LinMot Designer Software
A Training Course by
LinMot, Inc.
What Will We Teach You?
How to develop a motion profile.
How to select a Motor and Servo Controller that will
run the profile.
How to view the mechanical mounting dimensions.
How to save the Design File for use later.
LinMot Designer Course
#2
School Supplies
You should have the following to get the most
out of this course.
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LinMot Designer software version 1.5.0
Laptop computer with above software installed
LinMot Industrial Linear Motors Edition 15
You should also have a basic knowledge of
the LinMot motor numbering system.
LinMot Designer Course
#3
Why Do We Need Software?
To determine the correct motor and controller
to use for a given application.
To provide a single place where all application
information is documented.

Allows customer and supplier to agree on given
specifications
To do “what if” scenarios quickly.
LinMot Designer Course
#4
What Are the Challenges?
There’s LOTS of math needed to determine:
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The maximum force available
The force needed to make a move
How speed will reduce available force
Required servo controller
Heat dissipation
LinMot Designer does all the math!
LinMot Designer Course
#5
How Does LinMot Designer Help?
It knows the characteristics of both LinMot
Linear Motors and Servo Controllers and uses
these in its calculations.
It allows fast computation and display of
“what if” scenarios.
It calculates required power dissipation.
It makes cool pictures!
LinMot Designer Course
#6
What Else?
It produces graphs that are useful when
analyzing the application.
It determines the size of the power supply.
It determines maximum force needed.
LinMot Designer Course
#7
What Else?
It allows you to create moves that you know
will work when actually doing the application.

Accel, decel and max velocity in the case of a
trapezoidal move.
It can print all this stuff in one easy-to-use
document!
So Let’s Get Started!
LinMot Designer Course
#8
NOTICE!
This program depends on the accurate input
of data.
Entering the wrong data, or ignoring
something that shouldn’t be ignored, can
result in selection of the wrong components.

One way or the other, this will cost you time
and/or money!
LinMot Designer Course
#9
What Info Must We Have?
Strokes
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Maximum stroke
Strokes for each move
Masses
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Mass of the moving parts
Mass of the payload
Times
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Time to make each move
Dwell times
LinMot Designer Course
# 10
Let’s Do An Application
Stroke = 220 millimeter (mm)
Global Mass = 1000 grams (g)

Global means “always there”.
Speed = 82 products per minute
Local Mass (Product) = 700 g

The Local Mass is only there for part of the move
LinMot Designer Course
# 11
More Detail on Speed
The speed is 82 products per minute
1 min
60s

 730m s
82 products 1 min
The customer has specified the following:
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190 ms to move out
190 ms to move back
Sit and wait for 350 ms
Total = 730 ms
LinMot Designer Course
# 12
So Let’s Start the Software!
Click the LinMot Design icon
on your desktop.
Click No at this box to start from scratch.
LinMot Designer Course
# 13
You Should Be Looking at This
LinMot Designer Course
# 14
Let’s Enter Some Data
Click the Auto centering Mode icon.

