1 // 2014

Revved up Innovation for road and racetrack

Robot Kenshiro has more than 160 muscles Long a source of fascination: flying cars 2 Contents __ __ Contents 3

The big picture p. 8 4 Research robot youBot

News 6 Redefining the kilogram Editorial

In focus When the small 8 Full throttle With Nico Müller at the trial race for the Formula Renault 3.5 in Monza. motor is as

15 Made for extreme environments Zytek’s John Manchester on the requirements important as the for motors in racing. big one 16 “Velocity and environmentalism are not mutually exclusive” p. 26 Dominik Stockmann of maxon motor about the future of automobility. p. 29 p. 22 19 Staying on track Driver assist systems are becoming more and more important. In critical situations they may save lives.

22 Smart head The FiberCut laser cutting head always keeps the right tool gap to the workpiece. p. 16 Eugen Elmiger, CEO, maxon motor ag Innovation 24 Power like a manga hero The robot Kenshiro looks similar to a comic character. However, it is really modeled to resemble humans. On the racetrack, every turn counts. The same is true for the road. This is one reason Exploration 26 Earth’s hot sister planet why engineers are developing smarter and p. 15 p. 19 470 °C – maxon motor develops motors to withstand smarter assistance systems for us drivers. the temperatures on Venus. Be it for efficient engine performance, better aerodynamics, or improved safety. This Expertise usually requires small, reliable drives that 29 Energy efficiency in microdrives generate a lot of power without taking too much space. In this issue of driven you Column 32 Tomorrow’s flying cars are a thing can read where maxon motors are used in of the past racing and in passenger cars. p. 4 Patrick J. Gyger We’ve also prepared some exciting contribu- tions from the field of robotics: Kenshiro, p. 32 Outlook a 1.58 m tall humanoid robot, is an attempt 34 driven 2 // 2014 to understand human movement through The multifaceted world of drive technology: p. 24 the robot’s tendon-controlled movements. And Learn more about the next issue of driven. youBot, the research robot from KUKA

Robotics, is likely to revolutionize industrial research.

Happy reading!

The current tablet edition with interactive and multimedia features can be found in the Apple App Store and on Google Play. San Diego Air & Space Museum Page 3: maxon motor ag Photos: Cover: Frame Eleven, maxon motor ag, Photos: Cover: Frame Eleven, maxon motor ag,

driven The maxon motor magazine 1 // 2014 driven The maxon motor magazine 1 // 2014 The youBot research robot __ The Big Picture 5

Dr. Rainer Bischoff, the director of technology development for KUKA, about the youBot: “We’ve developed youBot for research and teaching. youBot is delivered without proprietary control software. Instead, it comes with a rich pool of open source software, a PC board and an EtherCAT interface to connect to the drive electronics. This gives researchers and students a lot of leeway for the development of new algorithms for robot control.”

EC 45 flat motors drive the youBot Ø 22 mm, brushless, 100 W, with Hall sensors

Get The Big Picture!

Highly focused: Nirmal Giftsun (left) and Alexander Moriarty of Hochschule Bonn-Rhein-Sieg are participating in the Robocup 2013, a robotics compe­ tition attended by 2000 researchers and students from all over the world. They are hoping for a win in the discipline “Robocup@work”. Their youBot has to find certain objects in an obstacle course and bring them to the proper place - fully autonomously, using only sensors and algorithms. The joints of the youBot contain flat motors by maxon motor. They are responsible for the precise and powerful movements of the robotic arm. Robocup2013, maxon motor ag / Learn more: bigpicture.maxonmotor.com Fotos: xxxx Photos: Flickr

driven The maxon motor magazine 1 // 2014 6 News __ __ News 7

New Products

currently developing such a watt Sensorless operation New: balance, by means of which DCX motor 16S / 32L mechanical and electrical power GPX gearheads 16 / are compared with one another. maxon ESCON 22 low backlash / 32 An important function of the 50/4 EC-S module watt balance is performed by motors from maxon motor. The The ESCON 50/4 EC-S module is designed for experiments for redefining the efficient control of brushless and sensorless kilogram take place under condi- permanent magnet EC motors with Hall sensors tions of high vacuum, which up to approx. 200 W. means that high demands are The powerful 4-quadrant PWM servo controller placed on the drives. Therefore has excellent control characteristics and allows Partnership vacuum-compatible maxon EC22 for a wide range of speeds up to 120,000 rpm. motors (100 W) with encoder Thanks to its rich set of features and with fully and the maxon EPOS2 24/5 Redefining the kilogram configurable digital and analog inputs and out- positioning controller are used for puts, it is the perfect match for dynamic drive this application. To prevent the solutions with maxon motors. The module is able The kilogram is the last unit left world at that time – there is also formation of particles, only brush- to operate in closed loop or open loop mode. today that is still based on a mate- one in the vaults at METAS. When less maxon motors are used. The All these are ideal prerequisites for use in rial artifact from 1889 located in the prototypes were compared system used is a 3-axis robot cost-sensitive applications and applications with Paris, France, and not on a natural with one another, differences in the which performs various move- Brushless EC22 high requirements for reliability, e.g. medical constant. The so-called original microgram range were found. ments in order to carry out exact motors with devices used in respiratory therapy or handheld kilogram consists of a 39 mm x This uncertainty in the kilogram measurements during the experi- encoders from surgical or dental tools. The decisive characteris- 39 mm cylinder made from a unit of mass has led to the deci- ment. The maxon drives are maxon motor are used in the tic is lower system complexity through sensorless platinum-iridium alloy. As a mate- sion to also define the kilogram by responsible among other things for watt balance of operation. rial object, this artifact changes means of a natural constant. This the precise movement of a turnta- the Institute of The large ranges for input voltage and the over the years, for example project is to be realized using ble and for the horizontal and Metrology. operating temperature provide flexibility for many through deposits of dirt or through electrical units, e.g. with the help vertical movements of various applications. wear. Forty prototype kilograms of a watt balance. In cooperation components of the measuring were distributed around the whole with maxon motor, METAS is system. New motors and gearheads

