V o i c e C o i l A c t u a t o r s

Ap p l i c a t i o n s & P r o d u c t S e l e c t i o n Gu i d e
Technol ogy Rel i abi l i t y Exper i ence
Actuators
Actuators
Voice Coil (VC) Actuators are direct-drive,
hysteresis-free devices used for providing highly accurate linear or rotary
motion. By virtue of their high acceleration and the absence of commuta-
tion, voice coil actuators offer numerous advantages in such applications
as medical, semiconductor and industrial controls or systems that demand
high precision. They offer virtually unlimited resolution, limited only by the
encoder used for feedback. And they come to stop points with amazing
speed and accuracy. VC actuators are also a clean technology, well-suited
to those applications requiring such operation.
Voice Coil Actuators
Weve helped OEMs worldwide
to integrate thousands of our actuators, motors, encoders and systems
into their products. Through this experience, weve gained the perspective
not just of a supplier, but of a partner, an integral member of your
engineering team.
Over twenty years experience
We have designed nearly 800 actuators
as a result of our custom engineering capability. In many cases, we can
provide virtually off-the-shelf solutions. Were always ready to modify a
standard product or design a completely new one for your application.
Comprehensive product line
Ultimately, BEI Kimco Magnetics is
about delivering expertise, not just products. In every application, we
seek innovative ways to add real value. Whether this requires building one
of your system components into a subsystem, or integrating specialized
sensors or electronics, well do what it takes to make a measurable
contribution to your programs success.
A totally integrated solution
Voi ce Coi l Act uat ors
Magnet
Magnet
Coil
Winding
Voice coil actuators use a permanent
magnet adjacent to a coil assembly. The coil
produces force within the magnetic field in
direct proportion to the applied current.
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Selection
Applications & Product Guide
Cont ent s
Applications Guide
Magnetics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
Single Phase Actuation . . . . . . . . . . . . . . . . . . . . 3-4
Conventional & Flux-Focus Design
Magnetically Interleaved Design
Sizing Voice Coil Actuators . . . . . . . . . . . . . . . . . .4
Information Required,
References Physics/Properties
Applying Voice Coil Actuators . . . . . . . . . . . . . . 6-7
Installation Considerations . . . . . . . . . . . . . . . . . . 8
Application Types
Beam Steering Mirrors . . . . . . . . . . . . . . . . . . . . . 8
Pilot Valve Control . . . . . . . . . . . . . . . . . . . . . .9-10
Determination of speed and acceleration;
acceleration and RMS force; affect of
actuator coil mass on selection criteria;
winding verification
Gimbal Assemblies . . . . . . . . . . . . . . . . . . . . . 10-11
Inner axis acceleration torque requirements;
Inner axis winding verification; Outer axis
(complete assembly) acceleration torque
requirements; outer axis winding verification
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
Features and Advantages of Rotary and
Linear Voice Coil Actuators . . . . . . . . . . . . . 13
Application-Specific Uses
Linear Voice Coil Actuators Selection Guide . 15
LA Series Linear Actuators
LA50/RA55 Actuators
RA29 Series Voice Coil Actuator
RA60 15 Enclosed Actuator
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Quality
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BEI Kimco oers samples of selected standard
Actuators for qualied evaluation. For quickest response, visit our web-
site. An easy-to-spec guide will identify the model that nearest suits your
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Evaluation samples
On-Line Assistance, Samples & Application-Specic Guides
Medical Equipment
Applications Guide
reects where BEI Kimco
actuators and motors are
already at work in demanding
applications. Available on-line
at www.beikimco.com.
Visit BEI Kimcos website for immediate assistance,
sample requests and all the details on one of the
industrys most comprehensive lines of high quality,
Actuators, DC Brushless Motors and precision motion
control products.
Semiconductor
Equipment Applications
Guide depicts BEI Kimcos
leading-supplier role in this
demanding, high repeat-
ability and reliability industry.
Request your copy on-line at
www.beikimco.com, or see it
entirely on site.
Total Motion Control Solutions
Medical Equipment Applications
Br ushl ess DC Mot or s Act uat or s Dr i ves and Cont r ol s
Total Motion Control Solutions
Semiconductor Equipment Applications
Br ushl ess DC Mot or s Act uat or s Dr i ves and Cont r ol s
VOICE COII
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Page 2
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BE Kimco Magnetics is an interna-
tionally recognized leader of specialty
products for producing, sensing and
controlling motion in high technology
and high accuracy machinery. Our par-
ticular specialties are brushless motors
and voice coil actuators, control elec-
tronics, and position and speed record-
ing encoders, which individually and
together provide vital links between
microcomputer logic and precision
mechanisms.
Consider computer-age products
such as computer-assisted respiratory
equipment, medical devices, memory
storage, printers, robot arms, CNC ma-
chines, computer controlled factories,
CAD/CAM plotters, offce automation
machines, space satellite sensors,
and optical scanners. All rely on BE
Kimco products to improve their per-
formance, value, and market acceptance.
This guide is a tutorial on voice coil ac-
tuators designed and manufactured at
BE's Kimco Magnetics Division. Kimco
Magnetics specializes in fractional and
sub-fractional horsepower brushless
motors, as well as in linear and rotary
actuators and specialty magnetics.
Tutorial information pertaining to
brushless motors may be found in
the Brushless DC Motor Applications
Guide.
For further information on the products
described in this Applications Guide
contact:
imco Magnetics
2470 Coral Street - Bldg. D
Vista, CA 92081-8430 USA
Toll Free: (800) 572-7560 Tel: (760) 597-7042
Fax: (760) 597-6320 www.beikimco.com
E-Mail: sales@beikimco.com
MAGNEIICS
Voice coil actuators are direct drive,
limited motion devices that utilize a
permanent magnet feld and coil wind-
ing (conductor) to produce a force that
is proportional to the current applied
to the coil. These non-commutated
electromagnet devices are used in
linear and rotary motion applications
that require linear force or torque
output, and high acceleration, or high
frequency actuation. Originally used in
radio loud speakers, voice coil actua-
tors are gaining popularity in applica-
tions where proportional or tight servo
control is a necessity.
The electromechanical conversion
mechanism of a voice coil actuator
is governed by the Lorentz Force
Principle. This law of physics states
that if a current-carrying conductor is
placed in a magnetic feld, a force, F,
will act upon it. The magnitude of this
force is determined by the magnetic
fux destiny, B, the current, l, and
the orientation of the feld and current
vectors. Furthermore, if a total of N
conductors (in series) of length L
are placed in the magnetic feld, the
force acting upon those conductors is
shown by Equation (1):
F=kBLN, (1)
where k equals a constant. Figure 1
is a simplifed illustration of this law of
physics.
FIGbkE 1
n Figure 1, the direction of the force
generated is a function of the direction
of current and magnetic feld vectors.
Specifcally, it is the cross-product
of the two vectors. f current fow is
reversed, the direction of the force
on the conductor will also reverse. f
the magnetic feld and the conductor
length are constant, as they are in a
voice coil actuator, then the generated
force is directly proportional to the in-
put current.
Furthermore, a conductor moving
through a magnetic feld will have a
voltage induced across the conductor.
The magnitude of the voltage, E, is
dependent on the magnetic fux den-
sity, B, the length of the conductor, L,
and the speed of the conductor, v, as
the conductor traverses the feld. The
voltage potential induced in the con-
ductor (i.e., the back EMF) is shown
by Equation (2):
E = kBLvN, (2)
Where k equals a constant and N
equals the total number of conductors
of length L.
Equations (1) and (2) can be restated
as follows: a device that contains a
permanent magnet feld and coil wind-
ing moving in the feld will produce a
force proportionaI to current [car-
ried in the coil] and a voItage propor-
tionaI to veIocity [of the coil].
n its simplest form, a linear voice coil
actuator is a tubular coil of wire situat-
ed within a radially oriented magnetic
feld, as shown in Figure 2. The feld
is produced by permanent magnets
embedded on the inside diameter of
a ferromagnetic cylinder, arranged so
that the magnets that are facing' the
coil are all of the same polarity. An in-
ner core of ferromagnetic material set
along the axial centerline of the coil,
joined at one end to the permanent
magnet assembly, is used to com-
plete the magnetic circuit. The force
generated axially upon the coil when
current fows through the coil will
produce relative motion between the
feld assembly and the coil, provided
the force is large enough to overcome
friction, inertia, and any other forces
from loads attached to the coil.
FIGbkE 2

