Piezomotor微型压电旋转电机、Piezomotor微型压电旋转执行器ROMO、Piezomotor微型压电旋转执行器ROMO-E、Piezomotor微型压电旋转执行器ROMO-E-CL

微型压电旋转执行器ROMO、微型压电旋转执行器ROMO-E、微型压电旋转执行器ROMO-E-CL

我们推出全新系列的紧凑型、轻量化空心轴旋转压电执行器，旨在为先进应用提供卓越精度和扩展功能。

ROMO系列微型压电旋转电机（型号：ROMO、ROMO-E 和 ROMO-E-CL）

运动控制选项

Piezo Motor Company的旋转电机可提供工厂预装编码器版本或无编码器版本。亦可提供全闭环系统：运动控制通过电子驱动板实现，该驱动板旨在为用户控制提供经济的接口。

电子驱动板接口支持 UART 和 I2C

驱动 PCB 支持 UART 和 I2C 接口，增强了其适应性。每块板均针对特定电机型号预编程，可实现软件可配置性、优化驱动信号并集成控制功能。用户可通过安装在电机/执行器上的可选编码器进行闭环控制，从而对电机运行进行精细调节。

带 Python API 的闭环系统

PMC 的全新 Python API 允许将压电电机编码器的反馈信号传输至驱动板，从而实现闭环。可通过 MicroUSB 端口访问一系列丰富的 Python API 命令，对电机的位置和速度进行控制。

ROMO系列旋转执行器的性能与优势

ROMO Series Motor Specifications

Model No.s Plastic or Metal Enclosures ROMO (Plastic) ROMO-M (Metal)
Power Supply Voltage* 5.0 to 7.5 V DC         Note 1
Stall Torque ≥ 4 mNm
Self-Braking Torque ≥ 5 mNm
Actuator Response Time ≈30 µs
Max Speed > 600 rpm
Minimum Angular Step ≈30 µrad
Angular Backlash 30 µrad
Angular Hysteresis 30 µrad
Frequency Response 4 kHz
Minimum Controlled Angular Step** 6.1 mrad                Note 2
Uni-directional Repeatability** 6.1 mrad                Note 2
Operating Temperature -20 °C to 80 °C
Maximum Axial Load 200 g
Maximum Radial Load 200 g
Moment of Inertia 29.2 g·mm²
Max Current over velocity range 30 mA to 300 mA
Rotor Runout ≤50 µm
Actuator Weight (Plastic or Metal enclosure) 3.5 g or 4.0 g (metal)
Actuator Dimensions (no shaft) 13 x 18.7 x 9.1 mm
Driver PCB Dimensions 28 X 31 X 9.6 mm
Driver PCB Weight 4.3 g

工作原理

ROMO旋转压电执行器基于一项美国专利技术运行。对其压电陶瓷本体（即谐振器）进行电激励后，会在两个相互垂直的方向上同时激发出两个独立的纵向和弯曲超声驻波。这一作用在谐振器中心产生椭圆振动，从而推动与谐振器本体被动接触的电机实现直线运动。

电机控制

电子驱动器旨在为用户控制提供经济的接口。电机的运动通过驱动器上 J1 连接器的 PWM（脉宽调制）控制信号来实现。驱动 PCB 同时支持 UART 和 I2C 接口。每块驱动 PCB 均针对特定电机型号预编程，并允许软件配置，以优化驱动信号并集成控制功能。通过使用工厂预装在执行器上的可选编码器进行闭环控制，可对电机运行进行精细调节。

开环控制

驱动板可通过外部信号源PWM（脉宽调制）模式进行控制。控制信号施加到外部信号连接器上，以产生所需的旋转和速度。通过改变输入到两个方向控制引脚上的信号的脉冲宽度和重复频率来实现PWM速度控制。步长由脉冲宽度决定，速度由脉冲频率决定。最小脉冲宽度约为30微秒。