Our family of configurable products is growing

The configurable DCX product family now includes the seconds two brushed DC motors DCX 16 S (up to 9.5 W continu- 13.63 ous output power) and DCX 32 L (up to 110 W continuous 2.7 seconds from 0 to 60 mph (97 kph). 5.6 seconds from 0 to 100 mph (160 kph). And even higher output power). This expands the DCX portfolio to a total of seven motors with diameters from 10 to 35 millimeters. speeds are possible: The Hennessey Venom GT which, according to the Guinness Book, is the fast- The GPX series of planetary gearheads has also been est production car in the world, accelerates from 0 to 300 kph in 13.63 seconds. The current record expanded with two new sizes: the GPX16 (up to 90 per- holder when it comes to top speed is still the Bugatti Veyron Super Sport at 431 kph. Thrust SSC, a maxon ESCON cent efficiency, short build) and the GPX 32 (one or two 50/4 EC-S module rocket-propelled vehicle, even achieved 1190 kph. Anyone who drives fast needs not only special stages, up to 3.6 Nm short-time torque). There is also a version of the GPX 22 with reduced backlash. tires and a lot of gas, but also a lot of electronic assistance. maxon drives can be found, for example, in the safety and aerodynamics systems of sports cars and passenger cars. Ali Eichenberger, Metas.ch, Hennessey Performance, maxon motor ag Ali Eichenberger, / The module on a mother- board. Photos: Paliphot

driven The maxon motor magazine 1 // 2014 driven The maxon motor magazine 1 // 2014 8 Focus __ motor sports

Full throttle Fast, competitive, spectacular: The Formula Renault 3.5 is seen as a crucial stepping stone on the way into the premier class, the Formula 1. Ambitious racers do not just bring their talent – they also have maxon motors on board to control the throttle of their 530-HP V8 engines.

Article: Andreas Turner

Utmost concentration just before the start: Drivers need to be fit not just physically but also mentally. Photos: Paolo Pellegrini, Nico Mueller

driven The maxon motor magazine 1 // 2014 5 0,8 3 3,8 4 3,2 260 178 10 Focus __ motor sports 193 2a Curva a 2 1 Curva di Lesmo di Lesmo 5 1,9 5 0,8 6 0,53 3,8 4 3,2 260 304178 3 2,0 4 3,4 264 193 169 212 2a Curva 1a Curva 2 Curva di Lesmo7 0,1 2 1,8 di Lesmo 2 0,7 del Serraglio 332 4 3,4 7 0,3 133 5 1,9 6 0,5 235 335 7 0,1 120 304 3 2,0 4 3,4 330 264 169 212 Curva 7 0,1 2Curva1,8 Variante del Variante Ascari 2 0,7 del Serraglio 332 4 3,4 Curva Parabolica 7 0,3 Biassono133 Rettifilo 6 2,1 7 0,1 120 235 335 305 330 1 4 3,7 Curva Variante del Variante Ascari 215 5 0,8 Curva Parabolica 5 0,9 1 1,7Biassono Rettifilo 6 2,1 7 0,1 285 260 305 74 360 1 4 3,7 1 0,7 215 5 0,8 5 0,986 1 1,7 7 0,1 285 260 74 360 1 0,7 4 3,7 Gear /lateral acceleration Hot curves 86 215 Speed (kph) The racetrack of the Autodromo Nazionale Run-out areas di Monza is technically demanding. Two 4 3,7 turns are particularly difficult (see right). Maximum215 braking force They demand extremely precise accelera- tion and braking. This makes reliable 1 Risky: Here, the cars in front are control of the motor’s air intake through braking while cars in the back are the throttle flaps even more important. still accelerating. 1 2 Demanding: Staying on the road can be difficult here.

