Bosch Rexroth NYCe 4000 Guide

NYCe 4000
Linear motion system
LMS Design Guide
Reference
R911386072
Edition 07

NYCe 4000
Linear motion system
LMS Design Guide
Reference
DOK-NY4000-LMS*DESIGN*-PR07-EN-E
RS-928008ac1bb341c1c0a802867eeb29c7-7-en-US-4
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03/2019 2nd edition
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NYCe 4000 Linear motion system LMS Design Guide

Table of Contents
Page
1 Introduction.................................................................................................................... 1
1.1 What is LMS........................................................................................................................................... 1
1.2 Intended audience.................................................................................................................................. 1
1.3 What is in this manual............................................................................................................................. 2
1.4 Abbreviations.......................................................................................................................................... 2
1.5 References............................................................................................................................................. 3
2 Linear Motion System overview..................................................................................... 5
2.1 Introduction............................................................................................................................................. 5
2.2 Main specifications................................................................................................................................. 5
2.2.1 General................................................................................................................................................ 5
2.2.2 LMS maximum system configurations................................................................................................. 5
3 Hardware overview and specifications........................................................................... 9
3.1 Introduction............................................................................................................................................. 9
3.2 Hardware overview................................................................................................................................. 9
3.2.1 Mechanical construction...................................................................................................................... 9
3.2.2 Complete LMS including control components................................................................................... 10
3.3 Specifications LMS components........................................................................................................... 12
3.3.1 Coils................................................................................................................................................... 12
3.3.2 Carrier with magnet plates................................................................................................................. 15
3.3.3 Sensors............................................................................................................................................. 16
3.4 Specifications control components....................................................................................................... 17
3.4.1 System housings............................................................................................................................... 17
3.4.2 Motion Control Unit............................................................................................................................ 17
3.4.3 Drive module..................................................................................................................................... 17
3.4.4 SERCOS III Master module............................................................................................................... 18
3.4.5 PC...................................................................................................................................................... 18
3.4.6 PLC.................................................................................................................................................... 19
3.5 Specifications electrical components.................................................................................................... 19
3.5.1 Power supplies.................................................................................................................................. 19
4 Hardware components selection.................................................................................. 21
4.1 Introduction........................................................................................................................................... 21
4.2 System specifications and requirements.............................................................................................. 22
4.2.1 Introduction........................................................................................................................................ 22
4.2.2 Position accuracy.............................................................................................................................. 22
4.2.3 Carrier................................................................................................................................................ 22
4.2.4 Motion profile and airgap................................................................................................................... 22
4.2.5 Number of carriers and overall system layout................................................................................... 23
4.3 Friction force......................................................................................................................................... 23
4.4 Drive size calculations.......................................................................................................................... 24
4.5 Curved track geometry......................................................................................................................... 24
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Page
4.5.1 Introduction........................................................................................................................................ 24
4.5.2 Curve radius...................................................................................................................................... 24
4.5.3 Coil size............................................................................................................................................. 26
4.5.4 Curved track specification................................................................................................................. 26
4.6 LMS component selection.................................................................................................................... 26
4.6.1 Coils................................................................................................................................................... 26
4.6.2 Magnet plates.................................................................................................................................... 27
4.6.3 NYCe 4000 node and drives............................................................................................................. 27
4.6.4 Sensors............................................................................................................................................. 27
4.7 Guiding system..................................................................................................................................... 28
4.8 Mechanical design rules....................................................................................................................... 29
4.8.1 Guiding roller block alignment........................................................................................................... 29
4.8.2 Coil placement................................................................................................................................... 30
4.8.3 Hall sensor......................................................................................................................................... 31
4.8.4 MR sensor and magnetic scale......................................................................................................... 33
4.8.5 Curved track coil and sensor placement........................................................................................... 35
4.8.6 Carrier design.................................................................................................................................... 36
4.8.7 Magnet plate and coil mounting......................................................................................................... 36
4.8.8 Track stiffness................................................................................................................................... 39
5 Electrical implementation............................................................................................. 41
5.1 Introduction........................................................................................................................................... 41
5.2 Wiring shielding and grounding............................................................................................................ 41
5.2.1 Introduction........................................................................................................................................ 41
5.2.2 Wiring and shielding.......................................................................................................................... 41
5.2.3 Grounding.......................................................................................................................................... 43
6 Safety........................................................................................................................... 45
6.1 Introduction........................................................................................................................................... 45
6.2 Mechanical safety................................................................................................................................. 45
6.3 Electrical safety..................................................................................................................................... 45
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Bosch Rexroth AG R911386072_Edition 07

1 Introduction
1.1 What is LMS
The Linear Motion System, abbreviated to LMS, is based on an inverse linear
motor principle. The base of the mechanical construction contains the coils
and position sensors. Carriers with a magnet plate are placed on a guiding
system. The carrier is moved to the commanded position by the controlled
magnetic force field generated by the coils. The signals of the sensors
generate position feedback information.
