Piezo Motor Company的新型旋转压电电机系列在紧凑型、高精度旋转电机技术的设计和制造方面实现了质的飞跃。该新型旋转电机系列采用现代轻量化增强热塑性塑料制造，兼具卓越的角度精度和超快响应速度。
ROMO-LG系列旋转压电电机（型号：ROMO-HS-LG、ROMO-HS-E-LG、ROMO-SS-LG 和 ROMO-SS-E-LG）
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-LG系列旋转电机的性能与优势
精度提高1,000倍
大多数步进电机每转最多400步，而Piezo Motor Company的旋转压电电机每转约有625,000步，且每步均为全扭矩，步进增量小于10微弧度。
外形尺寸
我们的压电谐振器设计使旋转电机具有低矮的Z轴高度。
快速响应
压电电机在30微秒至50微秒内即可完成第一步并开始运动，而步进电机通常需要15至20毫秒才能启动运动。
保持零功耗
Piezo Motor Company的旋转电机在保持扭矩时功耗为零，低速时功耗极低（1 RPM时为0.1 W），从而实现非常高效率的整体占空比。
特殊性能
Piezo Motor Company的电机不受EMI和RF干扰影响，且无辐射发射，使其成为一系列敏感应用的理想选择。对于特殊应用（包括MRI），请联系我们的技术团队。
轻量化
Piezo Motor Company的电机不含铜绕组、磁铁或铁磁叠片，非常适合对重量敏感的应用。我们的电机外壳采用轻量化增强热塑性塑料，且电机在超声频率下运行，几乎无噪音。
可靠
我们的零件数量更少，意味着故障更少。无双材料接头需要剥离，无多层叠层接头需要开裂，不受湿气影响，也无短路风险。
ROMO-LG Series Motor Specifications
| Specification | Standard | Encoder |
|---|---|---|
| Mode of Operation | Stepping & Continuous | Stepping & Continuous |
| Encoder Type | N/A | Optical |
| Maximum Torque | >30 mN.M | >30 mN.M |
| Self-Braking Torque | >40 mN.M | >40 mN.M |
| Response Time | 30-50 µsec | 30-50 µsec |
| Maximum Speed | >100 rpm | >100 rpm |
| Minimum Angular Step | <10 µrad | <10 µrad |
| Min. Controlled Angular Step | N/A | 196 µrad |
| Uni-Directional Repeatability | N/A | +/- 1 arc-min |
| Dynamic Range | 4 kHz | 4 kHz |
| Angular Hysteresis of Rotational Axis at Direction | <10 µrad | <10 µrad |
| Supply Voltage for Driver | 12 VDC | 12 VDC |
| Max Current Over Velocity Range | 350 mA | 350 mA Note 1 |
| Operating Temperature | -20 to 80 °C | -20 to 80 °C |
| Motor Weight | 69 g | 85.5 g Note 2 |
| Motor Dimensions | 66x52x20 mm | 66x52x31 mm |
| Driver PCB Dimensions | 48x63x15 mm | 48x63x15 mm |
| Control | PWM | PWM and/or Closed Loop |
工作原理
Piezo Motor Company的旋转压电电机基于在压电谐振器内激发超声驻波的原理工作。Piezo Motor Company的电子驱动器旨在提供经济的用户控制接口。每块驱动PCB均针对特定电机型号预编程，并可通过软件配置，以优化驱动信号和集成控制功能。电机的闭环控制通过安装在电机上的编码器实现。
电机控制
ROMO-LG系列旋转电机的控制非常简便，每台电机需要一块驱动板。该驱动板将所需的运动输入指令转换为特定频率和幅值的必要电气过程。这会产生对压电谐振器的激励，使电机执行所需的运动。对于带编码器的电机，驱动板上附接一块子板，以提供闭环反馈和串行接口，从而通过Piezo Motor Company的软件或串行命令实现外部编程功能。
| Motor Type | HOLLOW SHAFT | HOLLOW SHAFT | SOLID SHAFT | SOLID SHAFT |
| Model | ROMO-HS-LG | ROMO-HS-E-LG | ROMO-SS-LG | ROMO-SS-E-LG |
| Part Number | ROMO-011-0380 | ROMO-011-1380 | ROMO-011-0390 | ROMO-011-1390 |
| Encoder | without encoder | with Optical Encoder | without encoder | with Optical Encoder |
| Rotor/Shaft | Metal Rotor | Metal Rotor | Metal Rotor/shaft | Metal Rotor/shaft |
| Enclosure | Plastic Enclosure | Plastic Enclosure | Plastic Enclosure | Plastic Enclosure |
| Torque (mN.m) | >30.0 | >30.0 | >30.0 | >30.0 |
| Resolution | > 600,000 steps per rotation | > 600,000 steps per rotation | > 600,000 steps per rotation | > 600,000 steps per rotation |
| Max speed | >100 RPM | >100 RPM | >100 RPM | >100 RPM |
| Supply | 12 V DC | 12 V DC | 12 V DC | 12 V DC |
| Kit Ordering Number | ROMO-HS-LG-KIT | ROMO-HS-E-LG-KIT | ROMO-SS-LG-KIT | ROMO-SS-E-LG-KIT |