2

Download the tablet issue 1 // 2014 and experience a race from the driver’s point of view. magazine.maxonmotor.com

driven The maxon motor magazine 1 // 2014 12 Focus __ motor sports motor sports __ Focus 13

Top gear. 260 kph … 270 … 280 … 285 … 290 … speed pours into the cockpit like hot bathwa- ter. The back of Nico Müller’s neck is pushed against the edge of his bucket seat under the heavy, even pressure almost like a mud pack. Strangely it does not relent even after reach- maxon RE 35 ing the top speed of 310 kph. The 21-year-old Ø 35 mm, 90 W, graphite brushes executes the required steps as if in an oxygen intubation: Inhale, exhale, raise shoulders, drop shoulders, all with exaggerated slowness to ride out the adrenaline rushes.

Exploding fuel vapors The tachometer shows 9000 rpm as the maxon GP 32 HP hammering pistons of the V8 rip a torrent of (High Power) Ø 32 mm, planetary fresh air through the fully open throttle flaps gearhead 4.0–8.0 Nm in a rasping howl. In the cylinders, fuel vapors detonate in controlled explosions, delivering The Zytek V8 engine Power for extreme brutal acceleration. used in Formula demands Renault 3.5 racing. For racing applications, A sharp bend, initiated with a quick dip of the maxon RE 35 DC the left foot on the brake pedal, causes a cen- was fitted with custom trifugal pull on tires, suspension, chassis, and quiver brushes, a special neck muscles. And yet, like the rotating blade epoxy resin, and a reinforced commutation of an edge trimmer, the car cuts smoothly system. All motors in the along the track in the midst of a lush green maxon RE series have an area interspersed with a few trees. 610 kg Zytek-powered Formula Renault could The precise control of the Zytek throt- ironless rotor and The one seater clings like a barnacle to the use some fine tuning. tle system is handled by a maxon RE-series high-power permanent magnets (rare earth). smooth gray band winding its way through “We are working on the details of the ad- DC motor and planetary gearhead. All eight They achieve more than the Royal Park in Monza, past the Milano justable rear wing and the pedal mapping, flaps are connected with a single mechanism. 90% efficiency. Golf Club. The down pressure from wings even if we gain less than one tenth of a second They open and close in just 10 to 15 milli- To provide more torque and diffusors now exceeds the weight of the per lap in the end”, says Draco team manager seconds, comparable with the flash of a camera. for controlling the throttle of the Zytek engine, the On a high-speed racetrack Formula Renault 3.5 car – strong enough Simone Giglio. He explains how the charac- On a high-speed racetrack like Monza, the maxon RE 35 is fitted like Monza, the car is at to activate the natural laws of a compressed teristic fields of the accelerator pedal, the so- car is at full throttle about 70 percent of the with a GP 32 HP (High full throttle about 70 percent Power) planetary of the time. world. Under the heat of the load, the steering called pedal maps, affect the performance and time. The throttle flaps open and close about seems to have merged into a unit reaching all drivability of the engine. “It is always about 100 times per lap. During a fast lap, such as gearhead featuring an optimized output shaft. the way up into the driver’s shoulders. In the the relationship between speed and accel- 1:35 minutes, they change position about eve- Depending on the approach to the Parabolica, the carbon brakes erator position. Thanks to drive-by-wire, the ry 0.9 seconds. reduction ratio, it can are suspended like a guillotine waiting to hurl electronic throttle control, this can be de- deliver up to 12 Nm. Reliable under extreme conditions Nico Müller trades his the young Swiss racer into his harness with a fined in almost any way.” Even some serially Formula racer for a car force equal to three times his own weight. manufactured sports cars today are using this The challenging application conditions – strong with a roof technology to provide a more dynamic char- vibration and temperatures up to 130 de- A glorious victory in Fine tuning acteristic as an option. Drivers can choose a grees Celsius – made special Monaco, another in Budapest, and fifth place The pit at Draco International Racing in more direct, quicker response from the en- adaptations on motor and gear- Conditions are extreme in in the Formula Renault 3.5: the Autodromo Nazionale di Monza: “We gine, which then feels more like a racing unit. box necessary. John Manchester, Formula 3.5: high vibration Nico Müller’s resume for nailed it this lap, the car felt great on every Zytek Operations Director: “The the 2013 season has won section of the track”, says Nico Müller al- Butterfly throttles support from maxon motor dur- and temperatures up him much renown in racing circles and helped most casually. He flashes a relaxed smile. Be- The Zytek engines used in the Formula Re- ing the test and evaluation phase to 130 degrees Celsius. him to take the next step fore the actual lap time was announced, the nault 3.5 are equipped with so-called butterfly has ensured that the motor is up on the career ladder. young man from the Bernese Oberland knew flaps that are mounted on a rotating axle. At working flawlessly and reliably even in diffi- He will spend the 2014 instinctively that he would appear in the up- full throttle, the flap is vertical, offering no re- cult conditions.” season as a factory driver for the Audi team in the per reaches of the provisional ranking. As he sistance to the air flowing into the cylinder. To In the past, Draco Racing had pilots famous Deutsche Touren- turns to walk off towards the shower, he lets close, it rotates into a horizontal position and like Felipe Massa, Pastor Maldonado and

wagen Masters (DTM). the pit master know where the set-up of the Zytek Engineering Ltd, maxon motor ag Photos: Paolo Pellegrini, Nico Mueller, interrupts the air flow. Rubens Barrichello under contract. In other

