Linear Piezomotor LRMO-LG Series

Piezo Motor Company’s novel series of linear piezoelectric motors represent a quantum leap in design construction of compact, high-precision, performance linear motor technologies.

This new range of linear motors combines superior nanometer precision and ultrafast response at a very economical cost.

Motion Control Options

Piezo Motor Company’s rotary motors are available with or without factory-fitted encoders. Fully closed-loop systems are also available:Motion control is achieved using the electronic driver board, designed to offer an economical interface for user control.

Electronic Driver Board Interface Supports UART & I²C

The driver PCB supports UART and I²C interfaces, enhancing its adaptability. Each board is pre-programmed for the specific motor model, allowing for software configurability, optimizing drive signals, and integrating controls. Motor operation can be finely regulated by user through closed- loop control with an optional encoder installed on the motor/actuator.

Closed-loop Systems with Python API

PMC’s new Python API allows for feedback from the piezomotors’ encoder to be fed to the driver board, closing the loop. The position and speed of the motor can be controlled through an elaborate set of Python API commands, accessible via the MicroUSB port.

Performance and Benefits of LRMO-LG Series Rotary Motors

IMPROVED RESOLUTION

With a control step size of just 0.05 µm at full thrust or holding force, these linear motors offer 20,000 steps per mm of control.

FASTER REACTION TIME

Within 20 µs to 30 µs the piezo motor has made its first step, and motion has commenced compared to a stepper motor with a typical 5 ms to start motion.

HIGH-FORCE DENSITY

For their size and weight, these motors offer superior force density, particularly when compared with stepper and lead screw solutions.

ENERGY AND COST SAVINGS

The piezo motor consumes zero power at holding force and very low power at slow speed (0.06 W at 1 mm/s), yielding the possibility of very efficient overall duty.

SPECIAL PROPERTIES

Piezo Motor Company motors are immune to EMI and RF interference and have no emissions, making them ideal for a range of sensitive applications. For specialized applications (including MRI) please contact our technical team.

ECONOMICAL DESIGN

The innovative design and patent-protected technology packaged in stable reinforced thermoplastic makes this high-performing automation affordable for OEM equipment designers.

LIGHTWEIGHT

Our piezo motor contains no copper windings, iron laminations, or permanent magnets and is significantly more powerful by weight than EM solutions. This makes them ideally suited to weight-critical applications.

MOTOR SPECIFICATIONS

Specification	Standard	Encoder
Driver Board P/N	ROLR-LG-PCB	ROLR-LG-CL-PCB
Power Supply Voltage	12 V	12 V
Push/Pull Force	≥ 4.0 N	≥ 4.0 N
Self-Braking Force	≥ 4.0 N	≥ 4.0 N
Motor Response Time	≈30µs	≈30µs
Max Speed	200 mm/s	140 mm/s
Travel Range	9.0 mm	9.0 mm
Minimum Linear Step	<0.04 µm	<0.04 µm
Encoder Resolution (after quadrature)	N/A	2.66 µm
Minimum Controlled Linear Step	N/A	2.66 µm
Uni-directional Repeatability	N/A	2.66 µm
Linear Backlash at Change of Direction	≤ 0.1 µm	≤ 0.1 µm
Elastic stiffness	≈ 220 mN/µm	≈ 220 mN/µm
Linear Hysteresis	≤ 2.0 µm	≤ 2.0 µm
Pitch	≤450 µRad	≤450 µRad
Maximum Moment Mx	0.07 Nm	0.07 Nm
Roll	≤225 µRad	≤225 µRad
Maximum Moment My	0.12 Nm	0.12 Nm
Yaw	≤450 µRad	≤450 µRad
Maximum Moment Mz	0.9 Nm	0.9 Nm
Vertical Runout	3.0 µm	3.0 µm
Horizontal Runout	6.0 µm	6.0 µm
Frequency Response	4 kHz	4 kHz
Operating Temperature	-20 to 80 °C	-20 to 80 °C
Max Current over velocity range	350 mA	350 mA
Motor Weight	22 g	25 g
Motor Dimensions	40x31x11 mm	40x31x11 mm
Driver PCB Dimensions	40x63x25 mm	40x63x25 mm
Driver PCB Weight	25 g	25 g

LRMO-LG Series

LRMO-LG Series Linear Motor with Encoder

LRMO-LG Series Linear Standard Motor

Speed-Force Curve for LRMO-LG Series Linear Motor

Principle of operation

The ROMO rotary piezo actuator operates based on a US patented technology. Electrical excitation of its piezoceramic body, or resonator, induces simultaneously two independent longitudinal and bending ultrasonic standing waves in two perpendicular directions. This action generates elliptical vibrations at the resonator’s center, resulting in linear motion of the motor, which is passively in contact with the resonator body.