Fig. 1-1: Schematic presentation of a Linear Motion System (LMS)
The fixed mechanical construction of an LMS contains a guiding system with
coils and position sensors, on which one or more carriers can move. In
software, a NYCe 4000-based LMS consists of one or more tracks. A track
contains coils and sensors. The engineer who commissions the LMS is free
to define LMS tracks as desired. However, usually tracks are defined as the
coils and sensors in one guiding system. All coils and sensors are connected
to the NYCe 4000 system hardware. An extensive API is available to develop
the LMS-based application which can run on a PC or on a NYCe 4000 node.
It is also possible to integrate a PLC-based application with NYCe 4000 LMS.
Drawings in this manual are not scale-accurate, but are intended for
illustration purposes only.
1.2 Intended audience
This manual is intended for system design engineers who want to integrate
an LMS in their application. This manual guides the system designer through
the design and selection process. Bosch Rexroth always intends to make life
easier for the application engineer. However, the main focus is to provide
maximum flexibility based on the type of applications that can be realized
with a Linear Motion System. As a consequence, the maximum flexibility
comes at the cost of requiring more knowledge from the user and more
responsibility within the application.
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1.3 What is in this manual
This manual provides an explanation of all components of an LMS and
guidelines to make good choices for the integration of an LMS in various
applications. Due to the broad variety of possible applications this manual
does not narrow down the choices to one specific solution. Per application,
different choices can result in a good design, thus some intuition in
development and integration of an LMS in your application is still required.
●chapter 2 "Linear Motion System overview" on page 5 gives the
system designer an overview of the main specifications of an LMS, and
the maximum component configurations based on where the Carrier
Management is executed (on a PC or on a node). Major components
are the track(s) and control components.
●chapter 3 "Hardware overview and specifications" on page 9
describes the components of an LMS. The mechanical construction
consists of the guiding system, coils, carrier with magnet plates, LMS
sensors and, (when the MR sensor is used) the magnetic scale. The
control components include a NYCe 4000 system (a system housing
with a Motion Control Unit, MCU, and one or more drive modules or the
SERCOS III Master module), power supplies, optionally a PC, and
(application dependent) a PLC.
●chapter 4 "Hardware components selection" on page 21 presents a
flowchart to guide the system designer through the component selection
based on the requirements of the application and LMS-specific criteria
such as track geometry, component selection, and construction aspects
of an LMS. The design steps are discussed in more detail in the
remainder of this chapter.
●chapter 5 "Electrical implementation" on page 41 describes the
NYCe 4000 wiring and grounding requirements of an LMS.
●chapter 6 "Safety" on page 45 describes some safety aspects,
mechanical and electrical, of an LMS.
1.4 Abbreviations
The following table gives a summary of abbreviations used in this manual.
Abbreviation Description
API Application Programming Interface
CM Carrier Management
CMC Carrier Management Combined
CPA Carrier Position Adjustment
IEEE Institute of Electrical and Electronics Engineers
LMS Linear Motion System
MCU Motion Control Unit
NY4112 MCU with 2 IEEE802.3 (ethernet) connections
Requires Software LMS 47VRS
NY4114 MCU with 3 IEEE802.3 (ethernet) connections
Requires Software LMS 50VRS
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Abbreviation Description
NY4120/10 PWM Drive Module for LMS
NY4150
NY4150/10
SERCOS III Master Module
PE Protective earth
PLC Programmable Logic Controller
RTLC Runtime Track Layout Changes
PTC Positive Temperature Coefficient (sensor)
SERCOS III Third generation SERCOS (Serial Real time Communication
System ) drive communication protocol based on the Ethernet
physical hardware architecture
XML Extensible Markup Language
Tab. 1-1: Summary of used abbreviations in this manual
1.5 References
● NYCe 4000 Standard Housings & Accessories manual, order number
R911337672.