| Part | ROMO-011-0381 | ROMO-011-1381 | ROMO-011-0391 | ROMO-011-1391 |
| Supply | 110/240 VAC to 12 V DC power adapter, cables | 110/240 VAC to 12 V DC power adapter, cables | 110/240 VAC to 12 V DC power adapter, cables | 110/240 V AC to 12 V DC power adapter, cables |
| Includes | Hollow-Shaft Motor without encoder | Hollow-Shaft Motor with optical encoder | Solid-Shaft Motor without encoder | Solid-Shaft Motor with Encoder |
| Model | P/N | Description | Technical Specifications |
| ROMO-HS-LG | ROMO-011-0380 | Rotary Piezo Motor, Hollow-Shaft, without encoder, Metal Rotor, Plastic Enclosure – Torque: >30.0 mN.m, Resolution: > 600,000 steps per rotation, Max Speed: >100 RPM, 12 V DC. | Power Supply Voltage 12.0 V DC Stall Torque ≥ 40 mNm Self-Braking Torque ≥ 30mNm Actuator Response Time < 30 µs Max Speed > 100 rpm Minimum Angular Step 10 µrad Angular Backlash 10 µrad Angular Hysteresis 10 µrad Frequency Response 4 kHz Operating Temperature -20 °C to 80 °C Current over velocity range 30 mA to 350 mA Actuator Weight 69 g Actuator Dimensions 66 x 52 x 20 mm |
| ROMO-HS-LG-KIT | ROMO-011-0381 | Rotary Piezo Motor Evaluation Kit, Includes; Hollow-Shaft Motor without encoder, Metal Rotor, Plastic Enclosure – Torque: >30.0 mN.m, Resolution: > 600,000 steps per rotation, Max Speed: >100 RPM, 110/240 VAC to 12 V DC power adapter, cables. | Power Supply Voltage 12.0 V DC Stall Torque ≥ 40 mNm Self-Braking Torque ≥ 30mNm Actuator Response Time < 30 µs Max Speed > 100 rpm Minimum Angular Step 10 µrad Angular Backlash 10 µrad Angular Hysteresis 10 µrad Frequency Response 4 kHz Operating Temperature -20 °C to 80 °C Current over velocity range 30 mA to 350 mA Actuator Weight 69 g Actuator Dimensions 66 x 52 x 20 mm |
| ROMO-HS-E-LG | ROMO-011-1380 | Rotary Piezo Motor, Hollow-Shaft, with Optical Encoder, Metal Rotor, Plastic Enclosure – Torque: >30.0 mN.m, Resolution: > 600,000 steps per rotation, Max Speed: >100 RPM, 12 V DC. | Power Supply Voltage 12.0 V DC Stall Torque ≥ 40 mNm Self-Braking Torque ≥ 30mNm Actuator Response Time < 30 µs Max Speed > 100 rpm Minimum Angular Step 10 µrad (Minimum Encoder Controlled Angular Step 196 µRad) Angular Backlash 10 µrad Angular Hysteresis 10 µrad Frequency Response 4 kHz Operating Temperature -20 °C to 80 °C Current over velocity range 30 mA to 350 mA Actuator Weight 85.5g Actuator Dimensions 66 x 52 x 31 mm |
| ROMO-HS-E-LG-KIT | ROMO-011-1381 | Rotary Piezo Motor Evaluation Kit, Includes; Hollow-Shaft Motor with optical encoder, Metal Rotor, Plastic Enclosure – Torque: >30.0 mN.m, Resolution: > 600,000 steps per rotation, Max Speed: >100 RPM, 110/240 VAC to 12 V DC power adapter, cables. | Power Supply Voltage 12.0 V DC Stall Torque ≥ 40 mNm Self-Braking Torque ≥ 30mNm Actuator Response Time < 30 µs Max Speed > 100 rpm Minimum Angular Step 10 µrad Minimum Encoder Controlled Angular Step 196 µRad Angular Backlash 10 µrad Angular Hysteresis 10 µrad Frequency Response 4 kHz Operating Temperature -20 °C to 80 °C Current over velocity range 30 mA to 350 mA Actuator Weight 85.5g Actuator Dimensions 66 x 52 x 31 mm |