driven The maxon motor magazine 1 // 2014 driven The maxon motor magazine 1 // 2014 14 Focus __ motor sports motor sports __ Focus 15 Made for extreme environments The World Series FR3.5 vehicles developed by Renault Sport use Zytek engines. John Manchester After completing his Zytek is a British company that produces control systems for mechanical the automotive industry, drive technology, engines and hybrid technology. engineering John Manchester, Engineering Operations Director at Zytek, qualifications in 1979 explains in the interview why drives by maxon are suited for the electronic John Manchester secured a position at throttle adjustment in the V8 engine of the racing cars. Alan Smith Racing Interview: Anja Schütz Engines. In 1985 he went to work in the USA for Dick Simon Racing. He was What is Zytek best known for? And what xxxxxxr xxxxx the development of our many race products. employed as an was the most important development in However, this is no longer a requirement. engineer, being your company? responsible for both Zytek are now universally regarded as world Zytek is using a maxon drive in the the engines and gearboxes on their throttle system of their powerful V8 leaders in motorsport for both engine and Indy Car programs. energy recovery powertrains, and have sup- engine (Formula Renault 3.5 Series). On returning to the Nico Müller was plied products to all the major racing series in What were the requirements for the UK in 1987 he joined highly successful­ the world. The most significant development maxon motors and gearheads, and why up once again with in 2013. This year Alan Smith, who were did you choose the maxon drive he is taking part we have made over the years has been with eventually bought by in the Deutsche our energy recovery systems. This is ground system? Zytek. John teams, the Formula Renault 3.5 has brought Tourenwagen breaking technology and is set to have a big Zytek first began working with maxon prod- Manchester has been forth drivers like Sebastian Vettel, Fernando Masters (DTM). impact on motorsport over the coming years. ucts in July 2011 and we were extremely im- influential in the development of Alonso, and Robert Kubica. Vettel is pressed with their technical backup and ser- Zytek’s Engineering a four-time Formula 1 world cham- Every optimization is What do you think has been the most vice. The motors used in our drive by wire Technology Facility. pion, Alonso has won the title twice. worth the effort, even if important development in the throttle systems on the Renault FR3.5 engines Contest automotive industry in the last 20 years? Time to go home for Nico Müller. need to function in a very extreme environ- In jeans and a polo shirt, he waves it is only to eke out a The development of hybrid and electric vehi­ ment. maxon really understood this problem good/bye to the team and says, turn- few tenths of a second. Who is winning? cles has made a significant change to the and made suggestions on how to improve ing to the reporter: “The only times type of vehicles we drive today and will drive their product to suit this application. Since when you really control a race car is at full in the future. In mo- we started working together Zytek have built throttle and when braking.” While the report- We were impressed torsport you have to up an excellent relationship with maxon and er is still thinking about what he just heard, with the service we were continually develop we now use their products in other applica- Nico opens the trunk of his rental car, drops and improve products tions, such has a new clutch control system in his XXL training bag and gets behind the getting from maxon. in a very short time- which will be introduced next season. wheel to drive back to the hotel. frame and this of course has the added ef- His driving is slow, almost conspicuously fect of accelerating product development at a What do you think is the future of unobtrusive. greater rate than in main stream production. automotive? (also in motorsports) This has enabled Zytek to make big steps in I believe the main changes in both automotive technology transfer from motorsport applica- and motorsport vehicles will be the develop- Win two weekend tickets for the Formula 1 tions into main stream automotive products, ment of full electric and hybrid drivetrains, “Großer Preis Santander von Deutschland” which of course enables rapid product im- which is going to help create alternative and from July 18 to 20, 2014 on the Hockenheim provement. more efficient powertrains. Ring. Download the tablet issue 1 // 2014 and join the contest. The deadline for participation Does Zytek still have its own racing is June 30, 2014. magazine.maxonmotor.com team? If yes, what are the goals? Zytek have run their own race team, with the Join now! intention of giving us greater control over Photos: Paolo Pellegrini, iStockphoto/JestersCap, Zytek Engineering Ltd

driven The maxon motor magazine 1 // 2014 driven The maxon motor magazine 1 // 2014 16 Focus __ Three theories Three theories __ Focus 17 “Velocity and environmentalism are not mutually exclusive.”