LRMO-LG Series dimensional drawings

STANDARD MODEL

ENCODER MODEL

Motor control

The control of the LRMO-LG Linear Motor is straightforward, each motor requires a driver board. This board will convert desired motion input instructions to the necessary electrical processes using specific frequency and amplitude values. This creates excitation of the piezo resonator and makes the motor perform the desired motion. For motors with a encoder, a daughter board is attached to the driver board to provide both closed-loop feedback as well as serial interfacing for external programming capabilities via Piezo Motor Company’s software or serial commands.

OPEN LOOP

The driver board can be controlled using an external signal source PWM (Pulse Width Modulation) mode. Control signals are applied to the External Signal Connector to generate the desired rotation and speed. Control of speed using PWM is implemented by varying the pulse duration and repetition rate of input signals onto the two directional control pins. Size of step is determined by the pulse duration, and speed is determined by pulse rate. The minimum pulse duration is approximately 30 µs.

CLOSED-LOOP

Pre-programmed motion control algorithms enable the implementation of several commands for specific motion control. The key commands are for defining the speed and the movement to a defined position. These commands are resident within a library which can be accessed using either Piezo Motor Company’s control software or via the serial port using TTL serial commands. Motor Control can also be implemented with Python commands using Piezo Motor Company’s Motor API.

Electronic PCB Driver for LRMO-LG Series Piezomotors

ELECTRONIC DRIVER

Control architecture & options

Piezo Motor Company motors are available as a basic motor or with a fitted encoder. Piezo Motor Company electronic drivers are available as open-loop or closed-loop drivers which are fitted with an encoder daughter board. Motors can be simply controlled in open-loop mode with several options for achieving closed-loop motion control. To learn more, visit https://piezomotors.com/

DRIVER BOARDS ROMO-LG & LRMO-LG SERIES

Evaluation Kits

ORDERING INFORMATION

Full range of evaluation kits available. Each kit includes motor, driver board pcb, cables, 5 VDC or 7.5 VDC power adapter & user manual. Encoder kit version also includes factory-fitted magnetic encoder with cable and connector.

Motor Type	LRMO-LG	LRMO-E-LG
Model	LRMO-LG	LRMO-E-LG
Part Number	LRMO-011-0280	LRMO-011-1280
Encoder	without Encoder	with Optical Encoder
Enclosure	Plastic Enclosure	Plastic Enclosure
Resolution	50 nm = 20,000 steps per mm of travel	50 nm = 20,000 steps per mm of travel
Max Speed	>0.2 m/s	>0.2 m/s
Response Time	< 30 μs	< 30 μs
Supply	12 V DC	12 V DC
Kit Ordering Number	LRMO-LG-KIT	LRMO-E-LG-KIT
Part	LRMO-011-0281	LRMO-011-1281
Supply (Kit)	110/240 VAC to 12 V DC power adapter	110/240 V AC to 12 V DC power adapter
Includes	Linear motor with Plastic Enclosure; power adapter, cables	Linear Motor with encoder; power adapter, cables