I’ll tell you why later
Click the Edit Global Settings icon.
Click this bar to pick a motor.
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# 15
Let’s Enter Some Data
Pick the P01-37x240F/260x460 Motor.
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This is just a place to start
We can change it later
Click OK
LinMot Designer Course
# 16
Let’s Enter Some Data
Pick the E11x0/B1100 Servo Controller Type (just to
start).
Type in a Voltage of 72 V (just to start).
Click OK
LinMot Designer Course
# 17
Let’s Enter Some Data
Click the Edit Global Settings icon.
Click the Load tab.
Start Position of
-130mm.
Enter Mass of
1000g (spec).
Enter Dry
Friction of 20N.
Click OK.
We have now entered all the “Global” data.
Now we’ll do the local settings.
LinMot Designer Course
# 18
Add the First Segment of the Move
Click on the Edit Selected
Segment icon.
Click on the Local Load
Settings tab.
Enter Mass of 700g. This
is the mass that is only
there for this move. It
won’t be there all the time.
Notice that the Global
settings are also shown.
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# 19
Now We’ll Add the Move
Click on the Curve
Settings tab.
Enter Duration of
190 ms (from our
application)
Enter Stroke of 220
mm (from our
application).
Click OK.
LinMot Designer Course
# 20
You Should See This
The red line is the actual application.
The blue lines are the capabilities of the motor and servo controller system.
Notice how the upper blue line dips due to counter EMF.
LinMot Designer Course
# 21
Now For That Cool Picture
Click on the Layout tab.
Mtg. pos
Rear
clearance
Range
LinMot Designer Course
# 22
Let’s Add the Second Move
Click the Limits
S/F Tab.
Click the (Add
New Segment)
line.
Click the Add
Segment icon.
Or - just double click the (Add New Segment)
line.
LinMot Designer Course
# 23
Now We Enter the Move Back
Enter the Duration
from the spec.
Enter the Stroke.
Note that it’s
negative because
we’re moving back.
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Out is positive
In is negative
LinMot Designer Course
# 24
This Part’s Easy
Under Local Load
Settings we don’t
have to enter
anything because
we’re not moving
product on the
return stroke.
Click OK
LinMot Designer Course
# 25
You Should Now See This
Notice that
the
highlighted
segment is
shown in red.
Next we have
to add our
wait or dwell
time.
LinMot Designer Course
# 26
Here We Go
Click the (Add
New Segment)
line.
Click the Add
Segment icon.
Or - just double click the (Add New Segment)
line.
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# 27
This Is a Standstill
For the Type, we
pick “Standstill”.
Now we enter the
amount of time to
stand still (dwell).
For our application,
that’s 350ms.
Press OK.
LinMot Designer Course
# 28
This is What You Should See
LinMot Designer Course
# 29
Now What Does It Tell Us?
Press + or – to expand or shrink
the various lists.
This tells us about our motor and
controller.
This gives us performance data for
the motor.
This tells us about our load. These
are our “Globals”.
LinMot Designer Course
# 30
What Else?
Press + or – to expand or shrink
the lists.
This gives us some information about the
segment that is highlighted.
This is REALLY useful. It gives us the
maximum conditions.
This tells you how big your power supply
needs to be.
REALLY important - tells us if our motor will
OVERHEAT or not. Notice a fan adds more
capacity.
LinMot Designer Course
# 31
What Else?
The Warnings section
tells you if there’s
anything you need to
be concerned about.
LinMot Designer Course
# 32
So This Motor Will Work!
Let’s save our work.
Click one the Save icon.
Save the file as
“Training01.Idc”.
Now that we’ve saved our work, let’s play! ... I
mean, let’s initiate an iterative design
optimization process.
LinMot Designer Course
# 33
Can We Save Some Money?
There seems to be some room. Could we save
some money and use a smaller motor?
LinMot Designer Course
# 34
Let’s Try a P01-37x120/280x360
It looks like it’ll work!
LinMot Designer Course
# 35
Let’s Try a P01-37x120/280x360
It looks like it’ll work!
But what about
power dissipation?
No dice!
So our choice is,
use a fan or use
the bigger motor.
LinMot Designer Course
# 36
So What If I Need a Fan?
Fans only work well in clean environments.
The fan requires 24 Vdc power.
It’s another part that can fail.
LinMot Designer Course
# 37
What Else Can I Do?
There are several things that you can do to
solve the problem of having too little power
dissipation.
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Lower the ambient temperature
Increase the Standstill time
Increase other times
Reduce masses (global or local)
Reduce stroke lengths
Reduce friction
LinMot Designer Course
# 38
Printing Your Results
Now that we’re done we can print out our
work (if you have a printer that is). Just click
the Print icon.
The printout can be Faxed to your customer,
or you can print to a PDF file and e-mail it.
The printout will look like this.
LinMot Designer Course
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Page 1
LinMot Designer Course
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Page 2
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Page 3
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Page 4
LinMot Designer Course
# 43
Types of Moves
When entering a segment, you can choose
the type of move you want to make. There
are six choices:
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Standstill
Sine
Point to Point
Minimal Jerk
Custom
Let’s look at each one.
LinMot Designer Course
# 44
Standstill Move
Stay in the same place, no movement at all.
Also called a “dwell” time.
These are important for determining power
dissipation.

