Robot Internal Structure - Yamaha PHASER MF User Manual

3.

Robot internal structure

The YAMAHA linear single-axis robot PHASER series MF type is a truly innovative single-
axis robot using a linear motor as its drive source. The internal robot structure and features
are described here.
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WARNING
The following drawings and descriptions are given to assist in understanding
and safely using the PHASER series robots. Do not attempt to disassemble
the robot. Powerful permanent magnets are fixed by adhesive to the
magnetic plate so disassembly without proper preparation is hazardous.
Also, the required performance may not be obtained.
PHASER series internal layout
Magnet plate
The robot contains powerful permanent magnets laid out at equally spaced intervals. The
magnetic field generated by these permanent magnets is utilized as propulsive power by
the robot.
Moving coil
The slider contains an internal moving coil. Passing current through this coil changes the
magnetic flux from the magnetic plate into a propulsive force. Passing current through the
coil also generates heat but heat sink fins efficiently dissipate this heat.
Structure
Moving coil (internal)
Magnet plate
Moving coil
Magnet Magnetic scale
210
Robot internal structure
<MF50>
Magnetic head
Magnetic scale
Linear motion guide
<MF50>
88
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