Yamaha Robotics Industrial Robots and Controllers

This driving unit, although compact in size, has a high thrusting force. The moving coil catches the magnetic flux generated by the magnets arranged in the magnet shaft and converts it into the thrusting force efficiently. As this structure requires no frame, it is compact and light weight.

No frame means light weight and high efficiency because it enables use of the magnetic flux in all directions. In other words, a less number of magnets produces higher thrusting force.

As this structure requires a rigid frame to support the pulling force of the magnets, it must be bulky and heavy. Also, the magnetic flux can be used only in the limited directions.

This is YAMAHA's original magnetic type scale developed on the basis of YAMAHA's outstanding magnetic signal detection technology. Its resolution is as high as 1μm and yet the cost is kept at a low level. The scale is made of metal which has a high coersive force and resistance against thermal expansion and secular change. As it is a magnetic type, it can be used even in a poor environment where it is exposed to grease and cutting fluid.

Although the moving coil method tends to have a problem due to heat generation, the PHASER uses an insulation layer to make the heat generated from the moving coil difficult to be transmitted to the table. Also, radiating fins are incorporated with the moving coil to radiate heat efficiently to avoid any heat trouble.

Using the full-closed control constantly providing direct feedback of the table position, the PHASER can operate with a stable high accuracy. Also, there is no mechanical backlash which occurs with the ball screw and timing belt.

The shaft motor of the coreless structure hardly experiences cogging. In addition, owing to the high resolution scale of 1 m and outstanding control technology, the speed ripple is reduced to a large extent for smooth operation even at a low speed. This feature is optimum for such application that requires slow and smooth movement as the testing equipment.

High acceleration The maximum acceleration of 3G contributes to save the cycle time.
High speed Maximum speed 2.5m/sec As no dangerous speed is involved as in the case of the ball screw model, the maximum speed is maintained even when moving over a long stroke. This feature exhibits an overwhelming performance when the carrying distance is long.

The stainless shutter used in the upper section of the robot can prevent any foreign object from entering. At the same time, as it prevents powder dust produced inside of the robot from going out, it can meet the clean room requirements easily. ( For the clean room specification, please consult YAMAHA separately. )

Use of a light and compact shaft motor requires less sliding or rotating parts than the conventional single axis robot using a coreless linear motor and so operation is much quieter.

As a result of using a light and compact shaft motor, the PHASER is much smaller than the conventional single axis robot using a coreless linear motor, about 40% in the cross section area and 1/3 or less in the main unit weight.

As the moving coil is included in the table, the space otherwise used as a dead space can be used effectively for the stroke. Also, the perfectly symmetrical structure of the main unit provides higher freedom in layout.