Motion Control – Miniature Spiral Bevel Gearboxes from Gam!

New Miniature Spiral Bevel Gearboxes from Gam, Available from Electromate!

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Vaughan, Ontario, Canada — Motion Control Components – The VP Series Performance Plus miniature spiral bevel gearboxes pack high performance in a small package with the highest torque density, range of ratios, and torque capacity on the market.

  • Sizes 27, 33, and 45 mm
  • Highest torque density for the size
  • Ratios 1:1 to 4:1
  • 98% efficiency
  • Hollow output option (33 & 45 mm)

Our miniature VP Series is the best option available on the market for all your miniature automation applications, such as medical and semiconductor, when high performance is required and space is at a premium. The housings are manufactured from high-strength aluminum for a gearbox that is light weight, dissipates heat efficiently, and resists corrosion.

 

CLICK HERE For additional information on the GAM VP Miniature Spiral Bevel Gearboxes and Catalog

 

About Electromate:

Electromate’s Core Purpose is to help Manufacturers build better machines using differentiated automation technology. They specialize in Robotic and Mechatronic Solutions for the Industrial Automation marketplace. Respected by customers as a premiere source for High Performance Automation and Motion Control Components & Systems, Electromate® specializes in AC & DC Servo and Stepper Motors & Drives, Motion & Automation Controllers, Positioning Systems & Actuators, Feedback Devices, Gearing Products and HMI’s & Operator Displays, all supported via extensive product selection, just-in-timedelivery, dedicated customer service and technical engineering support.

More on Electromate can be found at

Website: http://www.electromate.com

LinkedIn: https://www.linkedin.com/company-beta/209277/

Twitter: https://twitter.com/Electromate

Facebook: https://www.facebook.com/electromateindustrial/

Google+: https://plus.google.com/104057418684128701566

Blog: https://electromate.wordpress.com/

Electromate Best Blace to Work

For more information on the “Best Place to Work”CLICK HERE!

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To see all of Electromate’s Products and Application Stories featured on MotionShop.com, enter electromate in the Google custom search box (upper left, above)

For further information on this new product or others in our extensive product portfolio, call 1-877-SERVO99 (737-8699) or e-mail Warren Osak at sales@electromate.com or visit Electromate at: www.electromate.com

Motion Control – Low Cost, Highly Reliable Solenoid Control Modules Available from OES!

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Van Nuys, CA – — Motion Control Components– – Optimal Engineering Systems, Inc. (OES) offers seven types of advance solenoid control modules including: Pick-and-Hold Driver, Proportional (PWM) Driver, Closed Loop Solenoid Process Control, Pick-and-Drop, Load On-Off Power Cycling, Dual Proportional Valve Controller, and Serially Controlled Solenoid Driver modules. Applications of these compact modules measuring just 3.000 in. x 3.000 in. include: Solenoids, valves, actuators (including Voice Coils), DC motors, electromagnets, hydraulics, LEDs, power amplifiers for electro-pneumatic proportional valves, and pressure and flow control valves.

To precisely fit an application there are multiple variations of each of the seven basic types of modules listed above to select from, for example: Single device – low side driver, two device – low side driver, single device – selectable low and high side driver, two device – selectable low and high side driver, +50 VDC or +80 VDC versions, currant versions, serially controlled, and Bi-directional load cycling versions to name just a few.

Stand features of these compact, low cost off-the shelf, modules are: High efficiency, microcomputer based, very high reliability, simple supply from +9 VDC to +50VDC, and High output current 15 Amps peak , 4 Amps RMS. The modules also incorporates a Flyback (Snubber, Freewheeling) Diode per Output device. For details on each type of module and all the variations available go to http://www.oesincorp.com/solenoidelectronics.htm.

Optional accessories are: Solenoid Commander card, Solenoid Control Module, DIN Rail Mounting Bracket, Track Ball and Joystick controllers, Solenoid Control System, and various solenoids. Additionally, all components can be order as a complete Plug-and-Play System.

