33.90
43.55
47.44
55.76
354.84
Continuous Power @ 100ºC
W
1.76
2.32
2.66
3.50
3.78
4.41
12.45
Continuous Power @ 125ºC*
W
2.44
3.27
3.77
4.84
5.27
6.20
17.52
Peak Current
A
3.03
2.72
2.57
2.55
1.74
1.88
3.60
Continuous Stall Current @ 100ºC*
A
0.892
0.793
0.746
0.750
0.510
0.548
0.700
Continuous Stall Current @ 125ºC*
A
1.011
0.907
0.855
0.850
0.580
0.626
0.800
N/A
0.80
1.30
1.92
3.18
5.90
7.24
36.00
V/m/s
0.80
1.30
1.92
3.18
5.90
7.24
36.00
Coil Resistance @ 25ºC
ohm
1.70
2.83
3.67
4.77
11.16
11.26
19.50
Coil Resistance @ 100ºC*
ohm
2.22
3.69
4.78
6.22
14.54
14.67
25.41
Coil Resistance @ 125ºC*
ohm
2.39
3.97
5.15
6.70
15.67
15.81
27.38
Inductance @ 1kHz (Inside fully)
mH
0.14
0.29
0.44
1.20
2.95
2.38
8.24
N/ √ W
0.52
0.65
0.85
1.23
1.49
1.82
6.88
SPECIFICATIONS
Stroke
Force Constant @ Mid Stroke
Back EMF Constant @ Mid Stroke
Motor Constant @ 125ºC*
Max. Terminal Voltage
48
VDC
Thermal Resistance @ 100ºC*
ºC/W
42.55
32.34
28.18
21.45
19.83
17.02
6.02
Thermal Resistance @ 125ºC*
ºC/W
40.99
30.59
26.55
20.67
18.97
16.14
5.71
Max. Coil Temperature
ºC
Coil Assembly Weight
g
5
5
10
18
16
25
110
Magnet Assembly Weight
g
10
10
32
45
53
100
390
150
Notes:
1. * Ambient temperature 25ºC, heat dissipation by natural convection, without heat sink attached.
2. Specifications tolerance – inductance +/-30%, all others +/-10%.
95
LU
LA-S
CIRCULAR VOICE COIL MOTOR
ECMLCVC
60S25
ECMLCVC
60H20
ECMLCVC
90H20
10
5
6.5
20
13
30
25
20
20
25.26
20.45
55.45
28.75
32.59
44.95
72.20
131.10
384.44
7.32
5.92
16.09
8.34
9.41
13.14
20.90
37.72
111.41
8.42
6.82
18.48
9.58
10.86
14.98
24.07
43.70
128.15
73.77
50.63
104.14
86.66
95.11
137.38
166.93
273.72
433.69
5.75
3.94
8.13
6.77
7.36
10.90
12.98
21.03
33.80
8.20
5.63
11.57
9.63
10.57
15.26
18.55
30.41
48.19
2.25
2.65
2.15
1.88
3.36
2.54
3.51
2.85
9.46
0.653
0.766
0.624
0.545
0.970
0.742
1.016
0.820
2.742
0.751
0.882
0.717
0.626
1.120
0.846
1.170
0.950
3.154
11.21
7.73
25.78
15.31
9.70
17.71
20.57
46.00
40.63
11.21
7.73
25.78
15.31
9.70
17.71
20.57
46.00
40.63
10.35
5.15
16.03
17.50
6.00
15.19
9.65
24.00
3.45
13.49
6.71
20.89
22.80
7.82
19.79
12.57
31.27
4.50
14.53
7.23
22.51
24.57
8.42
21.33
13.55
33.70
4.84
3.47
1.44
5.52
5.59
1.25
4.14
3.26
15.40
4.88
2.94
2.87
5.43
3.09
3.34
3.83
5.59
7.92
18.46
48
200
13.04
19.05
9.22
11.07
10.20
6.88
5.78
3.57
2.22
12.20
17.78
8.64
10.39
9.46
6.55
5.39
3.29
2.08
45
23
75
60
40
100
200
410
1190
168
78
255
230
300
526
668
1140
2425
96
ECM-LCVC
150
ECM-DD
ECMLCVC
50S30
ECM-LF
ECMLCVC
44S13
ECM-LSP
ECMLCVC
40S20
ECM-LU
ECMLCVC
40S07
ECML-U
ECMLCVC
40S05
ECML-S
ECMLCVC
38S10
Dimensions
ECM-LCVC Series
C
HOLE G
PITCH E
HOLE H
B
A
PITCH F
2x HOLE Y
2x HOLE X
MID STROKE DIMENSION,D
- +
COIL UNIT LCVC16S05 LCVC19S06
CVC20S10 LCVC24S12 LCVC26S07 LCVC30S15 LCVC35S8 LCVC38S10
A
mm
16.0
19.0
20.0
24.0
26.0
30.0
35.0
38.0
B
mm
13.4
15.7
16.6