闭环控制

预编程的运动控制算法可实现多条特定运动控制命令的执行。关键命令用于定义速度和移动到指定位置。这些命令驻留在库中，可通过Piezo Motor Company的控制软件或通过串行端口使用TTL串行命令进行访问。电机控制也可使用Piezo Motor Company的Motor API通过Python命令来实现。

Performance Chart And Motor/Driver Part Configurations

Motor Type ROMO Series ROMO-E Series ROMO-E-CL Series
Model ROMO ROMO-M ROMO-E ROMO-E-M ROMO-E-CL-KIT ROMO-E-CL-M-KIT
Part Number ROMO-011-0370 ROMO-012-0370 ROMO-011-1370 ROMO-012-1370 ROMO-011-1371 ROMO-012-1371
Encoder Without Encoder Without Encoder With Encoder With Encoder With Encoder With Encoder
Enclosure Plastic Metal Plastic Metal Plastic Metal
Torque (mN.m) ≥ 4 mNm ≥ 4 mNm ≥ 4 mNm ≥ 4 mNm ≥ 4 mNm ≥ 4 mNm
Resolution > 30 μRad = 200,000 steps per rotation > 30 μRad = 200,000 steps per rotation > 30 μRad = 200,000 steps per rotation > 30 μRad = 200,000 steps per rotation > 30 μRad = 200,000 steps per rotation > 30 μRad = 200,000 steps per rotation
Max speed >600 RPM >600 RPM >600 RPM >600 RPM >600 RPM >600 RPM
Supply 5.0 to 7.5 V DC 5.0 to 7.5 V DC 5.0 to 7.5 V DC 5.0 to 7.5 V DC 5.0 to 7.5 V DC 5.0 to 7.5 V DC
Kit Ordering Number ROMO-KIT ROMO-M-KIT ROMO-E-KIT ROMO-E-M-KIT ROMO-E-CL-KIT ROMO-E-CL-M-KIT
Part ROMO-011-0371 ROMO-012-0371 ROMO-011-1371 ROMO-012-1371 ROMO-011-1371 ROMO-012-1371
Includes Rotary motor, Plastic Enclosure Evaluation Kit* Rotary motor, Metal Enclosure Evaluation Kit* Rotary motor with encoder Plastic Enclosure Evaluation Kit* Rotary motor with encoder Metal Enclosure Evaluation Kit* Rotary motor with encoder** closed-loop System Evaluation Kit. Includes: motor/encoder with plastic enclosure electronic driver PCB, Micro USB to USB adapter (5 V DC), cables and Python API software Rotary motor with encoder** closed-loop System Evaluation Kit. Includes: motor/encoder with metal enclosure electronic driver PCB, Micro USB to USB adapter (5 V DC), cables and Python API software
Model P/N Description Technical Specifications
ROMO ROMO-011-0370 Rotary Piezo Motor without encoder, Plastic Enclosure – Torque: >4.0 mN.m, Resolution: > 200,000 steps per rotation,  Max Speed: >600 RPM, 7.5 V DC. Power Supply Voltage 7.5 V DC Stall Torque ≥ 4 mNm Self-Braking Torque ≥ 5 mNm Actuator Response Time < 30 µs Max Speed > 600 rpm Minimum Angular Step  30 µrad Angular Backlash 30 µrad Angular Hysteresis 30 µrad Frequency Response 4 kHz Operating Temperature -20 °C to 80 °C Maximum Axial Load 200 g Maximum Radial Load 200 g Moment of Inertia 29.2 g·mm² Max Current over velocity range 300 mA Rotor Runout ≤50 µm Actuator Weight 3.5 g Actuator Dimensions (no shaft) 13 x 18.7 x 8.2 mm Driver PCB Dimensions 28 X 31 X 9.6 mm Driver PCB Weight 4.3 g
ROMO-M ROMO-012-0370 Rotary Piezo Motor without encoder, Metal Enclosure – Torque: >4.0 mN.m, Resolution: > 200,000 steps per rotation,  Max Speed: >600 RPM, 7.5 V DC. Power Supply Voltage 7.5 V DC Stall Torque ≥ 4 mNm Self-Braking Torque ≥ 5 mNm Actuator Response Time < 30 µs Max Speed > 600 rpm Minimum Angular Step  30 µrad Angular Backlash 30 µrad Angular Hysteresis 30 µrad Frequency Response 4 kHz Operating Temperature -20 °C to 80 °C Maximum Axial Load 200 g Maximum Radial Load 200 g Moment of Inertia 29.2 g·mm² Max Current over velocity range 300 mA Rotor Runout ≤50 µm Actuator Weight 4.0 g Actuator Dimensions (no shaft) 13 x 18.7 x 8.2 mm Driver PCB Dimensions 28 X 31 X 9.6 mm Driver PCB Weight 4.3 g