PLPMANLNT MAGNLT
CO|L
HOLDLP
P|XLD, wOPK|NG A|P GAP
STLLL PLUX PLTUPN
TU8ULAP CO|L
(SOPT |PON, PLPPOMAGNLT|C CL|NDLP)
Page 3
Based upon the required operat-
ing stroke of the actuator, the axial
lengths of the coil and the magnet
assemblies can be chosen such that
the force vs. stroke curve is extremely
fat. The degradation of force at the
two travel extremes with respect to
the mid-stroke force can often be kept
below 5%. This is possible, because
the working air gap of the permanent
magnet circuit remains constant over
the rated stroke.
f one were to fatten the linear voice
coil actuator from a round tube to a fat
tube, then bend the two ends to form a
planar arc, such as a sector of an an-
nulus, one would have a rotary voice
coil actuator. This device can also be
referred to as a Limited Angle Torquer
or a Sector Torquer. ts principle of op-
eration and force generation is analo-
gous to that of the linear counterpart;
however, ratings are in units of torque,
instead of force, because force is gen-
erated along the circumference of an
arc (i.e., Torque = Force X Radius).
Figure 3 depicts a typical rotary voice
coil actuator.
FIGbkE 3
SINGIE FHASE
ACIbAIION
The voice coil actuator is a single
phase device. Application of a voltage
across the two coil leads will generate
a current in the coil, causing the coil
to move axially along the air gap. The
direction of movement is determined
by the direction of current fow in the
wire.
The single phase linear voice coil
actuator allows direct, cog-free linear
motion which is free from the back-
lash, irregularity, and energy loss that
result from converting rotary to linear
motion. Rotary versions of voice coils
provide such smooth motion that they
are becoming the preferred device in
applications requiring quick response,
limited angle actuation, such as gim-
bal assembles.
IHkEE 8EI OFFEkINGS
ConventionaI Design
n one common confguration, the
actuator consists of a cylindrical coil
that is free to move axially in air gap,
as shown in Figure 2. The air gap is
formed between a cylindrical center
pole and a permanent magnet that
surrounds it. A soft iron shell houses
both the magnet and the pole. Figure
4 depicts this conventional construc-
tion.
FIGbkE 4
n some cases the axial length of the
coil exceeds that of the magnet, by the
amount of coil travel. n other cases
the magnet is longer than the coil, by
the travel length. The long-coil con-
fguration provides a superior force-to-
power ratio and dissipates heat better,
compared to the short-coil confgura-
tion. The short-coil, however, has a
lower electrical time constant, smaller
mass, and produces less armature re-
action. Neither arrangement provides
a perfectly linear force-vs-travel char-
acteristic. An armature reaction results
from current in the coil and alters the
level of fux in air gap. Current through
the coil in one direction decreases air
gap fux, and current in the opposite
direction increases it. Applications
calling for a more linear force-vs-
position characteristics may use two
actuators working in concert. Here,
one actuators pulls when the other
pushes, and vice versa.
FIux-Focus Design
Motion control applications sometimes
need more force than conventional
moving coil actuators can provide.
Referring to Equation (1), actuator
force is proportional to the coil cur-
rent as well as the fux density in the
air gap. Thus, for a given coil winding
and current, the fux density level will
determine the force magnitude.
Flux density in the air gap of conven-
tional actuators is typically less than
50% of the residual value for the mag-
nets in the device. For example, con-
sider an actuator containing a rare-
earth magnet. The magnet may have
a residual fux density on the order of
11 kG, but the actuator will only have
an air gap density of around 5 kG.
Actuator magnets typically operate
with load lines having a value of 1.0 to
1.5, which accounts for the relatively
low air gap fux density. Magnetic fux
leakage also reduces the useful mag-
netic feld.
BE Kimco has developed a fux-focus
technique which enables the manufacture
of actuators with air gap fux densities
equal to or greater than the magnet
residual value. Actuators based on
this technique contain a magnet in
the form of a hollow cylinder with one
end closed, as illustrated in Figure
5. The cylinder interior (including the
closed end) forms a north pole. The
outside of the cylinder forms a south
pole. The magnet is surrounded by
a tight-ftting, cylindrical shell of soft
iron that also has one end closed.
The open end of the soft shell extends
beyond the open end of the magnet.
A cylindrical core, generally fabricated
of soft iron, fts tightly inside the mag-
net and extends beyond its open end.
An annular space between the inside
face of the shell and the outside face
of the core forms an air gap in which
the cylindrically shaped coil is free to
move axially.
FIGbkE 5
"PLATTLNLD" CO|L
PLPMANLNT
MAGNLT
CO|L 8PACKLT
STLLL PLUX
PLTUPN (SOPT
|PON)
LLvLP PO|NT
SOPT |PON
COPL
SOPT |PON
SHLLL
MAGNLT
N
S
N
S CO|L
SOPT |PON
PLATL
PAPL-LAPTH
MAGNLT
SOPT |PON SHLLL
SOPT |PON
COPL
CO|L
N
S
N
S
S
N
Page 4
INFOkMAIION kEQbIkED
Linear Actuators
The nature of the application under
consideration dictates the information
required to properly select an actuator.
For example, operating at a fxed force
will have a different demand than op-
eration under servo conditions. n gen-
eral, four parameters will determine
actuator selection:
(1) peak force requirement (F
P
),
(2) RMS force requirement (F
RMS
),
(3) linear velocity (Q), and
(4) total stroke or move distance (D).
(The environmental requirements
will also affect actuator selection.)
Peak Force Requirement
Peak force, F
P
, is the sum of the force
due to load, F
L
, friction, F
F
, and the ac-
celeration of mass, F
m
:
F
P
= F
L
+ F
F
+ F
m
* (3)
Looking at the separate components,
the force due to the load is the force
acting directly against the actuator
at all times. For example, a vertically
oriented actuator supporting a mass
against gravity will always have the
force of gravity as a load component
(if not supported mechanically). The
force due to friction is determined
by the mechanical confguration of
the complete motion assembly and
includes such factors as bearings,
grease, linkages, surface-to-surface
contracts, etc. Finally, the force due to
the acceleration of mass is the product
of load (including actuator coil) mass,
m
LTC
, and load acceleration, D, as
shown in equation (4).
F
m
= m
L+C
X D (4)