21.0
22.0
24.6
30.4
31.2
C
mm
10.8
15.8
19.0
19.0
20.0
24.5
80.8
27.5
D
mm
16.5
24.0
31.0
30.0
27.5
39.0
92.5
39.0
E
mm
7.0
9.0
10.0
19.0
12.0
16.0
27.0
20.0
F
mm
7.0
9.0
10.0
12.7
12.0
12.6
12.6
20.0
G
mm
N/A
N/A
N/A
Ø3.5
5.0
H
mm
N/A
N/A
N/A
Ø1.6
1.7
X
mm
M2.5
M3
M3
Y
mm
M2.5
M3
M3
Ø2.5
4.0
N/A
Ø3.0
6.0
N/A
N/A
N/A
N/A
N/A
M2
M3
M3
M3
M4
M2
M3
M3
M3
M4
COIL UNIT LCVC40S05 LCVC40S07 LCVC40S20 CVC44S13 LCVC50S30 LCVC60S25 CVC60H20
LCVC90H20
A
mm
40.0
40.0
40.0
44.0
50.0
60.0
60.0
90.0
B
mm
34.0
34.8
33.2
37.2
42.4
50.6
52.0
81.6
C
mm
12.0
40.5
32.5
31.8
43.0
43.5
90.0
90.0
D
mm
17.5
49.3
49.8
44.5
67.6
66.1
118.0
109.4
E
mm
20.0
20.0
20.0
25.4
20.0
30.0
44.0
48.0
F
mm
20.0
20.0
20.0
19.1
20.0
30.0
44.0
40.0
G
mm
N/A
N/A
N/A
H
mm
N/A
N/A
N/A
N/A
X
mm
M4
M4
M4
M4
Y
mm
M4
M4
M4
M4
COIL
Ø6.5
6.2
Ø4.0
7.6
N/A
Ø8.0 THRU
Ø12.0 THRU
Ø4.0
3.8
N/A
Ø8.0 THRU
Ø12.0 THRU
M4
M5
M5
M6
M4
M5
M5
M6
LCVC35S8
LCVC38S10
-25°
20°
LCVC16S05 LCVC19S06 LCVC20S10 LCVC24S12 LCVC26S07 LCVC30S15
θ
10°
COIL
LCVC40S05
θ
20°
25°
20°
20°
20°
20°
LCVC40S07 LCVC40S20 LCVC44S13 LCVC50S30 LCVC60S25 LCVC60H20
-25°
20°
20°
97
30°
20°
20°
LCVC90H20
-55°
Explanation of Parameters
Technical Terms
■ Back EMF Constant
The induced voltage in motor coils under a permanent magnetic field is defined as the back EMF voltage,
and is proportional to the angular speed of the motor. The proportionality constant, referred to as back EMF
constant is defined as the ratio of back EMF to motor rotational speed (rpm) or linear speed (m/s). Thus, back
EMF constant is a measure of how many volts per rpm the motor may generate if it is driven as a generator.
■ Torque Constant and Thrust Constant
Kt is called torque constant (N-m/A) which is defined as the electromagnetic torque or thrust (in N-m)
generated by a motor to the motor input current (in A). The thrust constant times the rated current gives the
rated thrust.
■ Continuous Current
The continuous current is the rated current, sometimes described as operational current, which is the value
of amperes intended to flow through the motor.
■ Maximum Current
The maximum current is defined as the motor output current when the motor reaches the maximum thrust
or the maximum torque. It works under the temperature when the permanent magnet is not eliminating a
remnant magnetic field yet. The maximum current is related to the coils. The initial temperature of coils will
affect the output time of the maximum current.
■ Rated Torque and Rated Thrust
Rated torque or thrust is the maximum torque or thrust that the motor can safely apply continuously to the
load at any speed within the rated speed range of the motor.
■ Maximum Torque and Maximum Thrust
At maximum current, the maximum torque or maximum thrust generated by the motor is generally used as
the limit for instant motor acceleration and deceleration.