About OES Optimal Engineering Systems, Inc. (OES) is a manufacturer of motion control products including: Stepper motor controllers and drivers, solenoid electronics, and positioning stages and slides. Applications include: Animation, automated assembly systems, automation, CNC machines, flight simulation, inspection systems, linear and rotary stages, machine tools, medical devices, motion control camera boom systems, optical comparators, CMMs, pan-tilt gimbals, PCB assembly & inspection, pick-and-place, positioning stages, robotics, scanners, security cameras, telescope drive mechanisms, time-lapse photography and winders

Some of the industries OES serves are: Aerospace, Astronomy, Chemical, Communications, Educational Institutes, University, Colleges, Government Agencies, National Labs, Manufacturing, Medical, Metrology, Military, Motion Control, Museum, News Agencies, Semiconductor and Test Equipment. Optimal Engineering Systems, Inc’s. competitive advantage is its state-of-the-art in-house manufacturing facility in North America enabling OES to supply clients with custom designed orders or high volume just-in-time deliveries globally.

For additional information contact Customer Service at Optimal Engineering Systems, Inc. (OES) , 6901 Woodley Ave, Van Nuys, CA 91406; Tel: 888-7071-1826, +1 (818) 222-9200, E-Mail: sales@oesincorp.com or visit the website at http://www.oesincorp.com

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Motion Control – Voice Coil Positioning Stage – VCS13-108-LB-01-MCF from H2W Technologies

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Santa Clarita, CA —– Motion Control – The VCS13-108-LB-01-MCF voice coil positioning stage uses H2W voice coil motor NCC13-30-108-1SH to generate a continuous/peak force of 10.8 lbs [48.0 N]/32.4 lbs [144 N] with a total stroke length of 1.3 in [31.8 mm]. The 1.0-micron resolution encoder allows for precise positioning. The load cell with signal conditioner (100 N capacity, 1 N resolution) allows for 1-100 N of push/pull force feedback. It comes supplied with a rigid recirculating ball linear bearing. The motor coil is the moving part of the assembly to reduce the moving mass of the system. Power is supplied to the motor via a high flex, high reliability flat ribbon cable.

 

Motor P/N NCC13-30-108-1SH 
Stroke 1.25 in 31.8 mm
Encoder Resolution 1 micron
Bearing Type Linear Bearing
Moving Mass 1.5 oz 0.42 grams
Total Mass 6 oz 2 grams
Resistance @ 20C 4.8 ohms
Inductance @ 20C 4.1 mH
Electrical Time Constant 0.9 msec
Motor Constant 2.3 lbs/vwatt 7.6 N/vwatt
Force Constant 5 lbs/amp 22.3 N/amp
Back EMF 0.5 V/ips 22.3 V/m/sec
Force @ 100% Duty 10.8 lbs 48 N
Power @ 100% Duty 23 watts
Current @ 100% Duty 2.2 amps
Force @ 10% Duty 32.4 lbs 144 N
Power @ 10% Duty 200 watts
Current @ 10% Duty 6.5 amps
Moving Part Coil Assembly

For Product Drawing CLICK HERE!

Voice Coil Positioning Stages – Overview –

The Voice Coil Positioning Stage is a compact, small footprint positioning stage. It is ideal for closed loop positioning applications with a short stroke where intricate position, velocity, and acceleration control is necessary.

Their compact size allows them to fit into small spaces. They have very low electrical and mechanical time constants. The low moving mass allows for high accelerations of light payloads.

The ironless core coil assembly has no magnetic attractive force to the stationary magnet assembly, which reduces the load on the bearing system, which increases the life of the bearing. There are no magnetic drag forces (hysteresis), which allows for higher accelerations.

These actuators are wound in such a way that no commutation is required for motion to occur. Electrical devices such as Hall Effects are not necessary. The result is a much simpler and more reliable system.

The VCS positioning stage incorporates the latest in linear motion technology:

Motors: non-commutated moving coil (NCC) or moving magnet (NCM) voice coil motors.

Bearings: Linear guidance and stiffness is achieved by using high precision ball slides or cross roller slides. Other types of bearings and bushings are available depending on the application.

Feedback: Non-contact optical or magnetic linear encoders with a center reference mark for homing. Typical encoder output is A and B square wave signals but sinusoidal output is available as an option. Analog feedback is available via LVDT or Force Transducer.

Limit Switches: Soft limits are typically used and monitored by the controller. But, if needed, end of travel limit switches may be included at both ends of the stroke. The switches can be either active high/low (5V to 24V). The limit switches can be used to shut down the amplifier or to signal the controller that an error has occurred. The limit switches can be an integral part of the encoder or can be mounted separately if required.