● NYCe 4000 Hardware System Manual, order number R911337671.
● Rexroth IndraDrive Cs Drive Systems with HCS01 Project Planning
Manual, R911322210
● Rexroth IndraDrive Supply Units, Power Sections HMV, HMS, HMD,
HCS02, HCS03 Project and Planning Manual, order number
R911318790 (for the power units).
● IndraDrive Control Sections CSB02, CSE02, CSH02, CDB02 Project
and Planning Manual, order number R911338962 (for the Control units).
● IndraControl XM21, XM22 Operating Instructions, order number
R911340667.
● Motion Logic System IndraMotion MLC Control hardware
IndraControl L.
● HMI/Industrial PC Box PC IndraControl VPB.
● Cam Roller Guides, R310EN 2101 (2004-09).
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2 Linear Motion System overview
2.1 Introduction
This chapter gives the system designer the main specifications, and the
maximum LMS configurations based on where the Carrier Management (CM)
software executes.
2.2 Main specifications
2.2.1 General
● Independent movement of up to 32 carriers.
● Speeds from 0.02 m/s up to 2.5 m/s on MR sensor based tracks.
● Speeds from 0.02 m/s up to 5 m/s on Hall sensor based tracks.
● Loads less than 1 kg to more than 1500 kg.
● Power range: from 100 W to 32 kW.
● Continuous force range from 10 N to 4000 N.
● Magnet plates.
– Standard for operating temperatures up to 70 °C (NdFeB).
– Vacuum compatible up to 10-8 mBar, temperature up to 120 °C
(NdFeB).
– Vacuum compatible up to 10-8 mBar, temperature up to 150 °C
(SmCo).
● Sensor resolution
– Position measurement with 5 µm resolution (Hall sensor).
– Position measurement with 1 µm resolution (MR sensor).
● Absolute position accuracy per carrier
– ±300µm (Hall sensor).
– ±100µm (Hall sensor with CPA tables).
– ±22µm (MR sensor).
● Position repeatability per carrier
– ±20µm (Hall sensor).
– ±5µm (MR sensor).
● Velocity ripple at a velocity of 0.02 m/s
– ±5% (Hall sensor).
– ±2% (Hall sensor with CPA tables).
– ±1% (MR sensor).
2.2.2 LMS maximum system configurations
The NYCe 4000 LMS Carrier Management (CM) software can execute on the
PC or on a node (mutually exclusive), see NYCe 4000 LMS Tools Manual. If
CM is executed on the PC, the LMS application is also executed on the PC or
on a PLC. If CM is executed on a node, the LMS application, implemented as
an Embedded Application, executes on a node or on a PLC. Note that CM
and the Embedded Application do not have to run on the same node.
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Different maximum configurations apply depending on where CM is
executed. However, the LMS Commissioning Tool and application program
development requires a PC. Once configuration files, application program
and an automatic start-up program to start the application at start-up are
saved on an MCU, the PC can be disconnected and removed from the
system.
Carrier Management on the PC The NYCe 4000 LMS supports the following maximum component
configuration when Carrier Management (CM) software is executed on the
PC.
Description Maximum
Carriers in an LMS 32
Carriers in a track 32
Magnet plate length 1024 * pole pitch
Carrier length min 192 mm (MR sensor)
min 144 mm (Hall sensor)
max 25 m
carrier length must be a multiple
of 24 mm
Tracks in an LMS 64
Coils in an LMS 96
Coils in a track 96
Coils controlled by one NY4074 with NY4120/10 4
Coils controlled by one NY4079 with IndraDrives 4
Nodes daisy-chained connected 24
Tab. 2-1: LMS maximum configuration specification (CM on the PC)
Carrier Management on a node The NYCe 4000 LMS supports the following maximum component
configuration when Carrier Management (CM) software is executed on a
node with the NY4114 MCU. The NY4114 requires NYCe 4000 Software
Release 50V12 or higher.
Description Maximum
Carriers in an LMS 10
Carriers in a track 10
Magnet plate length 1024 * pole pitch
Carrier length min 192 mm (MR sensor)
min 144 mm (Hall sensor)
max 25 m
carrier length must be a multiple
of 24 mm
Tracks in an LMS 28
Coils in an LMS 28
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Description Maximum
Coils in a track 28
Coils controlled by one NY4074 with NY4120/10 4
Coils controlled by one NY4079 with IndraDrives 4
Nodes daisy-chained connected 7
Tab. 2-2: LMS maximum configuration specification (CM on a node)
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3 Hardware overview and specifications
3.1 Introduction
This chapter gives the system designer an overview of the necessary
hardware components to develop an LMS. Major components are discussed
in the following chapters.
