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Effective URL: https://www.pi-usa.us/en/tech-blog/study-interaction-and-function-of-nonmagnetic-ceramic-motors-and-rotation-stages-in...
Submission: On September 14 via api from US — Scanned from DE
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Study – Interaction and Function of Nonmagnetic Ceramic Motors and Rotation
Stages in Strong Magnetic Fields
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STUDY – INTERACTION AND FUNCTION OF NONMAGNETIC CERAMIC MOTORS AND ROTATION
STAGES IN STRONG MAGNETIC FIELDS
MATERIALS, DESIGN, TEST DATA OF PILINE® PIEZO MOTOR-DRIVEN POSITIONING STAGES IN
MAGNETIC FIELDS
1 OVERVIEW
There are several types of piezoelectric ceramic motors, such as resonant motors
and inertia motors, that are employed as the driving force in precision motion
systems, for example linear motion stages and rotary positioning stages. In this
study, we are looking at direct-drive ultrasonic resonant motors known as
PILine® motors. The direct-drive design enables very low response times and
highly precise positioning performance without backlash. The preloaded operating
principle of PILine® motors makes them hold a position even when powered-off. In
addition, the piezoceramic drives are not influenced by magnetic fields and do
not exhibit magnetic fields.
This blog aims to give a better understanding of the use of PILine® precision
motion stages in strong magnetic fields, or in environments where the drive
needs to behave neutrally in a magnetic sense.
2 OPERATING PRINCIPLE OF PILINE® CERAMIC MOTOR POSITIONING SYSTEMS
At the core of every PILine® motor driven linear or rotary stage is a
piezoelectric actuator that is preloaded against a runner using a coupling
element (see Fig. 1).
Fig. 1 Schematic design of a PILine® ultrasonic direct-drive piezo motor: A
piezoelectric ultrasonic transducer is preloaded against a runner. The piezo
transducer is stimulated to oscillate by an electric high frequency current.
These oscillations are converted into a forward motion that is transmitted to
the runner via a coupling element (Image: PI).
Video: Functional principle of ultrasonic linear motor stages and rotary stages,
showing the bending modes of rectangular and ring-shaped piezo transducers and
force transmission.
When an electric field is applied, the inverse piezoelectric effect causes the
piezoceramic transducer to deform. The deformation takes place at crystalline
level within the material and is hence, not affected by magnetism. That is why
PILine® ultrasonic motors do not interact with magnetic fields.
These properties allow for two application fields for piezo motors:
* Operation in strong magnetic fields
* Use in a sensitive environment without influencing existing magnetic fields
Piezoelectric motors can be operated in open-loop mode, however there are no
defined “indents” as with stepper motors. For precision positioning applications
with high repeatability, a position sensor (linear or rotary encoder) is added
to provide feedback to a closed-loop motion controller. Typical PIline® motor
driven linear stages, such as the U-780 XY microscope stage, are available with
travel ranges up to 135mm. Depending on the size and encoders, velocities of
200mm/sec and resolutions of 10nm are feasible. For rotary tables such as the
U-651 that use two rectangular piezo transducers at 180 degree spacing, up to
540deg/sec closed-loop angular velocity with 4µrad encoder resolution can be
achieved. When "at rest", or powered down, the piezoceramic motors are
self-clamping with excellent in-position stability. Another advantage of
piezoelectric direct drive motors is their minute size, allowing for the design
of high precision, yet very small linear and rotary stages. In the following, we
are looking at the behavior of the U-624 miniature rotary stage, which is the
second smallest standard rotary stage available from PI based on an ultrasonic
motor.
ELECTRON MICROSCOPY: NONMAGNETIC DRIVES AND STAGES FOR VACUUM
3 MATERIALS IN MAGNETIC FIELDS
When a material is introduced into a magnetic field, it starts to interact
physically. These interactions can influence the desired magnetic field to an
unacceptable extent or can also disturb the function of electro-mechanical
systems in the magnetic field. If these interactions are adverse, traditional
electromagnetic motors cannot be used and instead so-called "nonmagnetic" drives
are employed.