Hard Stops: Hard stops are incorporated into the ends of the stage to prevent over travel damage in the event of servo system failure.

 

Advantages:

  • Small Size, High Force to Weight Ratio
  • High Accelerations
  • No Cogging or Commutation
  • Custom Designs with Quick Turnaround Times
  • High Flux Density Neodymium Magnets are Used
  • Low Cost Economical Solution

Applications:

  • Mirror Tilt and Focusing
  • Z Axis for Pick and Place Equipment
  • Medical Diagnostic Probes and Laser Beam Steering
  • Vision Inspection
  • Miniature Position Control
  • Clean room

Stages can be ordered for any stroke up to 2 inches and any continuous force up to 100 lbs. The stages are built as the orders are placed, they are not stocked, as each customer requirement is different.

It should be noted that for both types of actuators (NCC & NCM) used for these stages, longer strokes are available but the efficiency or motor constant (Km) decreases as the stroke increases. This is due to the fact that the motor constant is inversely proportional to the stroke. If higher efficiency is desired for longer stroke actuators, the coil assembly can be wound as a multiphase coil and then it will have to be commutated. Please consult the factory for long stroke applications.

CLICK HERE to request a QUOTE

YouTube Videos

https://www.h2wtech.com/category/voice-coil-stages#videos1

About H2W Technologies, Inc.

H2W Technologies, Inc. is dedicated to the design and manufacture of linear and rotary motion products that are used in the motion control industry. The complete line of linear electric motors includes: Single and dual axis linear steppers, DC brush and brushless linear motors, voice coil actuators, and AC induction motors. Also offered is a complete line of ball screw, lead screw and belt driven positioning stages.

Other motion control products include: Limited angle torque motors for compact, limited angular excursion rotary servo applications, 3 phase brushless rotary servo motors with matching digital servo amplifiers and permanent magnet linear brakes for fail-safe, zero power braking for baggage handling and people moving applications as well as amusement park rides.

With over 75 years combined experience in the linear and rotary motion field, the H2W Technologies team of engineers offers the optimal solution to the most demanding motion control, requirements.

To see all of H2W Technologies’ Products and Application Stories featured on MotionShop.com, enter h2w in the Google custom search box (upper left, above)

See Article: https://www.h2wtech.com/product/voice-coil-stages/VCS13-108-LB-01-MCF

See Product: https://www.h2wtech.com/category/voice-coil-stages#specifications1

For additional information contact Mark Wilson at H2W Technologies, 26380 Ferry Ct, Santa Clarita, CA 91350; Tel: 888-702-0540, Fax: 661-251-2067, E-Mail: info@h2wtech.comor visit the website at http://www.h2wtech.com

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Motion Control Application – Maxon Motor’s Exoskeleton Joint Actuator!

Motion Control – Application – Reliable, Powerful, Efficient

 motion control - Application - Exoskeleton Drive

 

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Fall River, MA — Motion Control Components Application – Maxon Motor developed an exoskeleton drive for use in robotic limbs. This complete joint actuation unit consists of a pancake brushless DC motor with inertia optimized rotor. Also included is an internal high resolution encoder, planetary gearhead with absolute encoder and a position controller with CAN and RS232 interface. Fitting absolute encoder directly at the joint rotation provides designers increased positioning accuracy.

The unit delivers 54Nm of continuous torque and 120Nm on a 20% duty cycle and may be operated on supplies between 10 and 50V DC and the actuation speed is up to 22rpm. Other key features include: compact housing, integrated controller and reduced weight and cost. The ideal choice for use in Hip and Knee Exoskeletons.

Contact maxon for more details info@maxonmotorusa.com

Comprehensive documentation and software are included with every delivery, and are also available for you to download from our website at www.maxonmotor.com.

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5 Micron Resolution, Zero Backlash, Zero Cogging, High Speed Direct Drive Linear Motor With Integrated Encoder!