■ Positioning Accuracy
LU Series:
The maximum deviation between the
actual distance and the desired distance
(reaching distance) when moving from
the original position and approached
Positioning Deviation
Definition of Positioning Accuracy of the
Maximum
Deviation
from the same direction.
Desired Distance (Reaching Distance)
98
Explanation of Parameters
Technical Terms
P1
■ Positioning Repeatability
Definition of Positioning Repeatability of the LU Series:
Choose a desired position. Repeat to the desired position
P2
approaching that position from a constant direction seven times.
Measure the maximum positioning deviation. The positioning
repeatability specifies the half of maximum positioning deviation
with plus-minus sign (±) in the overall travel length.
P7
■ Running Parallelism
Definition of Running Parallelism of the LU Series:
Position a gauge at the center of the datum surface of the blocks. The running parallelism is measured
and defined as the maximum deviation of parallelism between the datum surface of the blocks and
the surface of the linear stage when the blocks are moving over the overall travel length.
■ Backlash
After traveling a certain distance, stop the movement of the blocks and use the stop position as the
reference datum. The backlash is defined as the deviation value in positioning caused by the reversal
of travel direction after applying a force to the block from the same direction and releasing it.
Force
99
Choosing a Delta linear motion product
Thrust
Calculation
Motion
Profile
Drive
Type
動作條件
• Rotary Motor
(Ball Screw)
• Trapezoidal
motion profile
• Linear Motor
• Triangular
motion profile
• Calculate
maximum and
average thrust
Drive Type
Delta's Linear Motion Products
Rotary Motor
(Ball Screw)
Linear Motor
100
Matching
Model No.
• Choose suitable
linear motion
product and drive
Motion Curve
Based on motion profile information, you can calculate: 1. Moving speed; 2. Moving time; 3. Moving
distance (you can do the calculation just based on two of the above data types.)
Trapezoidal Motion Profile
Velocity
V
Distance = S
Time
(1/3)T
(1/3)T
(1/3)T
T
Obtained
Known
Stroke S (m)
Time T (sec)
Stroke S (m)
Velocity V (m/s)
V = 1.5
(S/T)
Acceleration A
(m/sec2)
A = 4.5
(S/
Velocity V (m/sec)
Time T (sec)
Acceleration A (m/sec2)
Time T (sec)
Acceleration A (m/sec2)
Velocity V (m/sec)
S=(
S = ( 1/4.5 )
S=2
V= ( A
)
A=3
A
)/3
(
/ A)
(
/ S)
V=
A=2
)
Triangular Motion Profile
Velocity
V
Distance = S
Time
T/2
T/2
T
Obtained
Known
Stroke S (m)
Time T (sec)
Acceleration A (m/sec2)
Time T (sec)
Velocity V (m/sec)
Time T (sec)
S = (1/2
Stroke S (m)
Velocity V (m/s)
V=2
(S/T)
Acceleration A
(m/sec2)
A=4
(S/
S = ( 1/4 )
V= ( A
)
A=2
)
101
Acceleration A (m/sec2)
Velocity V (m/sec)
A
S=
)/2
V=
A=
/A
/S
Thrust Calculation
Formula
Formula
Required thrust for
acceleration section
=
Required thrust for constant
velocity section
=μxmxg
Required thrust for
deceleration section
=mxa-
+mxa
RMS Thrust (rms)
μ: coefficient of sliding friction (e.g coefficient of friction of bearings, linear guideways)
m: moving mass and external payload
g: 9.81 m/s2
a: acceleration m/s2
V
t1
t2
t3
t4
acceleration
time
constant
velocity
deceleration
time
settling
time
T
T
F1
F2
F3
102
F4
Sample Calculation 1 (Ball Screw Driven)
Calculation process 1
1
Take LU-22111300AP0S for example,
Motion profile and requirement:
Total mass m
30Kg
Total move distance S
300mm
Max. linear velocity V
300 mm/s
=
0.2 sec
=
0.8 sec
=t
2
t1
t2
t3
t4
acceleration
time
constant
velocity
deceleration
time
settling
time
2 sec
Coefficient of sliding friction μ
0.01
Acceleration of gravity g
9.8 m/s2
Ball screw lead L
0.01 m
Torque at driven load Τ0
0.12 N-m
Motor inertia Ιm
0.37 x
10-5kg-m2
Inertia due to screw Ιs
0.55 x
10-5kg-m2
Motor rated torque
0.32 N-m
Screw efficiency η
0.9
Calculate the required torque for constant velocity section:
Τ0 = T0 + μmg x (
3
V
)
= 0.12 + 0.01 x 30 x 9.8 x (
)
≒ 0.13 N-m
Calculate the acceleration section torque T (max. torque)
Load inertia
=mx(
)2 = 30 x (
)2 ≒7.6 x 10-5kg-m2
Max. rotational speed N=V x 60/L =1800 min-1
Angular acceleration ω==
=(
=
≒ 942
) x ω =(0.37+0.55+7.6) x 10-5 x 942 ≒ 0.08 N-m
= 0.08 + 0.13 ≒ 0.21 N-m
103
T
Calculation process 2
4
Calculate RMS torque
≒ 0.11 N-m
5
Check wether the RMS torque is less than the motor rated torque
≒ 0.11 < motor rated torque 0.32 N-m → OK
Check whether the maximum torque T is less than the motor rated torque
Generally, the safety factor is considered in the calculation of maximum torque
Safety factor k: general safety factor is1.2~1.3
T x k = 0.21 x 1.3=0.27 N-m
The maximum torque 0.27 N-m < motor rated torque 0.32 N-m → OK
6
The size of linear stage is subject to re-evaluation if the required torque is more than motor
rated torque. Linear stage with larger motor power should be selected.