RMS Force Requirement
Root-Mean-Square or RMS force
is used to approximate the average
continuous force requirement of an
application. t is described by the fol-
lowing equation:
(5)
where t
1
is the acceleration time, t
2

is the run time, t
3
is the deceleration
time, and t
4
is the dwell time in a move
profle.
Linear VeIocity
Velocity, v, is also dictated by the con-
fguration of the mechanical system
coupled to the actuator coil and by the
type of move that is to be effected. For
example, a constant force application
would require an actuator with low ve-
locity rating. A point-to-point position-
ing application would require an ac-
tuator with rated velocity higher than
the average move velocity. The rated
velocity would account for accelera-
tion, deceleration, and run times of the
motion profle. Figure 6 relates rated
velocity to average velocity for point-
to-point positioning move profles.
DEFINITIONS
Q
max
= rated operating speed of actuator, in/Sec
v
TRAP
= average speed of actuator required for a
specifed trapezoidal move, in/Sec
v
TR
= average speed of actuator required for a
specifed triangular move, in/Sec
A. TrapezoidaI Move
i) For acceleration portion of curve:
Q
max
+ 0 = (1/4)D/t
1
Q
max
= D/2t
1
2
ii) For entire move:
Q
TRAP
= [(1/4)D+(1/2)D+(1/4)D]/(t
1
+t
2
+t
3
) = D/3t
1
iii)

Q
max


=

D/2t
1

=
3
Q
TRAP
D/3t
1
2
i.e., Q
max
= 1.5 Q
TRAP
D = total distance traveled, by moving coil
t
1
= acceleration time, seconds
t
2
= run time, seconds
t
3
= deceleration time, seconds
t
4
= dwell time, seconds
B. TrianguIar Move
i) For acceleration portion of curve:
Q
max
+ 0 = (1/2)D/t
1
Q
max
= D/t
1
2
ii) For entire move:
Q
TR
= [(1/4)D+(1/2)D+(1/4)D]/(t
1
+t
2
+t
3
) = D/3t
1
iii)

Q
max


=

D/t
1

= 2
Q
TR
D/2t
1

i.e., Q
max
= 2 Q
TR
The confguration shown in Figure 5
allows the surface area of the magnet
to be much larger than the cross-sec-
tion area of the air gap. This design is
magnetically very effcient, incurring
few leakage paths. Nearly all fux
emanating from the surface of the
magnets passes through the air gap.
Air gap fux densities on the order of
11 kG or greater are attainable for ac-
tuators that contain the 11 kG residual
fux density rare-earth magnets.
Actuators using fux focus techniques
are smaller and lighter than con-
ventional types having equal force
ratings. Flux focus actuators exhibit
lower electrical time constants, higher
force-to-mass ratios, and less arma-
ture reaction.
MagneticaIIy InterIeaved Design
For applications requiring the highest
force output in the smallest diameter
possible, BE, Kimco Magnetics Divi-
sion offers its patented interleaved
magnetic circuitry technology. For
comparable performance characteris-
tics, this design tends to be longer axi-
ally, but smaller in diameter than the
conventional and fux-focus designs.
The interleaved design also contains
a considerably less massive magnet
assembly. The coil assembly tends to
be heavier, because of the increased
copper volume attainable in a given
diameter.
A signifcant advantage of the inter-
leaved magnetic circuit voice coil is
the lower coil inductance. This char-
acteristic results in an actuator with
a very low electrical time constant
(t
e
= L/R).
Space-limited and weight-limited ap-
plications sometimes call for use of
special materials for performance
optimization. BE Kimco's Finite
Element Analysis capabilitie and ex-
tensive experience ensure the proper
solution to your application requirements.
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FIGbkE
*Other factors may contribute to the overall
force requirement. The values of these factors
are typically more diffcult to assess. They are
taken into consideration by employing a rule-
of-thumb safety margin: 20% of the calculated
force value.
max

(1/4)D (1/2)D (1/4)D

t
1
t
2
t
3 4
t
max

(1/2)D (1/2)D
4
t t
3
t
1
Page 5
Stroke
Stroke may be specifed as the total
displacement from one end of travel to
the other end, or as a plus/minus ()
displacement from a mid-stroke refer-
ence point. Typical voice coil strokes
range from microns to about 4 inches
of total travel. The mass or volume
of a voice coil increases as stroke
increases. This condition results from
the added magnet materials needed in
long stroke applications, as well as the
additional back-iron needed to carry
the fux of the added magnets. Force
and stroke usually have an inverse
relationship - i.e., high-force/short-
stroke, or low-force/long-stroke.
Rotary Actuators
The four parameters required for
proper sizing of linear actuators have
rotary equivalents: (1) peak torque re-
quirement, T
P
, (2) RMS torque require-
ment, T
RMS
. (3) angular velocity,Q, and
(4) angular displacement or stroke.
(Again, environmental conditions also
affect selection.)
The rotary equivalent to the accelera-
tion force equation is shown in Equa-
tion (6) below:
T
J
= J
L+C
X D, (6)
where T
J
is the torque required to ac-
celerate a body about an axis located
at its center of mass, J
L+C
is the sum
of the actuator coil and refected load
inertias, and D is the load's angular ac-
celeration rate.
kEFEkENCE FHYSICSJ
FkOFEkIIES
This section presents conversion
factors and physical characteristics
of motion utilized in the sizing and
selection of linear and rotary voice coil
actuators. This provides a technical
basis for the calculations shown later
in this tutorial, under the section en-
titled Application Types.
Inertia CaIcuIations (Rotary Voice
CoiI Actuators)
Rotary system torque requirements
are a bit more diffcult to determine
due to inertia considerations. The
inertia of the moving coil (including
the support arm that attaches the coil
to its pivot point) and the load inertia
can signifcantly increase the level of
torque required during angular accel-
eration and deceleration of loads. A
few facts from rotational dynamics can
help provide a reasonable estimate of
system inertias.