 

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Van Nuys, CA – Motion Control Components – Moticont has added another linear motor to its SDLM Series of high speed direct drive linear motors which are also know as Electric Cylinders. The SDLM-051-095-01-05 is a powerful, compact linear actuator measuring just 2.00 in. (50.8 mm) in diameter and 3.75 in. (95.3 mm) long. It has a 1.0 in. (25.4 mm) stroke and features a resolution of 5 microns (0.000197 in.). The integral, linear optical quadrature encoder is directly connect to the shaft for the greatest possible bandwidth and accuracy and is protected by the housing. This fully enclosed linear motor features a continuous force rating of 7.6 lbs (33.9 N) and a peak force of 24.1 lbs. (107.2 N) at 10% duty cycle. Applications Include: Vibration, noise cancelation, photonics, gimbals, antenna positioning, medical devices, semiconductor handling, SMT machines, assembly, wafer handling, optical focusing, dynamic vibration absorption, scanners and laser beam steering and.

The non-commutating SDLM-051-095-01-05 with 5 micron resolution Direct Drive Linear Motor has a quiet long life plain linear bearing, non-rotating shaft, pre-drilled and tapped mounting holes, and threaded (internal) ends of the shaft for easy integration into new and existing applications. These low cost direct drive actuators or electric cylinders are coupled directly to the load providing high acceleration and high speed with zero cogging and the zero backlashes that occurs in other drive systems such as ball screws, gear, and rack and pinion drives.

They make an excellent, low cost alternative to pneumatic and hydraulic actuators. The SDLM-025-095-01-05 Direct Drive Linear Actuator is also available with a complete plug-and-play matching motion controller.

About Moticont – Moticont is a manufacturer of motion control products. Their product line includes voice coil motors, three phase brushless motors and positioning stages and slides.

Moticont is committed to exceeding Our customers’ quality expectations and industry standards throughout the design, manufacturing, service and technical support phases. Our modern manufacturing facility, highly controlled processes, committed staff, and extensive testing complement our product design strengths. This enables us to supply our clients with specialized small orders to high volume just-in-time deliveries.

We offer an extensive line of standard products ready to be shipped immediately from stock, and when standard products are not quite right for an application, highly trained design engineers are always available to develop custom motion control products to fit the specific needs or our customers.

For additional information contact Sales Team at Moticont, 6901 Woodley Ave, Van Nuys, CA 91406; Toll Free: +1 (888) 785-1804, Tel: +1 (818) 785-1800, moticont@moticont.comor visit the website at http://www.moticont.com

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Motion Control – Custom Linear Mechanisms

Custom Linear Mechanisms from Steinmeyer …

Welcome to Where Precision Is.  You Can Turn to Steinmeyer for Design and Assembly of Custom Linear Mechanisms for your Precision Positioning Systems
Modern mechatronic systems consist of numerous precision components that must be assembled in complex configurations. Here, every detail counts.Steinmeyer Mechatronik, a division of August Steinmeyer GmbH, offers design and assembly services for a variety of demanding applications.We have deep experience in medical devices, laboratory instrumentation, optical inspection & semiconductor positioning. Our engineers can implement your finished design or optimize your concept.

For Example …

Mask Aligner for Laser Microstructuring

High-precision positioning in semiconductor technology

The mask system provides the fine adjustment and exact alignment of exposure masks in semiconductor lithography. The XY theta adjustment has three linear axes (two vertical and one horizontal) and has a parallel kinematic structure. The two vertical axes generate vertical stroke (same movement) as well as rotation (opposite movement). Parallel alignment of the three drives enables movement in three degrees of freedom; mechanical redundancy in determination is thus ruled out.

Special materials for use in demanding environments

The mask system was specially developed for use under ultraviolet radiation and in an ultra-dry nitrogen atmosphere. These specific environmental conditions require special materials and lubricants. Thus, to minimize stray radiation, all structural parts are coated with a Bilathal coating that absorbs ultraviolet radiation. It also uses a highly specialized lubricant based on perfluoropolyether. PFPE oil exhibits excellent chemical stability and extremely low outgassing even under ultraviolet radiation. It is also thermally stable, non-flammable and insoluble in water, acids, bases and most organic solvents.

Optimized maintenance concept

For maintenance, the system can be moved laterally out of the optical axis into service positions. A magnetically pre-stressed quick-change mechanism provides quick and easy replacement of the mask in just a few steps when necessary. Maintenance of the motors and initiators, which are designed as exchangeable modules, is just as uncomplicated

Steinmeyer has decades of experience in precision assembly. All of our systems, whether single or multi-axis, are manufactured carefully. Our high standards, monitored continuously through vigorous quality systems, are evident in every assembly we produce. We pay attention to every detail.