LU Series Specifications
Ball Screw
Moment of
Inertia
Motor Inertia
Motor Power
Model no.
Rail Length (mm)
x10-4 kg.m2
x10-4 kg.m2
W
0.0060
0.0076
0.0092
0.0108
0.0206
50
LU-26
150
200
250
300
0.037
100
LU-33
150
200
300
400
500
600
0.0310
0.0390
0.0550
0.0710
0.0869
0.1029
0.037
100
LU-46
340
440
540
640
740
940
0.1557
0.1947
0.2337
0.2727
0.3117
0.3898
0.277
400
104
Sample Calculation 2 (Linear Motor Driven)
Calculation process 1
1
Given motion profile:
Applied in pick-and-palce machines (horizontal
V
movement)
Total mass m:10 Kg
Total move distance S: 300 mm
=
= = =0.1 sec
T=
=0.3
μ: Coefficient of sliding friction = 0.005
t1
t2
t3
t4
acceleration
time
constant
velocity
deceleration
time
settling
time
g: 9.81 m/s2
2
Calculate the maximum thrust:
S=0.3 m= (2/3) x V x T=(2/3) x V x 0.3=> V=1.5 m/s
a=V/ =1.5/0.1=15
Required thrust for acceleration section =
F1 = F2 + m x a = 0.49 +10 x 15 = 150.49 N
Required thrust for constant velocity section = F2 = μ x m x g = 0.005 x 10 x 9.81 = 0.49 N
Required thrust for deceleration section =
F3 = m x a - F2 = 10 x 15 -0.49 = 149.51 N
Required thrust for settling section =
F4 = 0 N
=> Fmax = F1 =150.49
3
Calculate the RMS thrust:
Frms =
4
=106 N
Safety factor: general safety factor is 1.2~1.3
Fmax = 150.49 X Safety factor =150.49 X1.2 =180.59 N
Frms = 106 X Safety factor =
5
106 X1.2 = 127.2 N
Refer to LA-S thrust range, rated thrust > Fmax 與 Frms
Suggested linear stage model: LA-SB
Refer to LA-S Series and Servo Drive Selection Table: 750 W
105
T
Linear Stage Request Form
Date:
Company:
Product required
Specification
Industry of the company
Equipment application
Max. velocity
(m/s)
Max. acceleration and deceleration
(m/s2)
Stroke
(mm)
Load
(kg)
Repeatability
(μm)
±
Multiple rotors in single axis
Yes (
Vertical application
Yes
No
Stage mounting direction
horizontal
lateral
pcs / axis)
No
upside down
Total amount required
Drive voltage
Request for external electricity regeneration
(to be confirmed with electrical control personnel)
Speed Curve:
Yes
No
Velocity (m/s)
Vmax: ________
T1: _______
T2: _______
T3: _______
T4: _______
acceleration
time
constant
velocity
deceleration
time
settling
time
Special requirements and notes (e.g. high temperature or clean room operation and more)
106
Time (sec)
Servo Drive ASDA-A2 Specifications
(Ball Screw Driven)
ASDA-A2 Series
Speed Control Mode
Position Control Mode
Power
supply
Phase / Voltage
Permissible Voltage Range
Input Current (3PH) (Units: Arms)
Input Current (1PH) (Units: Arms)
Continuous Output Current (Units: Arms)
Cooling System
Encoder Resolution / Feedback Resolution
Control of Main Circuit
Tuning Modes
Regenerative Resistor
Max. Input Pulse Frequency
(Only for Non-DMCNET mode)
Pulse Type (Only for Non-DMCNET mode)
Command Source
Smoothing Strategy