Battery-powered cars for everybody, cars without drivers, and sity of today’s lithium-ion batteries. Because Prediction no. 2 energy efficiency in motor sports – Dominik Stockmann talks electrical drives are very efficient compared By 2030, the automobile will with combustion engines – about 90 % vs. about three visionary theses. only 30 % – electric vehicles would not finally live up to its name: It will look so bad. accelerate, brake, and find its way To achieve a range of 500 kilom- all by itself. We will take the eters, an electric car with the current steering wheel only for fun. technology would need an 800-kilo- gram battery. This is why electric car Autonomous vehicles are being tested even Prediction no. 1 developers try to compensate for the today. Google’s autonomous car has already People are slowly coming to added weight of batteries by saving traveled 600,000 kilometers on public roads realize that petroleum is too weight elsewhere. A possibility here in California. Many leading carmakers are is to adapt various technologies and also developing such vehicles. The biggest precious to burn. In 2025, devel- materials from racing or aerospace, challenge is the cost. According to expert es- oped countries will have more for example by using extremely light- timates, a typical test vehicle is equipped with electric cars than cars with a weight and rigid carbon fibers for car CHF 80,000 worth of sensors, software, and combustion engine. They will be bodies. hardware. This is of course far too much for If we are to become independent of a normal car. powered by on-board batteries fossil fuels, new battery technologies Many of these systems however are already or hydrogen fuel cells. need to be researched and developed installed in luxury cars today, for example to until they are ready for serial pro- recognize lane demarcation lines. If the ve- Energy storage remains the critical factor in duction. These technologies also hicle unintentionally approaches the demar- electric mobility. Lithium-ion batteries are need to be affordable in order cation line, the system assists the driver to the most advanced batteries currently used in to become applicable in mass- stay on track with discreet steering support, electric cars. However, these batteries are still produced vehicles. It is likely or warns him by gently vibrating the steer- a long way from reaching the energy density that the battery will prevail ing wheel. Some cars are already capable of of fuels like diesel or gasoline. Gasoline has as an energy storage de- keeping a constant distance from the vehicle an energy density of about 10,000 watt-hours vice compared with the ahead, initiating emergency brake maneu- per kilogram (Wh/kg). The modern lithium- fuel cell. Fuel cells would vers, or parking automatically. ion cells used in top-of-the-range electric need far greater techno- As early as 2010, Audi sent an unmanned vehicles have an energy density of about Dominik Stockmann has been logical breakthroughs to vehicle to the legendary Pikes Peak mountain 120 watt-hours per kilogram, about 80 per- the director of motor engineering at become competitive. race in the US. The car completed the just maxon since 2010. In the past cent less. Researchers have some hope for he held various leadership positions It remains to be seen under 20 km long, fenced off racetrack up a the potential of zinc-air batteries, which are in the Swiss Sauber Motorsport whether the majority 4301 meter high peak in the Rocky Moun- expected to deliver 10 times the energy den- Formula 1 team. Stockmann was in of people in industrial- tains in 27 minutes without any human charge of gearbox and chassis ized countries will be intervention. This was an acceptable time, construction before taking charge of all mechanical systems as Head driving electric cars by even though it was far from the winning time of Mechanical Design. Other profes- 2025. One thing however of about 10 minutes. sional stations: project manager is certain: Sooner or later, One day, autonomous vehicles will revo- for semiconductor mounting machines electromobility will be- lutionize road traffic. The majority of traffic at ESEC AG, commissioning engineer for hydroelectric power come the rule. accidents are caused by human error. Com- plants at Sulzer Hydro AG and designer at the electrical appliances The “Audi urban concept” manufacturer Leister. Dominik technological study: Stockmann is a mechanical engineer Super-lightweight body with an Executive MBA. meets powerful lithium-ion

batteries. Photos: maxon motor ag, 2014 Audia AG

driven The maxon motor magazine 1 // 2014 driven The maxon motor magazine 1 // 2014 18 Focus __ Three theories Driver assistance __ Focus 19

puter-controlled cars will significantly reduce the power of electric motors to reach their the number of accidents. Communication full potential. The electric motor has the ad- between cars will help to avoid congestion, vantage of delivering its full torque from the yielding economic benefits as well. outset. This makes it an ideal complement for The autonomous car has already been a combustion engine that needs higher speeds invented. It just needs to be completed and to deliver maximum torque. made affordable. In 2030 it will be a matter of The same efforts being invested in mak- course for cars, at least on highways, to oper- ing passenger cars more energy efficient are ate in full automatic mode. also being invested in sports cars. Energy ef- ficiency is becoming more important even in racing, especially in Formula 1. Hybrid technologies made their entry with the KERS (Kinetic Energy Recovery System) in 2009. Even though this was ten years after the first mass-produced hybrid vehicle was introduced, the trend is at least going in the right direction. Autonomous cars by Google are equipped The F1 rules for the 2014 season limit the with laser, radar, GPS, hybrid system power to about 600 HP from and cameras. the combustion engine and 160 HP from electric motors. For a stronger emphasis on energy efficiency and electrification, the ra- tio would need to be the reverse – 600 HP electric and 160 HP from combustion. The trend however is confirmed by the Formula Prediction no. 3 E championship for 100% electric vehicles, On one hand there are sports held in 2014 for the first time. cars with combustion engines that accelerate to 300 kph in 13.63 seconds, breaking all records. On the other hand, the Staying on track automotive industry is putting an emphasis on electric cars and Camille Jenatzy in Driver assist systems can save lives, for example by his electric car that waking a driver from microsleep. energy efficiency. This contradic- was the first to reach a speed of tion will not go away any time 100 kilometers per soon. hour. D river assist systems in cars are instruments motors for this application. The base motor People have always wanted to set new re- The contrast between high-performance that can save lives. Examples include adap- is the brushed A-max 16 (precious metal cords, to be the first to reach the summit sports cars or race cars and energy-efficient tive cruise control (ACC), brake assist sys- brushes, 2 W), modified for the application or break the sound barrier. In automotive vehicles is no longer as pronounced as it may tems, or lane departure warning systems with an eccentric weight and a specified engineering, new accomplishments were seem sometimes. However, as long as people (LDW). The latter warn the driver when bearing. In order to prevent the other ve- always proven with records or in competi- are competing in speed contests and have the he is about to leave the lane uninten- hicle systems from being affected by the tions. Take for example the record set by desire to set world records, it will probably tionally. This is accomplished with electromagnetic fields of the motor, it Frenchman Camille Jenatzy, who was the endure. various systems and computers is equipped with special EMI sup- first person to go faster than 100 kph with that determine the vehicle’s po- ! pression for automotive applica- an electric vehicle in 1899. This shows that sition in the lane. When the tions. The requirements for the world records and environmentalism were car is in danger of leaving the small drive system are high: It compatible even a century ago! road, the system activates an electric motor needs to be low-noise, dynamic, compact, maxon A-max 16 The latest super sports cars like the LaFer- Ø 16 mm, CLL precious in the steering wheel that causes the wheel and feature high power density. The small rari by Ferrari, the LcLaren P1, and the Por- metal brushes, 2 W, to vibrate, warning the driver. maxon motor A-max 16 was able to fulfill these require-

