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The price of the PHASER is set surprisingly low. Drastic cost reduction was implemented with the major components, such as adoption of the shaft motor which has a high efficiency from use of the magnets and development of Yamaha's original linear scale. In addition, the PHASER has a simpler structure requiring less manhours and less number of components in the production process compared with the conventional single axis robot with the ball screw specification. Such high performance linear servo is made available at the same or less cost as the ball screw model.

[1] High accuracy The repeated positioning accuracy is +/-5μm. Using the full-closed control constantly providing direct feedback of the table position, the PHASER can operate with a stable high accuracy. Also, there is no mechanical backlash which occurs with the ball screw and timing belt. [2] Stable speed The shaft motor of the coreless structure hardly experiences cogging. In addition, owing to the high resolution scale of 1ƒÊm and outstanding control technology, the speed ripple is reduced to a large extent for smooth operation even at a low speed. This feature is optimum for such application that requires slow and smooth movement as the testing equipment. [3] High acceleration The maximum acceleration of 3G* contributes to save the cycle time. *The acceleration level varies depending on the model, carrying weight and operation conditions. [4] High speed The maximum speed is as high as 2.5m/sec.* As no dangerous speed is involved as in the case of the ball screw model, the maximum speed is maintained even when moving over a long stroke. This feature exhibits an overwhelming performance when the carrying distance is long. *The maximum speed varies depending on operation conditions.

Simply by inputting the payload into the parameter setting, the optimal acceleration and decelerations are automatically set. Since the duty monitor also checks the load condition, it is easy to set optimum operation settings. If powerful magnets are exposed, various restrictions would be applicable to the environment where the robot is installed. As the PHASER has a stainless shutter as a standard equipment, it prevents powder dust from entering and there is more freedom in selecting the installation place. Also, the magnetic scale has so highly dirt resistant that it can operate without any problem even in such environment where it is exposed to some grease or cutting fluid. The driving section of the PHASER includes no parts which are subject to secular change, such as ball screw, rotary type bearing and timing belt. As the linear guide of all models is equipped with a retainer, no maintenance is needed for a long period of time.

[1] Compact and light weight As a result of using a light and compact shaft motor, the PHASER is much smaller than the conventional single axis robot using a coreless linear motor, about 40% in the cross section area and 1/3 or less in the main unit weight. The PHASER contributes to downsizing of the machine as a whole. [2] Effective use of stroke As the moving coil is included in the table, the space otherwise used as a dead space can be used effectively for the stroke. Also, the perfectly symmetrical structure of the main unit provides higher freedom in layout. In addition to the conventional three operation modes, that is, program operation, operation by specifying points from the sequencer and operation by commanding from the PC, the PHASER has a new function to control operation by inputting the pulse train. Therefore, it can be fitted to any system of any upper model. The PHASER capable of controlling operation by inputting the pulse train is optimum for the driving shaft of the special machine. The high performance and low cost feature is helpful to improve added values of the special machine. YAMAHA can cope with demands for special orders and prepare the optimum model to satisfy them.

Double carriage Use of a double carrier arrangement enables a multiple number of tables to be set on the same line and controlled individually. For example, when the time waiting for the robot movement such as pick & place is long, use of the double carrier can reduce the tact time to a large extent. It is much more space saving and lower cost than when using a multiple number of conventional single axis robots. Dual drive Use of a dual drive arrangement enables operation with a high thrust force and larger carrying weight.

Although it is usually noisy in a factory, if each equipment is made quieter, the environment becomes friendly to workers. As the PHASER has less sliding sections and rotating parts than the ball screw type single axis robot, it is much quieter. It is best suited to the desk-top factory and research facility as well.

Since the moving coil and magnet shaft have a non-contact structure and there are very few sliding sections, dust is hardly produced. *The clean room model will be introduced before long. The simple structure and trouble-free features assure a long service life. The non contact type shaft motor is usable semipermanently.