Trust Steinmeyer With Linear Mechanism Solutions:

    • We can assemble custom linear mechanisms of all sizes – from miniature actuators using 3 mm linear rails, to 3 m long lifting mechanisms.
    • As an added value, our engineers will offer innovative ideas for optimizing your design.
    • We can quote a completely assembled module, including sourcing of key components!
    • We offer our customers the advantage of a close working relationship, enabling us to provide you with the best possible solution to meet your needs.

Contact Person for Custom Linear Modules

Bruce Gretz

Phone: 781-273-6220

Bruce Gretz   bruce.gretz@steinmeyer.com

About Steinmeyer

In the realm of linear motion control, Steinmeyer is synonymous with precision, innovation, and exacting standards of quality. We are the world’s longest continuously-operating manufacturer of commercial ball screws, our main product line. As an added value, we offer customized linear modules from our highly innovative and experienced Mechatronik division. Designed and manufactured in Germany, our products are used globally in precision positioning for medical devices, lab instruments, and other mechatronic applications. Steinmeyer engineers will work closely with you to customize our offering to deliver a solution that meets your technical requirements and budget.

For further information on Steinmeyer our extensive product portfolio, call 1-781-273-6220 or visit Steinmeyer at: www.steinmeyer.com

 

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Motion Control – LARGE AREA Travel (300 mm x 300 mm and 600 mm x 300mm) XY STAGES!

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Philadelphia, PA, — Motion Control Components and Systems – The demand for a high accuracy, robust, XY stages is met with IntelLIDrives stages that address the unique needs of scanning microscopy, wafer and printed circuit board inspection, automated assembly and wide range of specimens and samples scanning in many types of imaging techniques and applications.

Very precise fine positioning and control is easily achieved through the combination of a stable closed-loop control system and an associated joystick option. In addition, the stages can be combined with our Z Stages to form an XYZ stage ideally suited for laser scanning microscopy.

These stages can be motorized with stepper motors and brush-less servo motors with encoders

Optional high-resolution, non-contact linear encoder is available. This non-contact encoder offers exceptional repeatability and stability over a range of operating conditions. Both digital and analog output versions are available with resolutions in sub-micron range.

Table XY-BSMA-300x300WJ
XY-BSMA-600x300WJ
Stroke X x Y 300×300 mm
600×300 mm
Ball screw lead 4 mm
Motor mounts  Nema23
Motor type stepper

servo with encoder (4000cpr)

Repeatability ± 10 microns
Load capacity 40 kg
Max screw speed 10 RPS (stepper)

25 RPS (servo/encoder)

The Engineering Edge – What’s the Difference?

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About LM76 and “The Engineering Edge”

Founded in 1976, LM76 has been a leading designer/manufacturer of linear bearings, slides and linear motion systems. LM76 is renowned for its industry leading Minuteman PTFE Composite linear bearings. LM76 is a leading supplier of precision linear shafting: RC60, 300 Series Stainless Steel, and ceramic-coated aluminum shafting. LM76 also offers several FDA/USDA compliant linear bearings and slides for the food processing, pharmaceutical, medical, and packaging industries.

When others think catalog …   … LM76 thinks solution!

For additional information contact Mike Quinn at: LM76, 140 Industrial Dr., E. Longmeadow, MA 01028; Telephone: 413-525-4166, Fax: 413-525-3735 or E-Mail: mquinn@lm76.com or visit the website at http://www.lm76.com

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Advanced Manufacturing and Materials Have Made an Innovative, Highly Efficient Traction Drive Possible!

 

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North Babylon, NY – Rolling Motion Industries (RMI) has released two high efficiency traction drives. The MAR-17-1-2.1 Traction Drive and the MAR-23-1-2.1 Traction Drive. These are 1-Way traction drives with only six moving parts and use an engineered traction fluid with a coefficient of friction of just 0.1 to 0.12. These traction drives typically last three times longer than conventional gearboxes and with no metal to metal contact these high efficiency drives generate up to 72% less heat after 24 hours of continuous operation, Additionally they create up to 38% lower dB at 3000 rpm (less than a home refrigerator) than conventional gearboxes. Even though there is no metal to metal contact there is no slippage or lost motion between the input and output shafts.