sche 918 Spyder, are all hybrid cars that utilize Photos: Wikipedia/Mariaordo, Wikipedia/teethdozen, maxon motor ag, iStockphoto Igor Alecsander with terminals is supplying a luxury car manufacturer with ments without any problem.

driven The maxon motor magazine 1 // 2014 driven The maxon motor magazine 1 // 2014 More informationat:magazine.maxonmotor.com App Store andonGooglePlay. are availableforfree downloadintheApple tive multimedia.Tablet editionsofdriven All thefacetsofdrivetechnologyininterac-

Fotos: xxxx 22 Focus __ Manufacturing Manufacturing __ Focus 23 Smart head which is the main reason Laser Mechanisms The FiberCut laser cutting head by Laser Mechanisms cuts metal like selected it. Additional benefits included du- butter, accurately and fast. The gap between laser head and workpiece rability and long life. Due to maxon’s ironless is controlled by maxon DC motors and planetary gearheads. core design, which results in low electrical erosion between the brushes and commuta- Article: Deb Setters tion segments, the motor lasts longer.

200 mm per second, 24/7 The speed of the FiberCut head can reach 200 mm per second even though the maxi- mum travel of the head – in an up and down motion – is only 25 mm. How this works is that the lower part of the head moves up and down to maintain a constant standoff distance maxon RE-max 29 between the laser and the metal being cut. Ø 29 mm, Springs are used to push the head out, while brushed the motor is used to pick the head up. Some additional features of the FiberCut laser cutting head include an adjustable focus lens for focus-to-tip adjustment and a cam- operated drive system with ax- “High speed was our ial crash protection. The heads maxon GP22 Advanced laser beam solutions are used in Precision at high speeds main consideration.” work with all leading fiber- Planetary gearhead all aspects of industrial automotive ap- There are three FiberCut heads in the delivered laser systems up Ø 22 mm plications, including cutting, welding, series: the Straight Head SH, Right An- Gerry Hermann, Laser Mechanisms to 4 kW with wavelengths of drilling, scribing, surface treatment, and gle (RA), and Right Angle Compact (RAc). 1064/1080 nm. All the wiring Millimeter precision other processes. Plus, these solutions can be All three use a maxon RE-max 29 brushed and assist gas lines are internally plumbed to Laser cutting heads of the used with every type of laser, such as CO2, DC-motor to the tip standoff function, and avoid snags and breaks when working around FiberCut series use RE-max 29 brushed maxon motors Nd:YAG, and fiber lasers. each system also uses a maxon produced structural automotive components. as the key components for Laser Mechanisms (Novi, Michigan) is a GP22 (19:1) planetary gearhead. According Each head in the series includes a sealed controlling the gap. Each regular innovator in this industry, produc- to Gerry Hermann, Senior Electrical Engi- beam path and a design that is engineered for system also uses a GP22 ing components that enhance performance, neer at Laser Mechanisms, “Speed is the most the factory floor environment associated with planetary gearhead manufac- tured by maxon. The brushed increase safety, and provide flexible capabili- important feature we needed and high speed automotive manufacturing, which is essential RE-max 29 motor by maxon ties while maintaining ease of use, reasonable automation forces the need for accuracy at for the 24/7 operations of the automotive in- is very high-powered for costs, and greater overall effectiveness. One those speeds.” dustry. The main enclosure is purged with a its size. Other advantages of the company’s recent innovations is the The heads attach to most robot arms used dry air source to keep the inside clean. This include durability and a long service life. The ironless FiberCut™ series of laser cutting heads. in the manufacturing lines of the automotive is important so that debris doesn’t get into core of the maxon design The FiberCut laser cutting head collimates industry. The lasers are used to cut out large the optics or into the motor chamber. Along reduces electrical erosion and focuses a laser beam to provide a clean body panels for cars and trucks, as well as those lines, the maxon motors used in the de- between the brushes and cut along metal surfaces. This three-dimen- smaller support components such as under- vice produce no particles that could damage the commutation segments, The laser cutting head is primarily increasing motor lifespan. sional cutter is light weight to minimize the carriage mounts and structural components the optics or cause a maladjustment to the tip inertia seen by the supporting robotic arm. designed for overall strength and safety of the used in the automotive standoff control. Additional motor features Thanks to maxon drives, the industry, for example for cutting laser cutting heads excel The FiberCut nozzle also senses the required final automobile. chassis beams. include quiet operation. through low-noise operation, tip standoff distance from the workpiece To keep up with production lines, the crea- extremely fast response, long life, and consistently (using Laser Mechanisms’ patented sensing tion of components such as undercarriage high quality. technology) and automatically maintains that mounts needs to be efficient. Furthermore, distance, providing a high accuracy cut as the accuracy is key for assembly purposes. cutter moves around the 3 dimensional metal The maxon RE-max 29 brushed motor