Figure 7 illustrates four objects rotated
about an axis and equations describ-
ing the corresponding rotational iner-
tias. n all cases, m is the mass of the
object.
For objects of known weight, W, sub-
stitute W/g (g = acceleration of gravity)
for m:
A. HoIIow CyIinder
(about CyIinder Axis)
(7)
B. SoIid CyIinder
(about CyIinder Axis)
(8)
C. SoIid CyIinder
(about CentraI Diameter)
(9)
D. SoIid CyIinder
(about Axis through End)
(10)
Finally, there is a useful relationship
between the inertia, J
d
, of a body
about any axis and its rotational iner-
tia J (described above), about an axis
through its center of mass, parallel to
the frst axis. The relation is shown by
Equation (11):
J
d
= J + md
2
(11)
where m is the mass of the body and d
is the distance between the two paral-
lel axes.
FIGbkE 7

A. Hollow Cylinder (or ring) about

Cylinder Axis
J = (m/2)(R
1
2
+R
2
2
)
B. Solid Cylinder about
Cylinder Axis
J = mR
2
2
C. Solid Cylinder (or Disk) about
a Central Diameter
J = mR
2
= mL
2

4 12
D. Solid Cylinder about Axis
through one end A to Length
J = mR
2
= mL
2

4 3
Page 6
MateriaI Densities
Table 1 shows the densities of com-
monly used materials. The values
shown in the table can be used to
calculate the weight of an object
whose volume and material compo-
sition are known.

IA8IE 1
Coefcients of Friction
t is also important to note the coef-
fcients of friction for several types of
surface-to-surface interfaces. This
information is useful in instances
where friction measurements are not
possible (e.g., the system design is
still at the paper state). Table 2 lists
these values.
IA8IE 2
Conversion Factors
Table 3 is a collection of conversion
factors between unit systems often
required in actuator application ex-
ercises.
IA8IE 3
IHEOkY
Within certain limits defned by the
magnetic circuit geometry, the force
produced by a permanent magnet,
linear voice actuator is linearly pro-
portional to the current through its coil,
as shown by Equation (1). The ratio of
the force to current is called the force
constant, K
F
, of a voice coil actuator:
F = kBLIN => kBLN = F/I =>
K
F
= F/I. (12)
(K
t
= T/I : rotary equivaIent)
FIGbkE 8
Figure 8 depicts the equivalent circuit
of a voice coil actuator. When a volt-
age, V, is applied across the terminals,
a current, , circulates through wind-
ings of resistance, R. At the same
time, the actuator generates a back
electromotive force (EMF), V
B
. This
back EMF is proportional to the speed
of the moving coil by a constant, K
B
:
V
B
= vK
B
= v(1.356K
F
) (13)
(V
B
= ZK
B
= Z(0.0071K
B
) :
rotary equivaIent)
and directly opposes the applied volt-
age. n addition, the actuator coil has
an inductive voltage drop (note: this
value is usually small, often negli-
gible):
V
L
= L(di/dt). (14)
Letting V
C
represent the R drop across
the coil, application of Kirchoff's Volt-
age Law thus gives the equation that
describes the Voice Coil Actuator:
V
max
= V
C
+ V
B
+ V
L.
(15)
t is now possible to derive all of the
parameters needed in sizing and ap-
plying voice coil actuators. Please re-
fer to the glossary section of this guide
for a listing of the defnitions and units
pertaining to the variables employed
in the following equations.
Peak current requirement:
I
P
= F
P
/K
F
(16)
(I
P
= T
P
/K
t
: rotary equivaIent)
Hot copper coil resistance at maxi-
mum operating temperature:
R
H
=R
C
[1+0.00393(T
max
-25)] (17)
Resistive peak voltage drop across
the coil:
V
C
= V
P
= I
P
R
H
=> V
P
= F
P
R
H
/K
F
(18)
(V
P
= T
P
R
H
/K
t
: rotary equivaIent)
Maximum back EMF generated by the
coil:
V
B
= K
B
v
MAX
= 1.356K
F
v
MAX
(19)
where v
MAX
is the maximum speed at-
tainable, under no-load conditions.
(V
B
= K
B
Z
NL
= 0.0071K
t
Z
NL
:
rotary equivaIent)
Substituting Equations (14), (18), and
(19) into Equation (15) provides a val-
ue for the peak drive voltage require-
ment, in terms of known parameters:
V
P
= F
P
R
H
/K
F
+ L(di/dt) +
1.356(K
F
)v
MAX
. (20)
(V
P
= T
P
R
H
/K
t
+ L(di/dt) + 0.0071K
t
Z
NL