ROMO-E ROMO-011-1370 Rotary Piezo Motor with magnetic encoder, Plastic Enclosure – Torque: >4.0 mN.m, Resolution: > 200,000 steps per rotation,  Encoder Resolution 1,024 ppr/6.1 mrad, Max Speed: >600 RPM, 7.5 V DC Power Supply Voltage 7.5 V DC Stall Torque ≥ 4 mNm Self-Braking Torque ≥ 5 mNm Actuator Response Time < 30 µs Max Speed > 600 rpm Minimum Angular Step < 30 µrad Encoder Resolution (after quadrature) 1,024 ppr Minimum Controlled Angular Step 6.1 mrad Uni-directional Repeatability 6.1 mrad Angular Backlash 30 µrad Angular Hysteresis 30 µrad Frequency Response 4 kHz Operating Temperature -20 °C to 80 °C Maximum Axial Load 200 g Maximum Radial Load 200 g Moment of Inertia 29.2 g·mm² Max Current over velocity range 300 mA Rotor Runout ≤50 µm Actuator Weight 4.0 g Actuator Dimensions (no shaft) 13 x 18.7 x 9.1 mm Driver PCB Dimensions 28 X 31 X 9.6 mm Driver PCB Weight 4.3 g
ROMO-E-M ROMO-012-1370 Rotary Piezo Motor with magnetic encoder, Metal Enclosure – Torque: >4.0 mN.m, Resolution: > 200,000 steps per rotation,  Encoder Resolution 1,024 ppr/6.1 mrad, Max Speed: >600 RPM, 7.5 V DC Power Supply Voltage 7.5 V DC Stall Torque ≥ 4 mNm Self-Braking Torque ≥ 5 mNm Actuator Response Time < 30 µs Max Speed > 600 rpm Minimum Angular Step < 30 µrad Encoder Resolution (after quadrature) 1,024 ppr Minimum Controlled Angular Step 6.1 mrad Uni-directional Repeatability 6.1 mrad Angular Backlash 30 µrad Angular Hysteresis 30 µrad Frequency Response 4 kHz Operating Temperature -20 °C to 80 °C Maximum Axial Load 200 g Maximum Radial Load 200 g Moment of Inertia 29.2 g·mm² Max Current over velocity range 300 mA Rotor Runout ≤50 µm Actuator Weight 4.5 g Actuator Dimensions (no shaft) 13 x 18.7 x 9.1 mm Driver PCB Dimensions 28 X 31 X 9.6 mm Driver PCB Weight 4.3 g
ROMO-KIT ROMO-011-0371 Rotary Motor Evaluation Kit – Includes ROMO motor, Plastic Enclosure, Electronic Driver PCB, 120/240 V AC to 7.5 VDC power adapter and cables Power Supply Voltage 7.5 V DC Stall Torque ≥ 4 mNm Self-Braking Torque ≥ 5 mNm Actuator Response Time < 30 µs Max Speed > 600 rpm Minimum Angular Step  30 µrad Angular Backlash 30 µrad Angular Hysteresis 30 µrad Frequency Response 4 kHz Operating Temperature -20 °C to 80 °C Maximum Axial Load 200 g Maximum Radial Load 200 g Moment of Inertia 29.2 g·mm² Max Current over velocity range 300 mA Rotor Runout ≤50 µm Actuator Weight 3.5 g Actuator Dimensions (no shaft) 13 x 18.7 x 8.2 mm Driver PCB Dimensions 28 X 31 X 9.6 mm Driver PCB Weight 4.3 g
ROMO-M-KIT ROMO-012-0370 Rotary Motor Evaluation Kit – Includes ROMO motor, Metal Enclosure, Electronic Driver PCB, 120/240 V AC to 7.5 VDC power adapter and cables Power Supply Voltage 7.5 V DC Stall Torque ≥ 4 mNm Self-Braking Torque ≥ 5 mNm Actuator Response Time < 30 µs Max Speed > 600 rpm Minimum Angular Step  30 µrad Angular Backlash 30 µrad Angular Hysteresis 30 µrad Frequency Response 4 kHz Operating Temperature -20 °C to 80 °C Maximum Axial Load 200 g Maximum Radial Load 200 g Moment of Inertia 29.2 g·mm² Max Current over velocity range 300 mA Rotor Runout ≤50 µm Actuator Weight 4.0 g Actuator Dimensions (no shaft) 13 x 18.7 x 8.2 mm Driver PCB Dimensions 28 X 31 X 9.6 mm Driver PCB Weight 4.3 g