| ROMO-SS-LG | ROMO-011-0390 | Rotary Piezo Motor, Solid-Shaft, without encoder, Metal Rotor/shaft, Plastic Enclosure – Torque: >30.0 mN.m, Resolution: > 600,000 steps per rotation, Max Speed: >100 RPM, 12 V DC. | Power Supply Voltage 12.0 V DC Stall Torque ≥ 40 mNm Self-Braking Torque ≥ 30mNm Actuator Response Time < 30 µs Max Speed > 100 rpm Minimum Angular Step 10 µrad Angular Backlash 10 µrad Angular Hysteresis 10 µrad Frequency Response 4 kHz Operating Temperature -20 °C to 80 °C Current over velocity range 30 mA to 350 mA Actuator Weight 85.5 g Actuator Dimensions 66 x 52 x 20 mm |
| ROMO-SS-LG-KIT | ROMO-011-0391 | Rotary Piezo Motor Evaluation Kit, Includes; Solid-Shaft, without encoder, Metal Rotor/shaft, Plastic Enclosure – Torque: >30.0 mN.m, Resolution: > 600,000 steps per rotation, Max Speed: >100 RPM, 110/240 VAC to 12 V DC power adapter, cables. | Power Supply Voltage 12.0 V DC Stall Torque ≥ 40 mNm Self-Braking Torque ≥ 30mNm Actuator Response Time < 30 µs Max Speed > 100 rpm Minimum Angular Step 10 µrad Angular Backlash 10 µrad Angular Hysteresis 10 µrad Frequency Response 4 kHz Operating Temperature -20 °C to 80 °C Current over velocity range 30 mA to 350 mA Actuator Weight 85.5 g Actuator Dimensions 66 x 52 x 20 mm |
| ROMO-SS-E-LG | ROMO-011-1390 | Rotary Piezo Motor, Solid-Shaft, with Encoder, Metal Rotor/shaft, Plastic Enclosure – Torque: >30.0 mN.m, Resolution: > 600,000 steps per rotation, Max Speed: >100 RPM, 12 V DC. | Power Supply Voltage 12.0 V DC Stall Torque ≥ 40 mNm Self-Braking Torque ≥ 30mNm Actuator Response Time < 30 µs Max Speed > 100 rpm Minimum Angular Step 10 µrad Angular Backlash 10 µrad Angular Hysteresis 10 µrad Frequency Response 4 kHz Operating Temperature -20 °C to 80 °C Current over velocity range 30 mA to 350 mA Actuator Weight 93.6 g Actuator Dimensions 66 x 52 x 20 mm |
| ROMO-SS-E-LG-KIT | ROMO-011-1391 | Rotary Piezo Motor Evaluation Kit, Includes: Motor with Encoder, Metal Rotor/shaft, Plastic Enclosure – Torque: >30.0 mN.m, Resolution: > 600,000 steps per rotation, Max Speed: >100 RPM, 110/240 V AC to 12 V DC power adapter, cables. | Power Supply Voltage 12.0 V DC Stall Torque ≥ 40 mNm Self-Braking Torque ≥ 30mNm Actuator Response Time < 30 µs Max Speed > 100 rpm Minimum Angular Step 10 µrad Angular Backlash 10 µrad Angular Hysteresis 10 µrad Frequency Response 4 kHz Operating Temperature -20 °C to 80 °C Current over velocity range 30 mA to 350 mA Actuator Weight 93.6 g Actuator Dimensions 66 x 52 x 20 mm |
Driver Boards ROMO-LG & 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 |
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