: rotary equivaIent)
$33/<,1*92,&(&2,/$&78$7256
MateriaI
Density
(oz/in
3
)
Stainless Steel
Steel
Aluminum
Ceramic
Copper
Brass
Glass
Plastic
4.48
4.51
1.54
2.83
5.12
4.94
1.50
0.64
Unit Demand Conversion
inch
inch
ounce
pound
ounce
pound
oz. in.
oz. in.
oz. in.
oz. in.
oz. in. Sec
2
oz. in. Sec
2
oz. in. Sec
2
oz. in. Sec
2
oz. in. Sec
2
V/(Rad/Sec)
mm/25.40
cm/2.540
gm/28.35
gm/453.6
Newton/3.597
Newton/0.2248
lb in x 16
lb ft x 192
Nm x 141.6
g-cm/72
oz in
2
/386
g-cm
2
/(7.09 x 10
4
)
g-cm-Sec
2
/72
lb in
2
/24.1
lb in. Sec
2
x 16
(.0071) oz in/A
Contact Surface Coefcient
Linear ball bearings
Steel on steel (no
lub)
Aluminum on steel
Tefon on steel
Tefon on Tefon
Glass on glass
Leadscrew
Rotary ball bearing
0.001-0.004
0.57
0.47
0.04
0.04
0.4
0.15
0.07
VCA V
V ( = lR)
C l
V
B
( = vK )
B
V ( = L )
L
di
dt
Page 7
Force ControI Operation
Voice coil actuators have linear force
v.s. travel characteristics, low electri-
cal and mechanical time constants,
and a high electrical-to-mechanical
energy conversion rate. They are
cog-free, hysteresis-free, and have no
preferred coil position.
These attributes result in a level of
smoothness and controllability that
make voice coils ideal devices for use
in all types of servo modes, includ-
ing positioning, velocity regulation,
force/torque blocks, hybrid servos,
and volume restricted applications,
such as optical scanners and linear
compressors.
n its simplest servo form, the voice
coil will be used as a force generator,
where velocity and position are not
critical considerations. n this mode,
an operational amplifer is used to
adjust the current level applied to an
actuator, based on the signal gener-
ated from some feedback element
that senses force, directly or indirectly.
Figure 9 illustrates the force mode
block diagram.
Position ControI Operation
n a position control mode, additional
feedback elements are added to the
system. Feedback devices are need-
ed to sense the velocity and position,
because the system has to operate in
more than one mode. Consider, for ex-
ample, a point-to-point move that is ac-
complished with a trapezoidal velocity
profle, such as the one described in
Figure 6 (page 4). This means that the
coil will be accelerating during the frst
one-third period of the move profle,
moving at a constant speed during the
second third, and decelerating during
the last one-third period of the move,
coming to rest at a specifc location. n
this case, it is
best to compensate the system sepa-
rately for each mode of operation and
switch between modes at the appro-
priate time.
A block diagram corresponding to
the dual-control mode, point-to-point
move is illustrated in Figure 10.*
n the trapezoid move profle, the ac-
tuator would be in the velocity mode
during the acceleration and constant
velocity portions of the move. The
mode selector switch would be sens-
ing velocity through sensor P'. During
deceleration, the selector switch would
be in the position control mode, sens-
ing coil position through sensor P.
AmpIier SeIection *
The closest analog to a voice coil
actuator is a permanent magnet, self-
commutating brush DC motor. Many
commercially available amplifers
designed for this type of motor can
be used or adapted to control voice
coils. Driver chips for hard disc drive
access motors, which often are voice
coil actuators, are also commercially
available. n addition, BE's VCA100
amplifer with integrated DSP control
is available for 0 to 80 VDC require-
ments.
n selecting an amplifer, it is important
to know the maximum back EMF volt-
age rating of the actuator, the induc-
tance of the coil, and the voltage drop
across the coil, as seen in Equation
(15). Furthermore, these values must
be calculated at the worst case con-
dition (i.e., at the maximum dynamic
condition and at the highest ambient
temperature level). Proper selection
will include only those amplifers with
a voltage output rating at least as high
as the sum of the voltage components
described above. n addition, if a Pulse
Width Modulated (PWM) control is to
be used, and the actuator inductance
is less than the minimum specifed for
the PWM amplifers, additional voltage
headroom may be required to sup-
press current spikes and minimize the
affects of voltage saturation. Because
BE's moving coil actuators are used
in low inertia, low-to-medium power,
high response systems, they may be
powered by PWM amplifers or H-
Bridge linear amplifers.
FIGbkE
FIGbkE 10
*A detailed, comprehensive discussion on
operational amplifers and servo systems
may be found in DC Motors, Speed Con-
trols, and Servo Systems, an Engineering
Handbook by Electrocraft Corporation,
1980.
COMPACTOR AMPLlFlER VCA
COMMAND V ( = lR)
V ( = l R)
o oo
0
l R
COMMAND V
COMPACTOR
OP
AMP
POWER
AMP
VELOClTY
CONTROL
COMPENSATlON
POSlTlON
CONTROL
COMPENSATlON
V
C
A
P P'
Page 8
INSIAIIAIION
CONSIDEkAIIONS
MechanicaI
The standard voice coil actuator is a
parts-set consisting of a coil assembly
and a permanent magnet assembly.
For proper operation, the two parts
must be supported and aligned to al-
low relative movement. The coil must
be centered within the magnet/core air
gap throughout the entire stroke. t is
not necessary to center the coil pre-
cisely; however care must be taken to
prevent the coil winding from rubbing
against the core or the magnets. Ac-
tuator data sheets list the clearances
between the coil and the magnet as-
semblies pertaining to each model.
Like a motor parts-set, bearings or
bushings can be used to provide sup-
port and alignment.* The limited mo-
tion characteristics of voice coils also
make it possible to use other support
devices such as fexures. A fexure is
a component that allows limited mo-
tion in the desired axis, yet minimizes
off-axis motion. Typically, the fexure
is tailored by the user or OEM for the
application, although some are avail-
able commercially.
Another mechanical consideration in
integrating parts-sets into a system
is the heat dissipation requirements
of the application. Actuator force or
torque ratings shown in BE catalogs
and specifcation sheets are maxi-
mums obtained with the device sitting
on a bench top, under free convection
cooling conditions. Substantial in-
creases in the force or torque outputs
may be obtained by mounting the coil
assembly onto a heat sink surface, or
by providing a forced airfow across
the coil.
Connection
Voice coils are usually provided with
two fying leads or with two terminal
posts. They can be provided with
high-fexibility Cooner leadwire to
reduce the work hardening effects en-
countered in high frequency actuation
application.
Feedback Devices
Linear and rotary potentiometers
(pots) are used most often to sense
position in servo systems utilizing
voice coil technology. Other devices
are used when special considerations
such as high resolution or space
limitations preclude the use of pots.
Rotary feedback devices include ca-
pacitive sensors, optical encoders,
resolvers, inductosyns, or RVDT's (ro-
tary variable differential transformers).
Linear feedback devices include opti-
cal encoders, inductosyns, magneto-
resistive sensors (contactless pots),
and LVDT's (linear variable differential
transformers).
Optical encoders are available from
several CST divisions. Potentiometers
are also available through the Duncan
Electronics Division.
AFFIICAIION IYFES
A. Beam Steering Mirrors
A linear voice coil actuator with greater
than normal clearance on each side of
the coil can be used to execute small
mirror tilt angles in beam steering mir-
ror systems. Typically, the actuators
are used in opposing pairs of one or
more sets around the periphery of
the mirror or its mounting plate. The
mirror is supported and aligned by a
bearing, usually a fexure spring, while
the moving members of the actuator
are connected to the mirror. The sta-
tionary members are connected to
a common structure or a reaction
member, depending on performance
requirements. The voice coil actuators
are used in push-pull pairs, and extra
coil clearance is provided to accom-
modate on-axis and off-axis rotation.
Figure 11 depicts a fast-steering mir-
ror application in which four LA10-12
actuators were used to position a
mirror across two axes at MT Lincoln
Laboratories.
Because the magnetic gap of the ac-
tuator is increased to accommodate
the overall defections of the coils,
performance is compromised. To mini-
mize this effect, a fux-focus magnetic
circuit is often used. This type of circuit
yields higher gap fux densities, as de-
scribed on page 3.
Volume restricted applications that call
for mounting of the mirror directly on
the actuator sometimes pose a special
problem. The heat generated by the
actuator coil winding may not be toler-
able due to its affect on the properties
of the mirror. n these cases, the mirror
can be mounted directly to the magnet
assemblies and the coil assemblies
mounted to the structural or reaction
member, which is usually a more mas-
sive heat sink.
Beam steering mirrors are used in op-
tical scanning, pointing, aiming, track-
ing, and stabilization applications. The
inherent features of a voice coil actua-
torhigh force-to-mass ratio, linear
constants, cog-free and hysteresis-
free motionare ideal for the design
of high performance electro-optical
assemblies.
FIGbkE 11
* n some cases the actuator moving member
is simply mounted to the load's bearing as-
sembly.
Page 9
B. PiIot VaIve ControI
Linear voice coil actuators are in-
creasingly employed in the precision
control of various types of valves. The
infnite position sensitivity (limited only
by the resolution of the servo control
system), the exceptionally fast re-
sponse times and frequency response
characteristics, and the absence of
hysteresis and friction make the voice
coil actuator an ideal valve control
device. n fact, voice coils are fnding
signifcant industry acceptance in ap-
plications that use traditional technolo-
gies such as hydraulics, pneumatics,
solenoids, and even rotary-to-linear
motor conversion mechanics.
FIGbkE 12
Example: Figure 12 shows a pilot
valve assembly concept drawing,
within which an engineer has allocat-
ed a footprint for an actuator to drive a
valve. This engineer has specifed the
parameters shown below:
VoItage 28V DC
Current 2.5 A
Stroke 0.075
(0.15 total stroke)
Load Mass 0.42 oz
Move Time 8 mSec
(Worst Case)
DweII Time 10 mSec
Force @ StaII 1 lb
O.D. 1.5 Max
Length 1.6 Max
(fully extended)
Which BE, Kimco Magnetics Division's
actuator will meet the performance re-
quirements of the application?
Step 1 - Determination of speed and
acceIeration: Assuming a triangular
velocity profle, Figure 6b may be used
to calculate the speed of the move -
v
max
= 2v
TR
= 2[(.15)/(.008 Sec)](1
ft/12in) = 3.13 ft/Sec
But in a triangular move profle, accel-
eration, D, occurs in the frst half of the
move - or, in this case, in 4 mSec -
D = (3.13 ft/Sec)/.004 Sec = (783 ft/
Sec
2
)/(32 ft/Sec
2
) = 24 G's
Step 2 - Determination of acceIera-
tion and RMS force: From the physi-
cal property, F
D
= m
D
, where F
D
is the
force of a mass, m, accelerating at a
rate, D -
F
D
= [(.42 oz)/(16 oz/lb)](24 G's) = 0.6
lb.
Disregarding the coil assembly mass
for the time being, the RMS force may
be calculated by use of Equations (3)
and (5), which state that the force due
to load (1lb) and friction (0lb) must be
added to the acceleration force (to
obtain peak force, F
P
) and subtracted
from the deceleration force. (Note
that t
2
is zero in a triangular velocity
profle.) -
IA8IE 4
Table 4 can now be used to identify an
appropriate actuator candidate. n this
example, the LA14-15 appears to be
an appropriate model or unit since it
meets the total peak force requirement
of 1.9lb (including safety margin); the
total RMS force requirement of 1.3lb
(including safety margin); the total
stroke requirement of .075 inches;
and the envelope requirement of 1.5
in. O.D. max., 1.6 in. L. max.
Step 3 - Effect of actuator coiI mass
on seIection criteria: The mass of the
actuator coil affects only the accelera-
tion force requirement. The selected
actuator has a coil mass of .63 oz.,
which is signifcant, compared to the
load mass. The adjusted acceleration
force is -
F
D
= [(.42 oz + .63 oz)/(16 oz/lb)](24
G's) = 1.6lb, and the total peak force
is 2.6 lbs
The adjusted RMS force is 1.5 lbs.
ncluding the 20% safety margin, this
translates to 3.1 lbs. peak and 1.8 lbs
RMS, respectively. The LA14-15 is still
the appropriate choice.
Step 4 - Winding Verication: t was
stated earlier that the back EMF volt-
age generated by the actuator during
operation subtracts directly from the
available voltage supply. t is, there-
fore, imperative to allow enough volt-
age headroom to pull the current that
will generate the desired force at the
speed of operation.
4.1 Calculation of generated back
EMF: (K
F
= 1.25 lb/A)
V
B
= vK
B
= (3.13 ft/Sec)(1.356K
F
)
= 5.3V DC
COlL ASSEMBLY
P.M. FlELD ASSEMBLY
COMMON SHAFT
LOAD CONNECTlON
(ElTHER END)
MOTlON
FLAT SPRlNG
FLEXURE (2)
Page 10
4.2 Calculation of force-producing
voltage: (Assuming L(di/dt) is
nearly negligible, or approx. 1V)
V
c
=V
max
- V
B
-V
L
-V
elec losses
=28V-5.53V-1V-1V(guesstimate)
=20.7V
4.3 Calculation of force-producing
current: (R
cold
=4.2ohms)
20.7V DC/R
hot
=20.7V/6.3ohms
(worst case)=3.3A
4.4 Calculation of maximum avail-
able force at 3.13 ft/Sec opera-
tion and 28V DC power supply:
Fmax=()(K
F
)=(3.3A)(1.25lb/A)
=4 lb,
enough to handle the peak and
continuous force requirements,
at the necessary speed of opera-
tion.
ConcIusion: Model LA14-15A actua-
tor with the catalog winding meets the
speed and force requirement of this
valve application.
C. GimbaI AssembIies
Rotary voice coil actuators are well
suited for use in gimbal assemblies.
The low inertia, high torque output of
the coils helps attain the fast response,
high power operation requirements
typical of gimbal controlled hardware.
The sector motor design confgura-
tion of BE Kimco's rotary voice coils
offers a signifcant reduction in payload.
Since these rotary devices provide
torque output over a limited angle of
operation, instead of torque over a full
360 degrees like conventional motors,
their design allows maximum effciency
for minimum volume and weight.
FIGbkE 13
ExampIe: Figure 13 shows a gimbal
assembly concept drawing that an
engineer has designed for his/her
hardware. The parameters for this ap-
plication are as shown in Table 5.
Step 1 - Inner axis acceIeration
torque requirement: Equation (6)
can be used to determine the torque
needed to accelerate the mirror during
the 40 degree excursion. Load (mir-
ror) inertia, actuator coil inertia, and
acceleration rate are the parameters
required to solve the equation. n the
example, the load inertia is given;
however, coil inertia and acceleration
rate are not provided. The accelera-
tion rate may be determined from the
angular displacement requirement
and the triangular velocity move profle
presented in Figure 6b, as follows-
v
TR
= average speed = (40/360)(2S
Rad)/32mSec = 21.8 Rad/Sec
v
max
= maximum speed, triangular
move = 2v
TR
= 44 Rad/Sec.
But in a triangular move profle, ac-
celeration occurs during the frst half
of the move - or, in this case, in 16
mSec -
D = accel. rate = (44 Rad/Sec)/(16
mSec) = 2750 Rad/Sec
2
gnoring coil inertia for the time being,
the torque required to accelerate the
mirror is -
T
D
= J
m
X D = (.0066 oz in Sec
2
)(2750
Rad/Sec
2
) = 18 oz in,
This torque must be available for
deceleration, as well. n addition, the
continuous duty operation calls for se-
lection of an actuator with a continu-
ous rating of at least the 18 required
oz in of acceleration torque.
Referring to table 4, two of the six rota-
ry actuators shown do not meet the 18
oz in continuous torque requirement.
Furthermore, only one of the remain-
ing units meets the 20 (total of 40)
angular displacement call-out. These
conditions facilitate selection. t ap-
pears that model RA60-10-002 is the
appropriate choice; however, it is now
important to go back and check the
effect of the RA60-10-002 coil inertia
on the overall torque requirement.
The selected actuator has a coil in-
ertia of approx. 8.5 X 10
-5
oz in Sec
2