●chapter 3.2 "Hardware overview" on page 9 gives an overview of the
mechanical parts of an LMS.
●chapter 3.3 "Specifications LMS components" on page 12 gives the
specifications of coils, carriers with magnet plate(s), and the supported
LMS sensors.
●chapter 3.4 "Specifications control components" on page 17
describes the control components of an LMS. Control components are
the system housings, MCU, drive module and SERCOS III Master
module, a PC, and optionally a PLC.
●chapter 3.5 "Specifications electrical components" on page 19
describes the power supplies needed in an LMS.
3.2 Hardware overview
3.2.1 Mechanical construction
The mechanical construction of an LMS consists of one or more coils,
sensors and a guiding system. The coils and sensors are mounted in the
construction frame and the guiding system is also a part of the construction
frame. On the guiding system one (or more) carriers can move freely.
Magnets plates are mounted underneath each carrier.
Two types of sensors systems are available for the LMS, Hall sensors and
MR sensors. Hall sensors use the magnetic field of the magnet plate to
detect the position of the carrier. MR sensors use a magnetic scale attached
to the carrier to detect the position of the carrier.
coil
Hall position sensors
magnets
(fixed) construction frame
coil
carrier
guiding system
carrier movement
Fig. 3-1: Mechanical construction coil, carrier, magnets and Hall sensors
coil
MR sensor
magnets
(fixed) construction frame
coil
carrier
guiding system
carrier movement
MR sensor
magnetic
scale
Fig. 3-2: Mechanical construction coil, carrier, magnets and MR sensors
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3.2.2 Complete LMS including control components
One of the first steps in the design of an LMS is the drive size calculation.
This drive size calculation determines the required coil type and drive type.
The system designer needs to know the following parameters of the LMS.
● Weight (including the load) of the carrier.
● Size of the carrier.
● Air gap between the coils and the magnet plate.
● Estimated friction of the carrier on the guiding system.
● Maximum required acceleration and velocity of the carrier.
● Required position accuracy.
● Cycle time.
The following NYCe 4000 system housings are available for LMS.
Component name Order number
NYS04.2-ST-02-LMSN-NY4074 R911378504
NYS04.1-ST-01-LMS-SERCOS-NY4079 R911378505
Tab. 3-1: NYCe 4000 system housings for LMS
System housing NY4074 The LMS control based on the NY4074 system housing consists of one MCU
and one or two NY4120/10 drive modules. The NY4120/10 drive module can
be used with maximum 75VDC nominal servo drive voltage and a continuous
current of 7Arms per coil, and maximum peak current of 14Arms per drive
module. These restrictions may limit the maximum obtainable acceleration
and velocity of the carrier(s). If the application requires higher accelerations
or velocities, you must choose the IndraDrive solution supported with the
NY4079 system housing.
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Linear Motion System
PTC
carrier LMS sensor
coil
PTC
NY4074
PC PLC
Fig. 3-3: NY4074 system overview with integrated drive modules
The electric wiring of 4 coils with their PTC and the associated sensors to the
NY4074 system housing is shown in fig. 3-3 "NY4074 system overview with
integrated drive modules" on page 11. Note that the connection of the PTC
and its associated coil must be on the same drive module and axis. Further,
the connection with an optional PC and optional a PLC is shown. The system
housing with an MCU and drive modules is called a (NYCe 4000) node. With
this configuration you can connect up to 4 coils.
System housing NY4079 The LMS control based on the NY4079 system housing consists of one MCU
and one NY4150/10 SERCOS Master module. The NY4150/10 connects the
IndraDrive via the SERCOS network. The IndraDrives are available for higher
voltage and higher current ranges. The coil and PTC are connected to the
IndraDrive. No DC power supply is required for IndraDrives, because
IndraDrives are directly connected to the mains power supply. See Rexroth
IndraDrive Supply Units, Power Sections HMV, HMS, HMD, HCS02, HCS03
Project and Planning Manual.