Electronic Gear
Torque Limit Operation
Feed Forward Compensation
Voltage Range
Analog Input
Input Resistance
Command
(Only for Non-DMCNET mode)
Time Constant
Speed Control Range *1
Command Source
Smoothing Strategy
Torque Limit Operation
Frequency Response Characteristic
100 W
200 W
400 W
750 W
01
02
04
07
Three-phase / Single-phase 220 VAC
1-phase / 3-phase 200 ~ 230 VAC, -15% ~ 10%
0.39
1.11
1.86
3.66
0.69
1.92
3.22
6.78
0.9
1.55
2.6
5.1
Natural Air Circulation
Fan Cooling
Incremental encoder: 20-bit (1280000 p/rev); Absolute encoder: 17-bit
SVPWM (Space Vector Pulse Width Modulation) Control
Auto / Manual
None
Built-in
Max. 500 Kpps / 4 Mpps (Line driver), Max. 200 Kpps (Open collector)
Pulse + Direction, A phase + B phase, CCW pulse + CW pulse
External pulse train (PT mode) (Only for Non-DMCNET mode) / Internal parameters (PR mode)
Low-pass and P-curve filter
Electronic gear N/M multiple N: 1~32767, M: 1:32767 (1/50<N/M<25600)
Set by parameters
Set by parameters
0 ~ ±10 VDC
10 KΩ
2.2 μs
1: 5000
External analog signal (Only for Non-DMCNET mode) / Internal parameters
Low-pass and S-curve filter
Set by parametersor via analog input (Only for Non-DMCNET mode)
Maximum 1 kHz
0.01% or less at 0 to 100% load fluctuation
Speed Accuracy*2
0.01% or less at ±10% power fluctuation
(At rated rotation speed)
Torque Control
Mode
0.01% or less at 0ºC to 50ºC ambient temperature fluctuation
Analog Input
Command
(Only for Non-DMCNET mode)
Voltage Range
Input Resistance
Time Constant
Digital Inputs / Outputs
Command Source
Smoothing Strategy
Speed Limit Operation
Analog Monitor Output
Inputs
0 ~ ±10 VDC
10 KΩ
2.2 μs
External analog signal (Only for Non-DMCNET mode) / Internal parameters
Low-pass filter
Set by parametersor via analog input (Only for Non-DMCNET mode)
Monitor signal can set by parameters (Output voltage range: ±8 V)
Servo on, Reset, Gain switching, Pulse clear, Zero speed CLAMP, Command input reverse control, Command triggered, Speed/
Torque limit enabled, Position command selection, Motor stop, Speed position selection, Position / Speed mode switching, Speed /
Torque mode switching, Torque / Position mode switching, PT / PR command switching, Emergency stop, Forward / Reverse inhibit
limit, Reference "Home" sensor, Forward / Reverse operation torque limit, Move to "Home", Electronic Cam (E-Cam), Forward /
Reverse JOG input, Event trigger PR command, Electronic gear ratio (Numerator) selection and Pulse inhibit input
* Please note that the above digital signals and inputs are available only for Non-DMCNET mode. In DMCNET mode, it is recommended to write digital inputs into the servo
drives through DMCNET communication, and the digital inputs should be used for Emergency Stop, Forward / Reverse Inhibit limit and Reference "Home" sensor only.