(not shown in Table 4), about an axis
perpendicular to the plane of motion,
through the center of mass in the coil.
n this application, the coil will not
rotate about its own center of mass.
nstead, it will be levered for rotation
about an axis parallel to its own axis,
two inches away from its axis. Equa-
tion (11) may be used to determine the
inertia of the coil, relative to the axis of
rotation (i.e., the rotational axis of the
mirror)-
J = 8.5 X 10
-5
oz-in Sec
2
+ [.44 oz/
(386in/Sec
2
)](2in)
2
= .0046 oz-in Sec
2
.
The total acceleration torque require-
ment is thus-
T
D
= [(.0046 + .0066) oz in Sec
2
](2750
Rad/Sec
2
) = 31 oz in,
a value considerably higher than ini-
tially calculated. The total peak torque,
T
P
, requirement is therefore 34 oz in,
including load and friction torque. (The
low load & friction torque magnitude is
not a signifcant RMS factor in this
continuous peak torque requirement
application, as verifed by utilizing the
RMS torque version of Equation (5).)
Using the recommended 20% safety
margin, proper actuator selection
calls for an actuator with a peak and
continuous torque rating of -
T
P
= 1.2 (34 oz in) = 41 oz in. and 1.2
(31 oz in) = 37 oz in., respectively
A quick check of Table 4 still indicates
proper selection.
Engineering Parameter Inner Axis Outer Axis
Voltage (V DC)
Total angular travel (mech deg)
Move time (mSec)
Load and friction torque (oz in)
Worst case duty cycle (%)
Polished aluminum mirror weight (oz)
(1/4X3X3, w/slight curvature)
Mirror inertia (oz in Sec
2
)
(about inner axis of rotation)
nner axis aluminum support weight (oz)
12
40
32
3
100
3.4
0.0066
12
20
140
9
100
17
IA8IE 5
3DJH
Step 2 - Inner axis winding verica-
tion:
2.1 Calculation of generated back
EMF: (K
t
= 11oz in/A)
ZK
B
=(44 RadSec)[([0.0071][11])V/
(Rad/Sec)] = 3.4V DC
2.2 Calculation of torque-producing
voltage: (Again, assuming V
L
is
about 1 V)
V
C
= V
max
- V
B
- V
L
- V
elec. losses