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Linear Motion System
PTC
LMS sensor
coil
PTC
NY4079
SERCOS network
PLCPC
IndraDrive
ethernet
ethernet
carrier
Fig. 3-4: NY4079 system overview with SERCOS network and IndraDrives
The electric wiring of 4 coils with their PTC and the associated sensors to the
IndraDrives and the NY4079 system housing is shown in fig. 3-4 "NY4079
system overview with SERCOS network and IndraDrives" on page 12.
Further, the connection with an optional PC and optional a PLC is shown.
The system housing with an MCU and SERCOS Master module is called a
(NYCe 4000) node. With this configuration you can connect up to 4
IndraDrives. The IndraDrives are connected in a closed loop SERCOS
network to the NY4150/10 SERCOS Master module.
3.3 Specifications LMS components
3.3.1 Coils
The coils are installed on the track at a mutual distance of the length of the
magnet plate. This makes it possible to realize carrier movements along the
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track while maintaining a constant force. To this end, the movement of a
carrier is decomposed in a number of movements "above" each of the coils.
The coils can be controlled by the NYCe 4000 system independently of each
other. Multiple carriers can be moved along the same track, as long as there
are no conflicts. In practice, this means that either each coil only moves one
carrier, or it moves two carriers at the same velocity with a mutual distance
which is a multiple (0, 1, ...) of the distance between two consecutive pairs of
magnets. The generated control signal is based on the position sensor
information of one of the two carriers only, which implies that a second carrier
above the same coil moves along with the controlled carrier.
Fig. 3-5: Iron core coil force ranges (nominal air gap of 0.5 mm)
fig. 3-5 "Iron core coil force ranges (nominal air gap of 0.5 mm)" on page 13
shows the force ranges for the available iron core coils when a nominal air
gap of 0.5 mm is applied. The available coils are described in the NYCe 4000
Standard Housings & Accessories manual. When the air gap increases, the
available drive force (continuous force) and the available attraction force
decrease, see fig. 3-6 "Available drive and attraction force decrease with air
gap increase" on page 14.
Air gap [mm] 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0 4.5 5.0 5.5 6.0
Drive force [%] 100 85 73 63 54.5 47 41 35.5 31 27 24 21
Attraction force [%] 100 74 56 42 31 23 18 14 11 9 7.5 6.5
Tab. 3-2: Available drive and attraction force decrease with air gap increase
The mounting height must be determined and implemented
correctly in the mechanical design to obtain the desired air gap.
See chapter 4.8.7 "Magnet plate and coil mounting" on page 36
for the mounting height specifications related to air gap between
coil and magnet plate. The component dimensions of coils and
magnet plate should not be considered for determining the air
gap.
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continuous force
attraction force
air gap (mm)
percentage of nominal force (%)
magnets
carrier
coil
force
continuous force
attraction
Fig. 3-6: Available drive and attraction force decrease with air gap increase
The nominal attraction force at 0.5 mm air gap per coil is much higher than
the available drive force (see fig. 3-5 "Iron core coil force ranges (nominal air
gap of 0.5 mm)" on page 13), but this force decreases more than the drive
force when the air gap increases.
PTC sensor Coils incorporate a PTC sensor. The PTC sensor is used to detect a too high
temperature of the coil. An error mechanism in the LMS software allows a
timely detection to protect the coil against overheating. Separate connections
are available on the NY4074 system housing to connect the PTC sensors of
the coils. When the LMS uses the NY4079 system housing, the PTC sensors
are connected to the motor temperature evaluation inputs of the IndraDrive.
Parallel coils
Coils can be wired in parallel in an LMS to generate more power. A maximum
of 2 coils can be wired in parallel. Different types of coils can be wired in
parallel, but the following constraints apply.
● Coils must be of the same series (TM, or TL, or TB)
● Coils must have the same winding type (N, or S, or Z)
Two coil configurations are possible for parallel-wired coils.
parallel-coupled coils inline-coupled coils
Fig. 3-7: Parallel-wired coil configurations
Different aspects must be considered for both configurations. If
you consider the implementation of parallel-wired coils, always
contact Bosch Rexroth.
If coils are wired in parallel, make sure that the length of the
connection cables is identical.
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3.3.2 Carrier with magnet plates
The general function of the LMS is the movement of carriers from one
position to an other position on a track or to an other track. The carriers have
magnet plates (alternating north and south poles), mounted at the bottom or
on a side of a carrier. The movement of a carrier is realized by controlling the
coils, which are positioned in proximity of the magnet plates. The length of a
carrier can be equal to or larger than the length of the magnet plate. The
weight of the magnet plates is as follows.