In nature, there are various forms of magnetism that cause different degrees of
physical interaction.
3.1 DIFFERENTIATION BETWEEN DIAMAGNETIC, PARAMAGNETIC, AND FERROMAGNETIC
MATERIALS
Sources: [1] [2] [3]
Materials can be divided into three groups with different magnetic properties.
Here, the interactions within a body that are caused by the external stimulus
play an important role. To differentiate, we may consider the mathematical
dependency of the magnetic field.
The magnetic flux density B (or, in everyday language, magnetic field) is linked
with the magnetic stimulus H via the permeability. The permeability is made up
of the natural constants of the permeability µ0 and the material-based relative
permeability µr. In everyday life, the magnitude of the magnetic flux density
ranges from the strength of the earth's magnetic field with 20-70µT [4] to
magnetic resonance scanners with 7T [5].
Diamagnetic materials form a field that opposes the external stimulus. This is
because the moving electrons in the material are deflected by the external
field, causing the buildup of a field that opposes the external field. The
following applies for the relative permeability< 1. The diamagnetic effect is
very minor, disappears when the external field is switched off, and occurs for
all materials. It often gets superimposed by the paramagnetic or ferromagnetic
effect. An example of the diamagnetic effect is the levitation of pyrolytic
graphite above permanent magnets.
In the case of paramagnetic materials, microscopic dipoles in the material line
up in the external magnetic field, leading to an increase of the field in the
material. Hence, paramagnetic materials are drawn into a field. In this case, µr
> 1 applies to the relative permeability. On removing the external field, the
effect also disappears.
Ferromagnetic materials behave in a similar way to paramagnetic materials; the
difference being that when the external field is removed, a so-called "remnant
polarization" remains, and the actual material creates a magnetic field. In this
case, the relative permeability µr >> 1 can reach values of up to 10^6. Whereas
forces can only be proven using complex tests for diamagnetic and paramagnetic
materials, these are far stronger for ferromagnetic materials. Permanent magnets
made of neodymium iron boron are an impressive example of highly magnetic
interaction forces.
Therefore, in positioning systems that are not meant to influence the magnetic
field only diamagnetic and paramagnetic materials should be used. In other
words, materials with a relative permeability of approximately 1. In this case,
the influence of the internal magnetic fields from the respective components on
the external magnetic fields is very low, meaning that the influence on the
application or on the positioning system is insignificant. Hence, if possible,
for non-magnetic applications the use of (strong) ferromagnetic materials should
be avoided.
3.2 SELECTING MATERIALS – TYPICALLY USED MATERIALS FOR (NON) MAGNETIC
APPLICATIONS
The knowledge of usable materials and their relative permeability is essential
for setting up a non-magnetic system that does not influence the magnetic field
of a sensitive environment. Whereas plastics and ceramics are usually
diamagnetic, metals may have paramagnetic or ferromagnetic properties. The
following table lists some of the materials which, e.g., can be used in
non-magnetic stages with the PILine® drive.
Material
µr
for
Source
Air
1.00000036
N/A
[2]
Metals
Aluminum
1.000021
7 T
Calculated from [6]
Copper
0.9999904
7 T
Calculated from [6]
CuBe2
1.00002
N/A
[7]
CuSn6
0.99999912 - 1.000062
(0 – 0.09 % Fe)
N/A
Calculated from [8]
Gold
0.999966
7 T
Calculated from [6]
Silver
0.999976
N/A
Calculated from [9]
96/4 SnAg
1.00000060
7 T
Calculated from [6]
Titanium (Grade 1)
1.000178
N/A
[10]
TiAl6V4 (Grade 5)
1.00005
N/A
[10]
Tungsten
1.000070
N/A
Calculated from [9]
Ceramics
Al2O3
0.999986
7 T
Calculated from [6]
PZT
0.9999942
9.4 T
Calculated from [11]
Si3N4
0.999986
7 T
Calculated from [6]
SiC
0.999988
N/A
Calculated from [9]
ZrO2
0.9999915
N/A
Calculated from [9]
Plastics
FR4 PCB
0.9999963
9.4 T
Calculated from [11]
Kapton
0.9999911
9.4 T
Calculated from [11]
PA6 natural
0.9999905
9.4 T
Calculated from [11]
PEEK
0.9999907
9.4 T
Calculated from [11]
PPS
0.9999908
7 T
Calculated from [6]
PTFE (Teflon)
0.999990
9.4 T
Calculated from [11]
PVC, grey
0.999989
9.4 T
Calculated from [11]
Tab. 1 Material values for relative permeability µr
Cold forming causes austenitic corrosion-resistant steels to form friction or
deformation martensite, meaning that materials with a low relative permeability
in their original state subsequently have a much higher µr. A material that very
clearly shows this behavior is 1.4305. Hence, the relative permeability may be
between 1.05 and 3.42, depending on the extent of deformation. This particularly
needs to be considered when using austenitic corrosion-resistant standard parts
as, in most cases, there is no information available on the degree of cold
deformation.