For OEM and custom inquires, contact us at info@piezomotorco.com

LRMO-LG Series ordering Information

LRMO-LG	LRMO-011-0280	Linear Motor without Encoder, Plastic Enclosure, Resolution: 50 nm = 20,000 steps per mm of travel, Max Speed: >0.2 m/s, Response Time: < 30 µs, Voltage: 12 V DC	Power Supply Voltage 12.0 V DC Push/Pull Force ≥4.0 N Self-Braking Force ≥4.0 N Motor Response Time < 30 µs Travel Range 9.0 mm Max Speed (continuous mode) ≥200 mm/s Minimum Linear Step <0.05 µm Linear Backlash at Change of Direction n/a Elastic Stiffness n/a Linear Hysteresis n/a Pitch <450 µRad Maximum Moment Mx 0.07 Nm Roll <225 µRad Maximum Moment My 0.12 Nm Yaw <450 µRad Maximum Moment Mz 0.9 Nm Vertical Runout 3.0 µm Horizontal Runout 6.0 µm Frequency Response 4 kHz Operating Temperature -20 °C to 80 °C Maximum Load (at listed specification) 400 g Maximum Tolerable Load 4.2 kgf Max Current (continuous mode) 350 mA Max. Current at the velocity 10mm/s (PWM mode) 30-40 mA Motor Weight 22 g Motor Dimensions 40x31x11 mm
LRMO-LG-KIT	LRMO-011-0281	Linear Motor Evaluation Kit without Encoder, Includes; Linear motor with Plastic Enclosure, Resolution: 50 nm = 20,000 steps per mm of travel, Max Speed: >0.2 m/s, Response Time: < 30 µs, 110/240 VAC to12 V DC power adapter, cables	Power Supply Voltage 12.0 V DC Push/Pull Force ≥4.0 N Self-Braking Force ≥4.0 N Motor Response Time < 30 µs Travel Range 9.0 mm Max Speed (continuous mode) ≥200 mm/s Minimum Linear Step <0.05 µm Linear Backlash at Change of Direction n/a Elastic Stiffness n/a Linear Hysteresis n/a Pitch <450 µRad Maximum Moment Mx 0.07 Nm Roll <225 µRad Maximum Moment My 0.12 Nm Yaw <450 µRad Maximum Moment Mz 0.9 Nm Vertical Runout 3.0 µm Horizontal Runout 6.0 µm Frequency Response 4 kHz Operating Temperature -20 °C to 80 °C Maximum Load (at listed specification) 400 g Maximum Tolerable Load 4.2 kgf Max Current (continuous mode) 350 mA Max. Current at the velocity 10mm/s (PWM mode) 30-40 mA Motor Weight 22 g Motor Dimensions 40x31x11 mm
LRMO-E-LG	LRMO-011-1280	Linear Motor with optical Encoder, Plastic Enclosure, Resolution: 50 nm = 20,000 steps per mm of travel, Max Speed: >0.2 m/s, Response Time: < 30 µs, 12 V DC	Power Supply Voltage 12.0 V DC Push/Pull Force ≥4.0 N Self-Braking Force ≥4.0 N Motor Response Time < 30 µs Travel Range 9.0 mm Max Speed (continuous mode) ≥200 mm/s Minimum Linear Step <0.05 µm Encoder resolution after quadrature 2.66 µm, Minimum Controlled step 2.66 µm, Unidirectional repeatability 2.66 µm Linear Backlash at Change of Direction n/a Elastic Stiffness n/a Linear Hysteresis n/a Pitch <450 µRad Maximum Moment Mx 0.07 Nm Roll <225 µRad Maximum Moment My 0.12 Nm Yaw <450 µRad Maximum Moment Mz 0.9 Nm Vertical Runout 3.0 µm Horizontal Runout 6.0 µm Frequency Response 4 kHz Operating Temperature -20 °C to 80 °C Maximum Load (at listed specification) 400 g Maximum Tolerable Load 4.2 kgf Max Current (continuous mode) 350 mA Max. Current at the velocity 10mm/s (PWM mode) 30-40 mA Motor Weight 25 g Motor Dimensions 40x34x11 mm
LRMO-E-LG-KIT	LRMO-011-1281	Linear Motor Evaluation Kit with optical Encoder, Includes; Linear Motor with encoder, Plastic Enclosure, Resolution: 50 nm = 20,000 steps per mm of travel, Max Speed: >0.2 m/s, Response Time: < 30 µs, 110/240 V AC to 12 V DC power adapter, cables	Power Supply Voltage 12.0 V DC Push/Pull Force ≥4.0 N Self-Braking Force ≥4.0 N Motor Response Time < 30 µs Travel Range 9.0 mm Max Speed (continuous mode) ≥200 mm/s Minimum Linear Step <0.05 µm Encoder resolution after quadrature 2.66 µm, Minimum Controlled step 2.66 µm, Unidirectional repeatability 2.66 µm Linear Backlash at Change of Direction n/a Elastic Stiffness n/a Linear Hysteresis n/a Pitch <450 µRad Maximum Moment Mx 0.07 Nm Roll <225 µRad Maximum Moment My 0.12 Nm Yaw <450 µRad Maximum Moment Mz 0.9 Nm Vertical Runout 3.0 µm Horizontal Runout 6.0 µm Frequency Response 4 kHz Operating Temperature -20 °C to 80 °C Maximum Load (at listed specification) 400 g Maximum Tolerable Load 4.2 kgf Max Current (continuous mode) 350 mA Max. Current at the velocity 10mm/s (PWM mode) 30-40 mA Motor Weight 25 g Motor Dimensions 40x34x11 mm

Driver Boards - LRMO-LG Series

ROLR-LG-PCB	ROLR-LG-PCB	Standard 12 VDC Driver board for ROMO-LG and LRMO-LG	Standard 12 VDC Driver board for ROMO-LG and LRMO-LG
ROLR-LG-CL-PCB	ROLR-LG-CL-PCB	Close-Loop Driver PCB 12 VDC for use with ROMO-E-LG and LRMO-E-LG	Close-Loop Driver PCB 12 VDC for use with ROMO-E-LG and LRMO-E-LG

Linear Piezomotor LRMO-LG Series