ROMO-E-KIT ROMO-011-1371 Rotary Motor with Magnetic Encoder Evaluation Kit – Includes ROMO-E motor, Plastic Enclosure, Electronic Driver PCB, 120/240 V AC to 7.5 VDC power adapter and cables. Power Supply Voltage 7.5 V DC Stall Torque ≥ 4 mNm Self-Braking Torque ≥ 5 mNm Actuator Response Time < 30 µs Max Speed > 600 rpm Minimum Angular Step < 30 µrad Encoder Resolution (after quadrature) 1,024 ppr Minimum Controlled Angular Step 6.1 mrad Uni-directional Repeatability 6.1 mrad Angular Backlash 30 µrad Angular Hysteresis 30 µrad Frequency Response 4 kHz Operating Temperature -20 °C to 80 °C Maximum Axial Load 200 g Maximum Radial Load 200 g Moment of Inertia 29.2 g·mm² Max Current over velocity range 300 mA Rotor Runout ≤50 µm Actuator Weight 4.0 g Actuator Dimensions (no shaft) 13 x 18.7 x 9.1 mm Driver PCB Dimensions 28 X 31 X 9.6 mm Driver PCB Weight 4.3 g
ROMO-E-M-KIT ROMO-012-1371 Rotary Motor with Magnetic Encoder Evaluation Kit – Includes ROMO-E motor, Metal Enclosure, Electronic Driver PCB, 120/240 V AC to 7.5 VDC power adapter and cables. Power Supply Voltage 7.5 V DC Stall Torque ≥ 4 mNm Self-Braking Torque ≥ 5 mNm Actuator Response Time < 30 µs Max Speed > 600 rpm Minimum Angular Step < 30 µrad Encoder Resolution (after quadrature) 1,024 ppr Minimum Controlled Angular Step 6.1 mrad Uni-directional Repeatability 6.1 mrad Angular Backlash 30 µrad Angular Hysteresis 30 µrad Frequency Response 4 kHz Operating Temperature -20 °C to 80 °C Maximum Axial Load 200 g Maximum Radial Load 200 g Moment of Inertia 29.2 g·mm² Max Current over velocity range 300 mA Rotor Runout ≤50 µm Actuator Weight 4.5 g Actuator Dimensions (no shaft) 13 x 18.7 x 9.1 mm Driver PCB Dimensions 28 X 31 X 9.6 mm Driver PCB Weight 4.3 g
ROMO-E-KIT-CL ROMO-011-1371-CL Rotary Motor with Magnetic Encoder Evaluation Kit with Close-Loop Python API – Includes ROMO-E motor, Plastic Enclosure, Electronic Driver PCB, USB to Micro USB adapter cable and Python API. Power Supply Voltage 7.5 V DC Stall Torque ≥ 4 mNm Self-Braking Torque ≥ 5 mNm Actuator Response Time < 30 µs Max Speed > 600 rpm Minimum Angular Step < 30 µrad Encoder Resolution (after quadrature) 1,024 ppr Minimum Controlled Angular Step 6.1 mrad Uni-directional Repeatability 6.1 mrad Angular Backlash 30 µrad Angular Hysteresis 30 µrad Frequency Response 4 kHz Operating Temperature -20 °C to 80 °C Maximum Axial Load 200 g Maximum Radial Load 200 g Moment of Inertia 29.2 g·mm² Max Current over velocity range 300 mA Rotor Runout ≤50 µm Actuator Weight 4.0 g Actuator Dimensions (no shaft) 13 x 18.7 x 9.1 mm Driver PCB Dimensions 28 X 31 X 9.6 mm Driver PCB Weight 4.3 g
ROMO-E-M-KIT-CL ROMO-012-1371-CL Rotary Motor with Magnetic Encoder Evaluation Kit with Close-Loop Python API – Includes ROMO-E motor, Metal Enclosure, Electronic Driver PCB, USB to Micro USB adapter cable and Python API. Power Supply Voltage 7.5 V DC Stall Torque ≥ 4 mNm Self-Braking Torque ≥ 5 mNm Actuator Response Time < 30 µs Max Speed > 600 rpm Minimum Angular Step < 30 µrad Encoder Resolution (after quadrature) 1,024 ppr Minimum Controlled Angular Step 6.1 mrad Uni-directional Repeatability 6.1 mrad Angular Backlash 30 µrad Angular Hysteresis 30 µrad Frequency Response 4 kHz Operating Temperature -20 °C to 80 °C Maximum Axial Load 200 g Maximum Radial Load 200 g Moment of Inertia 29.2 g·mm² Max Current over velocity range 300 mA Rotor Runout ≤50 µm Actuator Weight 4.5 g Actuator Dimensions (no shaft) 13 x 18.7 x 9.1 mm Driver PCB Dimensions 28 X 31 X 9.6 mm Driver PCB Weight 4.3 g