Degree of Deformation
µr
for
Source
0 %
1.003
N/A
[12]
10 %
1.050
N/A
[12]
20 %
1.620
N/A
[12]
30 %
3.420
N/A
[12]
Tab. 2 Material values for the relative permeability µr for different degrees of
deformation of 1.4305
4 TESTS AND MEASUREMENT OF PRECISION ROTATION STAGES IN MAGNETIC FIELDS
Source: [13]
The Research Center Jülich (Forschungszentrum Jülich) has been using rotation
stages with PILine® piezo motors for applications in high magnetic fields. For
the exact characterization of dipole magnets, it was necessary to determine the
influence of the positioner on the subsequent characterization of the magnets.
To do this, they measured both a U-624.03 PILine® standard COTS (commercial off
the shelf) rotary positioner and a special modified version, optimized for
nonmagnetic environments. The small size of the U-624.03 miniature rotation
stage with a footprint of 30 x 30 mm² and a height of 12mm make it ideal for
applications with limited space.
Fig. 2 A family of miniature rotary stages, driven by ultrasonic ceramic motors.
The U-624.03 used for the tests is the one in the lower left corner. (Image: PI)
Fig. 3 Measuring setup for magnetic measurement of the rotation stages (Image
[13])
The following illustrates the measurement setup and the results from the
investigations at the Forschungszentrum Jülich.
4.1 MEASUREMENT SETUP
The magnetic measurements of the positioners took place in a measuring chamber
at the Forschungszentrum Jülich and is illustrated in Fig. 3 above. An external
permanent magnetic field of 123mT was created that was aligned along the
positive x axis. The field component thus induced in the Y direction was scanned
in the area illustrated in green at approximately 1mm above the rotor surface of
the PILine® rotary stages, with the cable always placed to the right-hand side.
4.2 MEASUREMENT RESULTS
In a first step, the U-624.03 standard rotation stage was measured in the
external magnetic field of 123 mT containing ferromagnetic components. Hence, it
was possible to measure the values of the field component in Y at approximately
1mm above the rotor level; the values ranged between -800 and 800 µT. The
following figure shows the results of this measurement. Here, the external
contour is shown as a square, the positioner's rotor as a circle, and the cable
as a line pointing to the right.
Fig. 4 Magnetic flux density across the standard U-624.03, COTS miniature piezo
motor rotation stage (Image [13])
Fig. 5 Magnetic flux density across the modified mini rotation stage,
measurement 1 (Image [13])
Fig. 6 U-624 modified, measurement 2, highest resolution range (Image [13])
With the standard stage, two poles are formed, visible here as a red and a blue
area (Fig 4), in which the field lines are vertical to the image plane and run
into or out of it. The standard rotation stage has a ball bearing made of
chromium steel near the rotor surface that causes the high measurement values.