=12V - 3.4V - 1V - 1V(guesstimate)
= 6.6V

2.3 Calculation of torque-producing
current: (R
cold
= 1.1 ohms)
6.6V DC/R
hot
= 6.6V/1.6ohms
(worst case) = 4.1A
2.4 Calculation of maximum available
torque at 44 Rad/Sec operation
and 12V DC power supply:
T
max
= ()(K
t
) = (4.1A)(11 oz in/A)
= 45 oz in.
ConcIusion #1: The RA160-10-002
actuator with the catalog winding
meets the speed and peak and con-
tinuous torque requirements of the
inner axis assembly.
Step 3- Outer axis (compIete as-
sembIy) acceIeration torque re-
quirement: As before, it is necessary
to estimate the inertia of the load
(including the inner axis support struc-
ture, the RA60-10-002 actuator, and
the mirror) about its center axis. Equa-
tion (11) may then be used to estimate
the inertia of the load about the outer
axis, which is located 1-7/8 away
from the center axis of the load. n this
example, the engineer estimated the
total load inertia, relative to its center
axis, at 0.4 oz in Sec
2
. t should be
noted that the weight of the load is 35
oz (17 oz support weight, plus 3.4 oz
mirror weight, plus 15 oz RA60 actua-
tor weight). The inertia about the axis
of rotation is -
J = 0.4 oz in Sec
2
+ [(35 oz)/(386in/
Sec
2
)](1-7/8in)
2
= .71 oz in Sec
2
.
The operating speed, using the trian-
gular velocity profle -
v
max
= 2v
TR
= [2(20/360)(2 Rad)]/
140mSec = 5.0 Rad/Sec.
Acceleration rate = (5.0 Rad/Sec)/ 70
mSec = 71 Rad/Sec
2
Assuming for the moment that the
inertia contributed by the outer axis
actuator coil is not signifcant, the total
acceleration torque due to inertia is
thus -
T
D
= J X D = (.71 oz in Sec
2
)(71 Rad/
Sec
2
) = 50 oz in.
Application of the 20% safety margin
brings the required torque rating to 1.2
X 50 oz in = 60 oz in. t appears that
the RA 68-12-001 is a likely candidate.
Again, we need to check the effect of
the coil inertia on the overall torque
requirement.
The RA68-12-001 coil has an inertia of
approximately 6.5 X 10-4 oz in Sec2
(not shown in Table 4) about an axis
perpendicular to the plane of motion,
through the center of mass of the coil.
The axis of rotation is at the fulcrum of
the coil base, parallel and two inches
away from the axis of the coil. The
revised coil inertia for the assembly
is -
J = 6.5 X 10
-4
oz in Sec
2
+ [1.1 oz /
(386in/Sec
2
)](2in)
2
= .012 oz in Sec
2
.
The revised total acceleration torque
is -
T
D
= [(.71 + .012)oz in Sec
2
](71 Rad/
Sec
2
) = 51 oz in.
The total peak torque requirement
is 60 oz in. (Again, the low load and
friction torque magnitude is not a sig-
nifcant RMS factor in this continuous
peak torque requirement application.)
Application of the 20% safety margin
leads to a selection of an actuator with
a peak and continuous torque rating of
72 oz in and 61 oz in, respectively.*
Step 4 - Outer axis winding verica-
tion:
4.1 Generated V
B
-
ZK
B
= (5 Rad/Sec)[.0071)(45)(V/
[Rad/Sec])] = 1.6V
4.2 Torque-producing voltage:
V
C
= V
max
- V
B
- V
L
- V
elec. losses
=
12V - 1.6V - 1V - 1V = 8.4V
4.3 Torque-producing current:
8.4V/R
hot
= 8.4V/5.2 ohms = 1.6A
4.4 Maximum torque at 5 Rad/Sec:
T
max
= (K
t
) = (1.6A)(45 oz in/A)
= 72 oz in.
ConcIusion #2: The RA68-12-001
actuator with the catalog winding
meets the speed and torque require-
ments of the outer axis gimbal as-
sembly.
I
P
Current needed to generate
peak force (Amps)
F
P
Peak force (lbs)
K
F
Force constant (lbs/Amp)
V
max
Maximum drive voltage (V)
V
P
Resistive voltage drop across
coil (V)
V
L
nductive voltage drop across
coil (V)
V
B
Back emf generated by
moving coil (V)
R
H
Resistance at maximum coil
temperature (Ohms)
R
C
Resistance at 25C (Ohms)
T
max
Maximum coil temperature
(C)
L Coil inductance (PH)
K
B
Back emf constant (V/(ft/
Sec))
Q
max
Maximum relative coil velocity
(ft/sec)
The data, specifcations, and electrical param-
eters presented in this guide illustrate typical
applications, are for reference only and are sub-
ject to change without notice. Although efforts
have been made to insure the accuracy of the
information given, nothing herein is intended or
should be construed as a warranty of the per-
formance or design of BEI . Product
and data warranties are described solely in BEI
contractual documents.
*/266$5<2)7(506
* The application described above has been pre-
sented in a simplifed fashion. Utilization of two
inner axis gimbals, located symmetrically about
the outer axis gimbal, mitigates any reaction
torque and servo effects of operating the inner
and outer axis gimbals at the same time. This
comment courtesy of Mr. E. Rubinstein.
Page 12