Driver Boards - ROMO Series

ROLR-PCB ROLR-PCB-001 Open-loop Electronic Driver Board (Red PCB) 5.0/7.5 V DC for use with LRMO and ROMO Series Open-loop Electronic Driver Board (Red PCB) 5.0/7.5 V DC for use with LRMO and ROMO Series
ROMO-E-PCB ROMO-E-PCB003 Factory Pre-Programmed Close-Loop Electronic Driver Board (Blue PCB) 5.0 V DC for use with ROMO-E-CL close loop system only Factory Pre-Programmed Firmware Close-Loop Electronic Driver Board (Blue PCB) 5.0 V DC for use with ROMO-E close loop system only
ROMO-E-PCB ROMO-E-PCB005 Factory Pre-Programmed I2C Close-Loop Electronic Driver Board (Blue PCB) 5.0 V DC for use with ROMO-E for close loop I2C system only Factory Pre-Programmed I2C Close-Loop Electronic Driver Board (Blue PCB) 5.0 V DC for use with ROMO-E for close loop I2C system only
IC2 Adapter I2C-PCB-001 I²C Adapter Board with Python Software Library supports up to six (6) ROMO-E Driver Boards for simultaneous control of six (6) ROMO-E motors. Includes a universal 110/220 V AC to 5 V DC wall power adapter. I²C Adapter Board with Python Software Library supports up to six (6) ROMO-E Driver Boards for simultaneous control of six (6) ROMO-E motors. Includes a universal 110/220 V AC to 5 V DC wall power adapter.
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Piezomotor微型压电旋转电机、Piezomotor微型压电旋转执行器ROMO、Piezomotor微型压电旋转执行器ROMO-E、Piezomotor微型压电旋转执行器ROMO-E-CL

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联系Piezomotor微型压电旋转电机、Piezomotor微型压电旋转执行器ROMO、Piezomotor微型压电旋转执行器ROMO-E、Piezomotor微型压电旋转执行器ROMO-E-CL

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