Generally, adding more standstill time reduces
power dissipation
We’ve already discussed this move.
LinMot Designer Course
# 45
Sine Move
The position is a sinusoidal function of time (it’s a
smooth move).
This is the easiest move to make, i.e. it requires the
least amount of force from the motor.
With LinMot controllers, the software will automatically
calculate the sine move.
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Note that the E1100-MP and E1100-MT controllers do not do
sine moves.
Sine moves are typically best for short moves (longer
moves typically use point to point moves or trapezoidal
moves).
LinMot Designer Course
# 46
Point to Point Move
aka Trapezoidal move
With this move, you specify the acceleration,
deceleration, and maximum velocity.
You DO NOT specify the time. You either
calculate these parameters or you play with
the numbers until you get the time you want.
This is typically the move to use when making
long moves (as opposed to the sine move).
LinMot Designer Course
# 47
Let’s Do A Point To Point Move
Change Segment 1 from a Sine move to a
Point to Point move.
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Max. Velocity = 1.7m/s
Acceleration and Deceleration = 29m/s2
Notice that the duration box is grayed out
(you can’t change the time).
You should see something like the following:
LinMot Designer Course
# 48
Point to Point
LinMot Designer Course
# 49
Minimal Jerk Move
This move minimizes the “Jerk” on the load.
With this move:
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Acceleration starts at zero
Acceleration increases for the first ¼ of the move
Acceleration decreases for the next ½ of the
move, passing through zero at the half way point
and then going negative (negative acceleration is
deceleration remember, so deceleration increases)
Acceleration increases (deceleration decreases) for
the last ¼ of the move, finally reaching zero at
the end of the move
LinMot Designer Course
# 50
Let’s Do One
Change Segment 2 from a Sine move to a
Minimal Jerk move.
Notice that the time box is active (you enter
the time and the stroke, it does the rest).
You should see something like the following:
LinMot Designer Course
# 51
Minimal Jerk
LinMot Designer Course
# 52
Shall We Look a Little Closer?
Click on the
Kinematics tab.
Be aware that these
graphs exist.
Discuss what the
velocity, acceleration
and force do for the
two different moves.
LinMot Designer Course
# 53
Custom Move
With this move you can import a csv file
containing position points.
This allows use of any kind of move.
LinMot Designer Course
# 54
Any Questions?
We finished our first exercise! Any questions?
Are there any applications that you have that
we can look at?
LinMot Designer Course
# 55
Those Are the Basics
There are a few more things to discuss but
those are the major points. Any questions?
Let’s look at a few more things.
LinMot Designer Course
# 56
Units
The software can work in either
English or metric units.
You can switch back and forth any
time you want to. To do this either:
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Click on the Edit Measurement Settings
icon
Or
Double click on the Units window
 Lower left of the window
Give it a try.
LinMot Designer Course
# 57
Constant Force/MagSpring
In the global load settings, there is a box for
“Constant Force”. This is used when there is
a constant force acting on the motor at all
times (and in the same direction, unlike
friction).
How do you create a constant force on the
slider regardless of position? When you use a
MagSpring!
Let’s look at an example.
LinMot Designer Course
# 58
New Design
Global Settings - Motor
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Motor is a P01-37x120/180x260
E11x0/B1100 controller
everything else default
Global Settings - Load
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Start Position: 50mm
Mass: 1,500g
Angle: -90deg
We’re just picking it up.
LinMot Designer Course
# 59
First Move (Segment 1)
Curve Settings
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Sine move
-100mm (moving up)
500ms
Local Load Settings
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Mass: 2,000g (this is the mass of the payload just
for the up move)
LinMot Designer Course
# 60
Second Move (Segment 2)
Curve Settings.
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Standstill move
1,000ms
Local Load Settings.
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Mass: 2,000g
LinMot Designer Course
# 61
Third Move (Segment 3)
Curve Settings
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Sine move
100mm (moving down)
500ms
Local Load Settings
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Mass: 0g (we’ve dropped the payload)
LinMot Designer Course
# 62
Last Move (Segment 4)
Curve Settings.
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Standstill move
300ms
Local Load Settings.
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Mass: 0g
Let’s take a look
LinMot Designer Course
# 63
It Looks Like This
Power dissipation is too high (otherwise it’s OK).
LinMot Designer Course
# 64
What Can We Do About That?
Add a MagSpring!
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We’ll pick one with 40N of
force
Slider mass is 160g
Under Global Load Settings
we enter a External Force
of -40N.
Also, add 160g to Mass for
the MagSpring slider.
Let’s look.
LinMot Designer Course
# 65
Like This
Mass of 1660
(1500g+160g)
Constant Force
of -40 N
It’s good
practice to add
some friction.
LinMot Designer Course
# 66
And It Looks Like This
Wow! Power was 25 Watts, now it’s only 3.1W.
Let’s try a smaller motor and save some $$$.
LinMot Designer Course
# 67
Enter The Next Smaller Stator
P01-23x160/130x270
LinMot Designer Course
# 68
And You Get
This works well and costs less.
It will also stay up during a power failure!
LinMot Designer Course
# 69
That’s It!!
Any other questions?
The End
Thanks for Coming!
LinMot Designer Course
# 70