WHEkE MOIION IECHNOIOGY
IS ON IHE MOVE
Since its founding in 1974, the moving force
of Kimco Magnetics has been its commitment
to advancing motion technology by applying
the latest electro-magnetic concepts. The
company's Vista, California, facility is
dedicated to the design, development and
production of high-performance motion devices.
As part of Custom Sensors & Technologies,
Kimco Magnetics draws on a network of experts
working in every facet of precision motion
control.

Kimco Magnetics leads the industry in
developing solutions to motion control through
its development of specialty electromagnetic
devices for the most demanding applications.
Our creative technical staff readily responds
to all types of challenges, including those that
cannot be met by off-the-shelf equipment.

When you need the most advanced technology
in brushless DC motors, voice coil actuators,
or specialty electromagnetic devices, call BE
Kimco Magnetics.




Features and Advantages
of
Rotary and Linear Voice Coil Actuators

A voice coil actuator consists of two members - a coil wound on a non -ferrous base and
a permanent magnet field/core assembly. When installed, the coil is situated in the gap
between the f ield and core and one element is mechanically fixed to allow motion along
the force (or torque) vector. When coil current flows, force or torque is generated. The
magnitude and direction of the current flow determine direction and amplitude. Please
refer to the applications guide for detailed information.

The voice coil actuator is a non -commutated, two terminal limited motion device. It has
linear control characteristics, zero hysteresis, zero cogging and infinite position
sensitivity. It has low electric al and mechanical time constants and a high output power
to weight and volume ratio. It is nearly an ideal servomechanism.
Kimco Magnetics Division continues to advance the technology in many significant ways
allowing voice coil actuators to be successfull y used in an expanding range of
applications, including:

Precision pressure and flow control
Linear pumps, compressors
Structural stabilization
Vibration testing
Precision spindle feeds
Optical pointing, scanning, aiming, tracking, focusing, boresighting,
beam
steering and beam stabilization
Gimbal torquers
Medical diagnostic, therapeutic and surgical devices
Microlithography
Semiconductor fabrication, inspection and packaging

We serve both the commercial/industrial and defense/aerospace markets with
magnetic circuit designs tailored for the unique needs and specific requirements of
each. We look forward to the opportunity to work with you.







Linear and Rotary Voice Coil Actuator Designs



That was a representative sampling of linear and rotary voice coil
actuators. When required, these standard actuators can be modified or adapted to
more closely meet the needs of your application. Or, we can execute application
specific designs that represent the best overall solution to your motio n control prime
mover needs.

We are constantly adding new designs so please call us at 1 -800-572-7560, visit our
website at www.beikimco.com, or email us at sales@beikimco.com for information on
the latest products.

We look forward to the opportunity of working with you.



BEI Kimco Magnetics
2470 Coral Street Suite D
Vista CA 92081
Toll-Free: (800) 572-7560
Phone: (760) 597-7042
Fax: (760) 597-6320
Email: sales@beikimco.com
Website: www.beikimco.com

Experience
State-of-the-art facility Our people have the training, tools and
technology to respond in the best possible way to your requirements.
We use and have created hundreds of computer models and simulations
to enable the perfect fit to meet your specific applications, and a
complete model shop for rapid prototyping; extensive machine shop
capabilities; over 40,000 square feet of manufacturing space; and two fully
equipped labs for Engineering Testing and Production Control.
BEI Kimco Magnetics motion control solu-
tions can be found in countless applications
wherever speed and precision are required.
Many applications relate to general factory
automation, including large XYZ stages
and platforms in cleanroom settings. In
medical diagnostic equipment, anesthe-
sia and ventilator systems rely on actuators
as vital components. In semiconductor
equipment, BEI Kimco actuators and
DC brushless motors are also major
contributors to the accuracy and repeat-
able performance in wire and ball bonders,
microlithography and micropositioning
systems. Of course there are many other
applications in industries beyond these.
The reason is evident: reliability, long service
life and clean, quiet operation.
Integrated solutions for demanding applications
BEI Kimco Actuators are used in wire
and ball bonder systems in XYZ staging
configurations. This technology works well
because it provides superior speed, precision
and smoothness of travel. Greater system
throughput and higher yield naturally result.
Requiring uncompromising speed and
reliability in valve actuation, BEI Kimco
Actuators deliver the dependability and
long service life needed in these critical
applications. Other medical applications
include ventilator systems, where minimal
moving parts provide greater reliability,
immediate shut-off and long service life.
Offering virtually unlimited positioning
resolution, BEI Kimco Actuators are ideally
suited for Z, or focusing axis, control systems
and X-Y framing and stabilization in micro-
lithography systems.
Thousands of BEI Kimco motion control products
and devices are now in use in hundreds of
applications worldwide. Some of our cus-
tomers are Fortune 100 companies. Some,
small retrot shops or development centers.
Whether we build you a single prototype,
or quickly ramp up to full-scale production,
theres always a constant. BEI engineers
will work closely with you throughout the
entire development process, and will
examine every available pathway to higher
performance and lower cost of ownership.
Whats more, as part of CST,
we can immediatly draw on an extensive
network of experts working in every facet
of precision motion control.
To access a total motion control solution
for your application, just call BEI Kimco
Magnetics Division today. Its the best way
to put your project in motion.
BEI Kimco Magnetics
2470 Coral Street - Bldg. D
Vista, CA 92081-8430 USA
Tel: (760) 597-7042, (800) 572-7560
Sales Fax: (760) 597-6320
Email: sales@beikimco.com
www.beikimco.com
International Oces and Representation
Belgium
Servotronic
Tel: 0032/3-326.46.66
Fax: 0032/3-326.13.93
Email: mail@servotronic.be
Germany
Willburger Systems
Tel: +49 (08841) 3028
Fax: +49 (08841) 5158
Email: info@willburger.de
Singapore
PBA Systems PTE LTD
Tel: +65 (5527992) 37
Tel: +65 4517405
Fax: +65 (65) 5526992
Email: pbamc@singnet.com.sg
Actuators
www.beikimco.com
Voi ce Coi l Act uat or s
Specications subject to change without notice.
BEI Kimco Magnetics. All rights reserved. BE0029.