part. offers high performance density for its size, Photos: Laser Mechanisms, maxon motor ag

driven The maxon motor magazine 1 // 2014 driven The maxon motor magazine 1 // 2014 24 Innovation __ Humanoid robots Humanoid robots __ Innovation 25

The picture shows the team at Tokyo University and the responsible maxon employees (from left to right above): Yoshito Ito, Hironori Mizoguchi, Prof. Kei Okada, Kenshiro, Takuma Shirai, Toyotaka Kozuki, Marc Gottenkieny (maxon motor ag). Below: Yotaro Motegi, Oliver Camenzind (maxon As motor ag), Yuki Asano. powerful The name Kenshiro is known in Japan through a hero in a well-known manga comic series from the 80s. To imitate the human anatomy as closely as a as possible, the scientists equipped Kenshiro with the most important human muscles: In the legs, 50 drives are used as artificial muscles. There are maxon EC 16 manga 76 in the torso, 12 in the Ø 16 mm, brushless, shoulder and 22 in the 60 W neck. The robot has the largest number of muscles ever installed in a humanoid robot. hero The researchers at the Jouhou System Kougaku maxon EC 22 The 1.58 meter tall robot answers to Laboratory (JSK) of Tokyo Ø 22 mm, brushless, University decided upon 100 W maxon motor for the drive the name of Kenshiro. It was brought into system. Kenshiro’s 160 being by Tokyo University and has artificial muscles are contracted by 93 brushless 160 muscles which are controlled via maxon EC (BLDC) motors. High dynamics Kenshiro’s 160 muscles dynamics, an extremely tendons by 93 brushless maxon motors. are contracted by 93 wide speed range, and maxon EC (BLDC) their very long service The humanoid robot is the impressive motors. For the life. Powerful BLDC result of many years of research. contraction of special motors are required for muscles, for example the muscle contrac- “We wanted to under- the abdominal muscle tions, therefore 60 W to Article: Anja Schütz stand the movements and thoracic muscles, 100 W maxon motors and appearance of a single motor provides are used. Another humans and replicate the necessary drive. important criterion for them as closely as Here the brushless EC the motor selection possible in Kenshiro,” 16 and EC 22 motors was the heat generated explains Prof. Kei of maxon motor are by the motor. It is not Okada. With a size used. The electronically possible to install a of 1.58 m and a commutated servo cooling system in the weight of 50 kg, the motors stand out with robot. Low heat robot is modelled on excellent torque generation is therefore

a 12-year old boy. Photos: maxon motor ag characteristics, high of critical importance.

driven The maxon motor magazine 1 // 2014 driven The maxon motor magazine 1 // 2014 Development __ Exploration 27

Venus Earth ss Max. temperature 470 °C Max. temperature 60 °C Earth’s hot sister planet

Venus is called Earth’s sister planet, but although the two have a similar diameter and mass, there are very large differences in their history and atmosphere. At temperatures up to xxx 470 °C, Venus is a true hell. maxon motor has developed motors to withstand this extreme heat.