Encoder signal output (A, B, Z Line Driver and Z Open Collector )
Outputs
Protective Functions
Environment
Communication Interface
Installation Site
Altitude
Atmospheric Pressure
Operating Temperature
Storage Temperature
Humidity
Vibration
IP Rating
Power System
Certifications
Servo ready, Servo on, At Zero speed, At Speed reached, At Positioning completed, At Torques limit, Servo alarm (Servo fault)
activated, Electromagnetic brake control, Homing completed, Output overload warning, Servo warning activated, Position command
overflow, Forward / Reverse software limit, Internal position command completed, Capture operation completed output., Motion
control completed output., Master position of E-Cam (Electronic Cam)
Overcurrent, Overvoltage, Undervoltage, Motor overheated, Regeneration error, Overload, Overspeed, Abnormal pulse control
command, Excessive deviation, Encoder error, Adjustment error, Emergency stop activated, Reverse/ Forward limit switch error,
Position excessive deviation of full-close control loop, Serial communication error, Input power phase loss, Serial communication
time out, short circuit protection of U, V, W, and CN1, CN2, CN3 terminals
RS-232 / RS-485 / CANopen / USB / DMCNET
Indoor location (free from direct sunlight), no corrosive liquid and gas (far away from oil mist, flammable gas, dust)
Altitude 1000 m or lower above sea level
86 kPa ~ 106 kPa
0 ºC ~ 55 ºC (If operating temperature is above 45 ºC, forced cooling will be required)
-20 ºC ~ 65 ºC (-4 ºF to 149 ºF)
0 ~ 90% RH (non-condensing)
9.80665m/s2 (1G) less than 20 Hz, 5.88 m/s2 (0.6G) 20 to 50 Hz
IP20
TN System*3
IEC/EN 61800-5-1, UL 508C, C-tick
Footnote:
*1. Rated rotation speed: When full load, speed ratio is defined as the minimum speed (the motor will not pause).
*2. When command is rated rotation speed, the speed fluctuation rate is defined as: (Empty load rotation speed Full load rotation speed) / Rated rotation speed
*3. TN system: A power distribution system having one point directly earthed, the exposed conductive parts of the installation being connected to that points by protective earth conductor.
107
A2 Wiring Diagram of Peripheral Devices
Power
100W~1.5kW Single-/Three-phase 200~230V
2kW~15kW Three-phase 200~230V
No Fuse Breaker (NFB)
Installing a NFB can prevent excessive current that may
arise due to short-circuit or flow when power is on and
off, so as to avoid the damaging on the servo drive
Electromagnetic
Contactor (MC)
Host Controller
Regenerative
Resistor (Option)
It can connect to Delta PLC controller
or other brands of NC controllers.
P
C
P,D,C
The returned regenerative power generated
when braking may result in damage. Thus,
external resistor is recommended. Connect
the external resistor to P and C, and ensure
an open circuit between P and D. When
applying an internal resistor, ensure the circuit
is closed between P and D, and the circuit is
open between P and C.
Terminal Block Module (ASD-BM-50A)
(Option)
L1c,L2c,Θ,R,S,T
Transmit the signal from CN1
50pin to the controller via this
block module.
CN1 I/O
Connector
CN5 Connector (Option)
CN3 Connector
(Option)
For full-closed loop or linear scale connection
CN5: For ASDA-A2-L, -M, -U (Please refer to
the description of section 1.2.2)
Use MODBUS
communication to support
RS-485/RS232
CN6 Connector (Option)
CN6: For ASDA-A2-M only (Please refer to the
description of section 1.2.2)
CN2 Connector
CN7 Connector (Option)
CN7: For ASDA-A2-U only (Please refer to the
description of section 1.2.2)
CN4 Connector (Option)
1. Connect to personal computer via USB cable
2. Use ASDA-SOFT for tuning, parameter setting
and control.
Motor power
output
Servo Motor
108
Servo Drive ASDA-A2R Specifications
(Linear Motor Driven)
ASDA-A2R Series
Speed Control Mode
Position Control Mode
Power
Supply
Phase / Voltage
Permissible Voltage Range
Input Current(3PH) (Units: Arms)
Input Current(1PH) (Units: Arms)
Continuous Output Current (Units: Arms)
Max. Output Current (Units: Arms)
Cooling System
Encoder Resolution / Feedback Resolution
Control of Main Circuit
Tuning Modes
Regenerative Resistor
Max. Input Pulse Frequency
(Only for Non-DMCNET mode)
Pulse Type (Only for Non-DMCNET mode)
Command Source
Smoothing Strategy
Electronic Gear
Torque Limit Operation
Feed Forward Compensation
Voltage Range
Analog Input
Command
Input Resistance
(Only for Non-DMCNET
Time Constant