For the modified U-624 rotator, all ferromagnetic components were replaced by
suitable components with low relative permeabilities. Relevant modifications
were all-ceramic ball bearings, titanium screws, as well as numerous changes of
components on the internal PCB. The previously described measurements in the
magnetic field were also repeated with this modified rotary positioner. During a
first measurement, even when run with a higher resolution measuring range of
-200 to 265 µT (Fig. 5), no obvious influences on the components used in the
positioner are visible. The magnetic field appears almost homogenous. Therefore,
a second measurement with even higher resolution and a measuring range of -25 to
+106 µT was done to record and illustrate the significantly lower field values
(Fig. 6).
The maximum stray field of 106µT originating from the modified U-624 positioner
can be seen in the bottom right hand corner of Fig. 6, resulting from the
integrated encoder head required for closed-loop position-controlled operation
of the stage.
Thanks to the described modifications, it was possible to reduce the measured
magnetic field value by ~87% compared with the standard COTS unit, and at 106µT,
this is a very low value. Hence, the modified positioner is suitable for many
non-magnetic applications.
5 FUNCTION TESTS IN EXTERNAL MAGNETIC FIELDS
Source: [13]
In addition to the magnetic flux density measurements, function tests with the
rotary stage exposed to high magnetic fields were also among the investigations
conducted at the Forschungszentrum Jülich. For their target dipole magnet
characterization application, the positioners must be able to move a measuring
probe in the high magnetic field in order to exactly characterize the dipole
magnets. For these tests, both the COTS and custom U-624 PILine® rotation stage
(described in Section 4) were tested. A PI C-867.1U closed-loop motion
controller was used to operate the stages, controlled by PIMikroMove® software.
5.1 MEASUREMENT SETUP
The miniature rotary positioners were mounted on a plastic block and installed
into the gap of a dipole magnet with a maximum static field of 1.8T. The
direction of the magnetic field was vertical (see the Fig. 7), or aligned
parallel to the axis of rotation, and the positioners were in the middle of the
dipole field.
Fig. 7 Large Dipole Magnet with U-624.03 miniature rotary stage (Image [13])
5.2 MEASUREMENT RESULTS
Both stages worked well in reference mode and position control mode, without
errors up to the maximum magnetic field of 1.8T. In the process, the function of
the stages was always within spec; both with the perpendicular or parallel
alignment of the field to the axis of rotation. Rotation speeds of up to
720°/sec at 1.8T were also tested successfully.
6 SUMMARY
An electro-mechanical system that is brought into a magnetic field interacts
with it. It can influence the magnetic field significantly, or, on the other
hand, the magnetic field can destroy the electro-mechanical system or disturb
its function. Therefore, when selecting a closed-loop precision positioner for
operation in magnetic fields, the demands on the choice of materials and their
non-magnetic properties are very high.
The relative magnetic permeability µr can be used as a measure of the
material-specific property to interact with the magnetic field. Systems to be
used in the environments described above should consist of materials that are
close to a µr value of 1.
The magnetic flux measurements used in this investigation proved the excellent
non-magnetic properties of a modified rotation stage based on the U-624 from PI.
The investigated positioning system could also be operated smoothly and reliably
in high magnetic fields of up to 1.8T.
PILine® ultrasonic piezoceramic motors use the inverse piezoelectric effect,
where deformation of a ceramic transducer takes place on a crystalline level and
is, consequently, not affected by magnetism.
In addition to linear motion stages and rotary system, PI can also provide
non-magnetic multi-axis stages and other custom motion systems.
Fig. 8 Non-magnetic version of the U-653 rotary stage (Image: PI)
Video: Basic design of encoded miniature rotary stages based on ring-shaped
piezo-transducers and direct rotary encoder.
7 ACKNOWLEDGEMENTS
PI would like to thank all members of the HEDI group from the Forschungszentrum
Jülich. We would like to thank Dr. Helmut Soltner, Dr. Ulf Bechstedt, and Dr.
Ilhan Engin for their in-depth investigations into the magnetic field, for
providing the test results for this white paper, and for their consistently open
and friendly approach.
8 AUTHOR
Thomas Polzer is a development engineer for piezo drives & systems at Physik
Instrumente (PI) GmbH & Co. KG.
9 PIEZO MOTOR STAGES FROM PI
Talk to a PI Engineer about your precision motion control applications. For
additional information, take a look at this overview of piezo motor stages.