● TM series magnet plates 2.85 kg/m
● TL series magnet plates 4.86 kg/m
● TB series magnet plates 13.5 kg/m
Standard magnet plates use NdFeB (Neodymium-Iron-Boron) magnets with a
polymer coating. These magnet plates have a maximum operating
temperature of 70 °C. Degradation of the magnet plate occurs at high
temperatures. No problems are expected when the environmental
temperature of the magnet plate is kept below 40 °C.
Two types of magnet plates are available for vacuum applications.
1. NdFeB magnets special treated during fabrication, without coating.
These magnet plates have a maximum operating temperature of
120 °C.
2. SmCo (Samarium-Cobalt) magnets without coating. These magnet
plates have a maximum operating temperature of 150 °C. SmCo
magnets have a lower magnetic field strength than NdFeB magnets.
The available force in drive direction is in general approximately 10%
lower when using SmCo magnet plates.
Further specifications of the available standard magnet plates for each coil
type are described in the NYCe 4000 Standard Housings & Accessories
manual.
The maximum acceleration of carriers is not defined, because the maximum
acceleration depends on the maximum available force. The velocity range of
the carriers is 0.02 m/s up to 5 m/s for a Hall sensor based track. The
maximum velocity depends on the maximum node frequency, see NYCe
4000 LMS User Manual for more information. See NYCe 4000 Standard
Housings & Accessories manual for the coil types. Furthermore, using the
same node frequency, the maximum velocity with an MR sensor based track
is half the velocity compared to a Hall sensor based track.
The carrier position is determined with Hall elements in the sensors on a Hall
sensor based track. The Hall elements measure the magnetic field strengths
of the magnet plates of the carrier. Therefore, the position accuracy mainly
depends on mechanical tolerances and magnetic field strength imperfections
of the magnet plates.
The carrier position is determined by sensors with Magneto-Resistive
elements (MR) in the sensors on an MR sensor based track. The MR
elements measure the magnetic field direction of a dedicated magnetic scale
attached to the carrier. Carrier positioning is more accurate with the MR
sensor system than with the Hall sensor system.
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3.3.3 Sensors
Two types of sensors for carrier positioning are available, Hall sensors and
MR sensors. See NYCe 4000 Standard Housings & Accessories manual for
detailed information of the LMS sensors.
Hall sensors Each sensor contains a pair of Hall elements. The Hall elements measure the
magnetic field strengths of the magnet plates of the carrier. The pair of Hall
elements gives a sine and cosine signal. A sufficient accurate position is
obtained using correction and interpolation. The Hall sensor signals are also
used for commutation.
The position accuracy can be divided in 3 categories. The attainable position
accuracy when the track is designed according to the mechanical design
rules are given in the following table.
Absolute accuracy +/-300 µm
Repeatable accuracy +/-20 µm
Absolute accuracy with CPA +/-100 µm
Tab. 3-3: Attainable position accuracy using Hall sensors
Position accuracy is undefined in the curved sections of a track.
CPA is the abbreviation of Carrier Position Adjustment. Briefly explained,
CPA compensates for inaccuracies due to imperfections in the magnet plate.
The magnet plate of a carrier is once measured in a separate setup using a
linear encoder with a high accuracy (order of magnitude ≤ 5 µm) and a
NYCe 4000 STD node. The STD node must contain one drive module, which
cannot be NY4120/10. Position data of the Hall sensor and linear encoder
are processed and a carrier-based compensation table is generated by the
CPA tool. See NYCe 4000 LMS Tools Manual for detailed information.
Make sure that the selected encoder meets the mechanical
tolerances of the track.
MR sensors Each sensor contains a pair of magneto-resistive elements. With these
elements the sensor measures the direction of magnetic fields. The sensor
works in combination with a dedicated magnetic scale with poles at 5 mm
distance. A sufficient accurate position is obtained using correction and
interpolation. For commutation, the sensor signals and carrier position (when
known by the system) is used. The position accuracy for MR sensors can be
divided in 2 categories. The attainable position accuracy when the track is
designed according to the mechanical design rules are given in the following
table.
Absolute accuracy +/-22 µm
Repeatable accuracy +/-5 µm
Tab. 3-4: Attainable position accuracy using MR sensors
MR sensors cannot be used in the curve of a track.
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Hardware overview and specifications
NYCe 4000 Linear motion system LMS Design Guide
Bosch Rexroth AG R911386072_Edition 07