The MAR17-1-2.1 Traction Drive is designed for speeds to 3600 rpm with 10 to 20 in/lbs of torque, and the MAR-23-1-2.1 Traction Drive is rated for 3600 rpm with 20 to 30 in/lbs of torque. Operating at temperatures that are lower than a motor’s, with low vibration, and no torque losses from 10 to 3000 rpm, these traction drives permit a motor to operate at peak efficiency. Applications for these 1-Way traction drives which can operate in explosive environments (ie. zone 1 and 21) include: Pumps, blowers, fans, turbo and super chargers, conveyers, HVAC systems, medical applications, and other power transmission and motion applications.

These revolutionary drives are available with an optional overriding clutch. Incorporating standard NEMA mounting dimensions, these drives can be easily integrated into new and existing applications.

About Rolling Motion Industries (RMI)-

About Rolling Motion Industries (RMI): In 1993 John Pawloski and his brother Ray took over the family business, Jewelers Machinist Co. They realized they needed to switch from outdated conventional thread grinders to CNC thread grinders. As a result, Jewelers Machinist Co is recognized as the source of some of the most complex thread grinding in the industry. The concept for the RMI traction drive came from John in 2007. Working in that high precision industry aided John in the development of the RMI Traction Drive.

In the years that followed, the design of the individual components and formula of the engineered traction fluid were finalized, testing was completed, a patent granted, and production begun. The RMI Traction Drive is one of the most efficient ways to transmit power from one point to another. Utilizing rolling motion, RMI is able to transfer power at various ratios with minimal energy loss. Tested against V-belt, direct drive, chain, and gearbox setups, RMI Traction Drives offer energy saving benefits through true efficiency rating percentages up to 98%. The high efficiency of the traction drive allows electric motors to run at their peak efficiency ranges.

There are many applications where it can be used from automotive to industrial to medical. The RMI traction drive can be used in the electric vehicle market and precision applications. Offering benefits such as low backlash and no back driving, it set a new standard for “high efficiency”.

For additional information contact our sales team at Rolling Motion Industries, 400 Columbus Ave, North Babylon, NY 11703 Tel 860-846-0530, E-Mail info@RMIDrive.com or visit the website at http://www.RMIDrive.com

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Motion Control – High Speed, High Force, Sub-micron Positioning, Voice Coil Stage Features 20 mm Aperture!

Motion Control Miniature Stage

Sunnyvale, CA, — — High speed, high force, sub-micron, >300 nanometer (1.1811 10-6 in.) positioning resolution, cross roller voice coil stages are self contained, compact, and can be mounted in a horizontal or vertical axis. The high speed, 20 mm (0.7874 in.) travel, Equipment Solutions’ Motion Control VCS-2020 Voice Coil Stage features a 20 mm dia. aperture. An integrated Analog position feedback sensor assures 100 nanometer (3.937 10-6 in.) repeatability. This compact voice coil stage is ideal for such micro-positioning applications as: Scanning interferometry, disk drive testing, auto focus systems, surface structure analysis, confocal microscopy, biotechnology, and semiconductor test equipment.

The compact 117 mm 75 mm 81 mm (4.60 in. 2.96 in. 3.18 in.), low mass, voice coil stage is a fully self-contained system including a high precision cross roller stage, voice coil actuator, analog position sensor, servo amplifier and servo controller. The low inertia cross roller stage is integral to the standard threaded “C” lens mount and motor coil for tip/tilt free motion. Custom lens mounts are available. The voice coil motor is rated at 17.8 N (4 lbs.) continuous force and 71.8 N (16 lbs.) peak for 10 seconds and is clean room compatible. For easy integration into a new or existing application the VCS-10H Voice Coil Stage has multiple sets of mounting holes on several surfaces.

Equipment Solutions, Inc. (ESI) is a provider of engineering and manufacturing services. ESI specializes in the design and production of automation and instrumentation products including motion control components and sub systems. ESI’s products range from galvanometer amplifiers with an integrated arbitrary waveform generator, to high-resolution displacement sensors, voice coil and stepper motor stages, amplifiers and controllers.

For additional information contact Jeff Knirck at Equipment Solutions, 1098 W. Evelyn Ave. Suite #102; Sunnyvale, CA 94086; Tel: 408-245-7161, Fax: 408-245-7160, E-Mail: info@equipsolutions.com or visit the Website at http://www.equipsolutions.com

 

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