10 LIST OF REFERENCES
[1] W. H. Hayt Jr. und J. A. Buck, Engineering Electromagnetics, 8th edition,
New York: McGraw-Hill, 2012.
[2] N. Ida, Engineering Electromagnetics, New York: Springer science & business
media, 2000.
[3] W. D. Callister Jr., Materials science and engineering : An introduction -
7th ed., New York: John Wiley Sons, Inc., 2007.
[4] Deutsches GeoForschungszentrum, „Magnetfeld der Erde - Unser dynamischer
Schutzschild,“ [Online]. Available:
https://media.gfz-potsdam.de/gfz/wv/doc/infothek/leaflets/Faltblatt_Magnetfeld_dt.pdf.
[Zugriff am 20 07 2020].
[5] Siemens Healthineers, „Magnetresonanztomographie,“ Siemens Healthineers,
[Online]. Available:
https://www.siemens-healthineers.com/de/magnetic-resonance-imaging. [Zugriff am
16 11 2020].
[6] F. D. Doty, G. Entzminger und Y. A. Yang, „Magnetism in high-resolution NMR
probe design. I : general methods,“ Concepts in Magnetic Resonance, Volume 10,
Issue 3, pp. 133-156, 07 12 1998.
[7] NIPPON THOMPSON CO., LTD., „IKO: non-magnetic linear motion rolling guide
series : CAT-5937,“ 2012. [Online]. Available:
https://www.ikont.co.jp/global_data/download/pdf_catalog/cat5937.pdf. [Zugriff
am 20 04 2020].
[8] Deutsches Kupferinstitut, „Werkstoffdatenblatt CuSn6,“ 2005. [Online].
Available: https://www.kupferinstitut.de/wp-content/uploads/2019/11/CuSn6-1.pdf.
[Zugriff am 30 03 2020].
[9] D. R. Lide und ed., "Magnetic susceptibility of the elements and inorganic
compounds" in CRC handbook of chemistry and physics, Boca Raton: Taylor &
Francis, 2006.
[10] ThyssenKrupp, „Titan - Werkstoff mit Perspektive,“ 2012. [Online].
Available: https://www.thyssenkrupp-schulte.de/. [Zugriff am 09 05 2016].
[11] M. C. Wapler, J. Leupold, I. Dragonu, D. von Elverfeld, M. Zaitsev und U.
Wallrabe, „Magnetic properties of materials for MR engineering, micro-MR and
beyond,“ Journal of Magnetic Resonance, volume 242, pp. 233-242, 08 04 2014.
[12] Informationsstelle Edelstahl Rostfrei, „Merkblatt 827 : Magnetische
Eigenschaften nichtrostender Stähle,“ 2013. [Online]. Available:
https://www.edelstahl-rostfrei.de/fileadmin/user_upload/ISER/downloads/MB_827.pdf.
[Zugriff am 04 05 2016].
[13] I. Engin, „Bericht Forschungszentrum Jülich über die Charakterisierung der
Rotationstische,“ intern, 2016.
--------------------------------------------------------------------------------
RELATED PRODUCTS:
U-624 PILINE® ROTATION STAGE
PILINE® ULTRASONIC PIEZOMOTORS
Ultrasonic piezomotors dispense with the mechanical complexity of classical
rotary motor/gear/leadscrew combinations in favor of costs and reliability.
PIEZO MOTORS / STAGES >1MM
Piezo Motors are intrinsically vacuum compatible, non-magnetic and self locking
at rest, providing long travel compared to traditional piezo mechanisms. The
individual drive concepts are optimized for different applications, they differ
in their design, size, cost, force & speed and other performance parameters.
VACUUM PRODUCTS
PI miCos has extensive experience in the design and manufacturing of vacuum and
high vacuum compatible precision optomechanical positioning equipment for low
temperature and wide temperature ranges. We provide translation stages, vertical
linear stages, rotation stages, XY stages and complex multi-axis positioning
systems in vacuum spec.
--------------------------------------------------------------------------------
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