mode)
Speed Control Range *1
Command Source
Smoothing Strategy
Torque Limit Operation
Frequency Response Characteristic
Speed Accuracy
100 W
01
200 W
02
400 W
04
750 W
07
Three-phase / Single-phase 220 VAC
1-phase / 3-phase 200 ~ 230 VAC, -15% ~ 10%
0.39
1.11
1.86
3.66
0.69
1.92
3.22
6.78
0.9
1.55
2.6
5.1
7.07
10.61
10.61
14.14
Natural Air Circulation
Fan Cooling
20-bit (1280000 p/rev)
SVPWM(Space Vector Pulse Width Modulation) Control
Auto / Manual
None
Built-in
Max. 500 Kpps / 4Mpps (Line driver), Max. 200Kpps (Open collector)
Pulse + Direction, A phase + B phase, CCW pulse + CW pulse
External pulse train (PT mode) (Only for Non-DMCNET mode) / Internal parameters (PR mode)
Low-pass and P-curve filter
Electronic gear N/M multiple N: 1~32767, M: 1:32767 (1/50<N/M<25600)
Set by parameters
Set by parameters
0 ~ ±10 VDC
10 KΩ
2.2 μs
1: 5000
External analog signal (Only for Non-DMCNET mode) / Internal parameters
Low-pass and S-curve filter
Set by parameters or via analog input (Only for Non-DMCNET mode)
Maximum 1 kHz
0.01% or less at 0 to 100% load fluctuation
*2
0.01% or less at ±10% power fluctuation
(At rated rotation speed)
Torque Control
Mode
0.01% or less at 0ºC to 50ºC ambient temperature fluctuation
Analog Input
Command
(Only for Non-DMCNET
mode)
Voltage Range
Input Resistance
Time Constant
Digital Inputs / Outputs
Command Source
Smoothing Strategy
Speed Limit Operation
Analog Monitor Output
Inputs
0 ~ ±10 VDC
10 KΩ
2.2 μs
External analog signal (Only for Non-DMCNET mode) / Internal parameters
Low-pass filter
Set by parameters or via analog input (Only for Non-DMCNET mode)
Monitor signal can be set by parameters (Output voltage range: ±8V)
Servo on, Reset, Gain switching, Pulse clear, Zero speed CLAMP, Command input reverse control, Command triggered, Speed/
Torque limit enabled, Position command selection, Motor stop, Speed position selection, Position / Speed mode switching, Speed /
Torque mode switching, Torque / Position mode switching, PT / PR command switching, Emergency stop, Forward / Reverse inhibit
limit, Reference "Home" sensor, Forward / Reverse operation torque limit, Move to "Home", Electronic Cam (E-Cam), Forward /
Reverse JOG input, Event trigger PR command, Electronic gear ratio (Numerator) selection and Pulse inhibit input
* Please note that the above digital signals and inputs are available only for Non-DMCNET mode. In DMCNET mode, it is recommended to write digital inputs into the servo
drives through DMCNET communication, and the digital inputs should be used for Emergency Stop, Forward / Reverse Inhibit limit and Reference "Home" sensor only.
Outputs
Protective Functions
Environment
Communication Interface
Installation Site
Altitude
Atmospheric Pressure
Operating Temperature
Storage Temperature
Humidity
Vibration
IP Rating
Power System
Certifications
Encoder signal output (A, B, Z Line Driver and Z Open Collector )
Servo ready, Servo on, At Zero speed, At Speed reached, At Positioning completed, At Torques limit, Servo alarm (Servo fault)
activated, Electromagnetic brake control, Homing completed, Output overload warning, Servo warning activated, Position command
overflow, Forward / Reverse software limit, Internal position command completed, Capture operation completed output., Motion
control completed output., Master position of E-Cam (Electronic Cam)
Overcurrent, Overvoltage, Undervoltage, Motor overheated, Regeneration error, Overload, Overspeed, Abnormal pulse control
command, Excessive deviation, Encoder error, Adjustment error, Emergency stop activated, Reverse/ Forward limit switch error,
Position excessive deviation of full-close control loop, Serial communication error, Input power phase loss, Serial communication
time out, short circuit protection of U, V, W, and CN1, CN2, CN3 terminals
RS-232 / RS-485 / CANopen / USB / DMCNET
Indoor location (free from direct sunlight), no corrosive liquid and gas (far away from oil mist, flammable gas, dust)
Altitude 1000 m or lower above sea level
86 kPa ~ 106 kPa
0ºC ~ 55ºC (If operating temperature is above 45 ºC, forced cooling will be required)
-20 ºC ~ 65 ºC
0 ~ 90% RH (non-condensing)
9.80665 m/s (1G) less than 20 Hz, 5.88 m/s (0.6G) 20 to 50 Hz
IP20
TN System*3
IEC/EN 61800-5-1, UL 508C, C-tick
Footnote:
*1. Rated rotation speed: When full load, speed ratio is defined as the minimum speed (the motor will not pause).
*2. When command is rated rotation speed, the speed fluctuation rate is defined as: (Empty load rotation speed Full load rotation speed) / Rated rotation speed
*3. TN system: A power distribution system having one point directly earthed, the exposed conductive parts of the installation being connected to that points by protective earth conductor.
109
A2R Wiring Diagram of Peripheral Devices
Power
100W~1.5kW single-/3-phase 200~230V
2kW~3kW 3-phase 200~230V
No Fuse Breaker (NFB)
This can prevent instantaneous excessive
current due to short-circuit or when the power
is on/off or a damaged servo drive.
Magnetic Contactor (MC)
When an alarm occurs, it could
output ALRM signal and disconnect
the power of the servo drive.
Host Controller
Regenerative Resistor
(option)
Connects to Delta’s PLC
controller or other NC controller.
P
Terminal Block Module
(ASD-BM-50A)
(option)
C
In order to prevent the energy flowing back
caused by motor brake and result in error,
please connect the PC end of the servo drive to
external regenerative resistor and the contact of
PD end should be opened. If using the internal
regenerative resistor, please be ensured the
contact of PD and should be closed and the
contact of PC end should be opened.
Transmit the signal of CN1 50pin to
the controller through this terminal.
CN1 I/O Connector
CN5 Connector (option)
CN3 Connector
(option)
Full-closed loop or position feedback connector
CN5: Support model -L, M, U
(Please refer to model description in Section
1.2.2.)
Use MODBUS
communication control and
support RS-485/RS232
CN6 CANopen Connector (option)
CN6: Support model -M
(Please refer to model
description in Section 1.2.2.)
CN2 Connector
CN7 Extension DI Connector
(option)
CN7: Support model -U
(Please refer to model
description in Section 1.2.2.)
CN4 USB connector
(option)
1. Use the standard USB connecting line to
connect to PC to operate the software.
2. Use ASDA-SOFT to conduct tuning,
parameter setting and control.
Hall Sensor / Temperature Sensor
Permanent Magnet
Synchronous Linear Motor
Linear Scale
110
Industrial Automation Headquarters
Delta Electronics, Inc.
Taoyuan Technology Center
18 Xinglong Road, Taoyuan District,
Taoyuan City 33068, Taiwan (R.O.C.)
TEL: 886-3-362-6301 / FAX: 886-3-371-6301
Asia
Delta Electronics (Jiangsu) Ltd.
Wujiang Plant 3
1688 Jiangxing East Road,
Wujiang Economic Development Zone
Wujiang City, Jiang Su Province, P.R.C. 215200
TEL: 86-512-6340-3008 / FAX: 86-769-6340-7290
Delta Greentech (China) Co., Ltd.
238 Min-Xia Road, Pudong District,
ShangHai, P.R.C. 201209
TEL: 86-21-58635678 / FAX: 86-21-58630003
Delta Electronics (Japan), Inc.
Tokyo Office
2-1-14 Minato-ku Shibadaimon,
Tokyo 105-0012, Japan
TEL: 81-3-5733-1111 / FAX: 81-3-5733-1211
Delta Electronics (Korea), Inc.
1511, Byucksan Digital Valley 6-cha, Gasan-dong,
Geumcheon-gu, Seoul, Korea, 153-704
TEL: 82-2-515-5303 / FAX: 82-2-515-5302
Delta Electronics Int’l (S) Pte Ltd.
4 Kaki Bukit Ave 1, #05-05, Singapore 417939
TEL: 65-6747-5155 / FAX: 65-6744-9228
Delta Electronics (India) Pvt. Ltd.
Plot No 43 Sector 35, HSIIDC
Gurgaon, PIN 122001, Haryana, India
TEL : 91-124-4874900 / FAX : 91-124-4874945
Americas
Delta Products Corporation (USA)
Raleigh Office
P.O. Box 12173,5101 Davis Drive,
Research Triangle Park, NC 27709, U.S.A.
TEL: 1-919-767-3800 / FAX: 1-919-767-8080
Delta Greentech (Brasil) S.A.
Sao Paulo Office
Rua Itapeva, 26 - 3° andar Edificio Itapeva One-Bela Vista
01332-000-São Paulo-SP-Brazil
TEL: 55 11 3568-3855 / FAX: 55 11 3568-3865
Europe
Delta Electronics (Netherlands) B.V.
Eindhoven Office
De Witbogt 20, 5652 AG Eindhoven, The Netherlands
TEL: +31 (0)40-8003800 / FAX: +31 (0)40-8003898
*We reserve the right to change the information in this catalogue without prior notice.
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