Article: Anja Schütz xxx

Venus has almost the same size, mass, density, So why not build a motor for Venus? The consistency and gravity as the earth. But this request came from Jet Propulsion Laboratory scorched world has temperatures hot enough (JPL), which builds satellites and space probes to melt lead. Venus is surrounded by a thick, for NASA. toxic atmosphere which covers a burned sur- face with temperatures around 470 °C and has maxon motor and Venus a pressure that is ninety times higher than on To be able to go to Venus one day, maxon mo- Earth’s surface – the same kind of pressure tor came up with the following solution: The that exists a kilometer underneath the sur- UHT, an ultra-high temperature motor made face of our oceans. The atmosphere consists of special materials that are resist- mainly of carbon dioxide, with clouds of sul- ant to 500 °C and higher. maxon phuric acid. Glimpses below the clouds reveal used only stainless steel and Tough guys for all volcanoes and deformed mountains. Venus ceramic components; the maxon occasions: the maxon spins slowly in the opposite direction of the winding for example was stabi- other planets. This means that on Venus, the lized with a ceramic part. The first HD Series motors. In this photo entitled “Crater sun rises in the west and sets in the east. benchmark was operation above Farm” taken in 1991 by the NASA Magellan satellite, one We might think a planet this hot with such 400 °C. In September 2012, we successfully can see the bizarre craters extreme temperature and pressure would be reached 420 °C. In further tests, our motor ran on Venus. These are evidence impossible to explore. But it is not: More than at 450 °C for one hour. This type of motor can of enormous volcanic activity 40 spacecraft have already explored Venus. The be used in any application with particularly on the planet. Magellan mission in the early 1990s for exam- high temperature requirements, such as extin-

Photos: NASA /JPL ple mapped 98 percent of the planet’s surface. guishing robots, deep drilling, or in space.

driven The maxon motor magazine 1 // 2014 28 Exploration __ Development

Left: This picture shows Venus on June 5th, 2012, as it slowly advances in front of the sun. Venus Motors for extreme conditions appears as a small black The Venus motor is based on maxon’s exist- dot. Right: All lined up in ing Heavy Duty (HD) motor. Some new com- a row: the planets of our solar system, including ponents were designed, and our engineers three of the five dwarf were able to draw upon existing knowledge planets. to build a highly heat-resistant version. With the brushless EC 22 HD and the electronically commutated EC-4pole 32 HD, maxon mo- tor launched standard motors for very harsh operating conditions. The electronically com- mutated version was developed for the excep- tionally high requirements in deep drilling In the ultra-high temperature technology and stands up to even the most motor from maxon motor extreme conditions. The different variants of only materials are used that the EC 22 HD are designed for operation in can withstand temperatures air or submerged in oil. Power ratings depend characteristic, they possess outstanding regu- above 500 °C without damage. on the surrounding medium and average to lation behavior and are especially suitable for 80 Watt in air (220 Watt EC-4pole 32 HD) high-precision positioning tasks, even at low and, due to the much better heat dissipation, speeds. 240 Watt in oil (480 Watt EC-4pole 32 HD). The EC-4pole 32 HD for example is ideal They are designed to resist ambient tempera- for use in environments where it is exposed tures of more than 200 °C (390 °F) and pres- to extreme temperatures, high vibration, or sures up to 1,700 bar (25,000 psi). ultra-high vacuum. This means the motors The 22 mm diameter motors are also capa- can also be used in aerospace applications in- ble of withstanding vibration up to 25g rms, as cluding gas turbine starters, the generators of well as shocks and impacts up to 100g – that jet engines, regulating combustion engines, or is 100 times the gravitational acceleration. For exploration robots. To use the motor in con- comparison, a Formula 1 race car encounters junction with a gearhead, maxon offers the about 2g, a fighter jet about 13g. These mo- GP 32 HD, a powerful and robust planetary The brushless EC 4-pole 32 HD is designed for tors are highly efficient and therefore offer the gearhead. operation in air or in oil. best prerequisites for battery-operated appli- cations. Thanks to their detent-free running

driven The maxon motor magazine 1 // 2014 Energy efficiency __ Expertise 29

Technical article series, part 1 power. Typically, the optimal efficiency is 80 to 90 percent for DC motors, 90 to 98 percent for pulsed power stage controllers, around Energy efficiency 90 percent per stage for planetary gearheads, and below 40 percent for worm gears. in microdrives Aspects of a motor’s energy efficiency Energy conversion is described by the torque constant kM and the speed constant kn. It Low energy consumption. Heat. Power density. For should be noted that the speed constant kn is microdrives in particular, these factors play an impor- the inverse of the torque constant kM. Con- tant role when energy-efficient operation is the goal. version can therefore be expressed complete- ly as kM. Article: Jan Braun Not all of the electrical input power is con- verted into mechanical power. After subtract- ing the voltage drop due to electrical resist- ance, we are left with the induced voltage Ui. Energy efficiency is an important factor not Similarly, not all of the generated mechanical only in automotive applications, but also for power is available to the motor shaft. many smaller sized motors. Typical applica- Electrical power loss is the part of the tions include battery-powered devices as well electrical power that is not converted into as aerospace applications. The following are mechanical power. It is given by the losses only a few examples: laser leveling devices, due to the load current, or in other words, motorized golf caddies, medical power tools, due to Joule power and copper loss. Electri- insulin pumps, robots, packaging machines, cal power loss is proportional to the square and fuel cell powered vehicles. of the current (load). The mechanical power With all these applications, it is critical to loss after power conversion comprises friction Jan Braun Jan Braun was born in Aschaffen- use available power as efficiently as possible. in bearings and brushes as well as iron loss. burg, Germany in 1974, and This also means that only a minimal amount Mathematically, these can be treated similarly received his degree in electrical of power should be lost as heat. The rise in to speed-determined friction. Eddy current engineering from the University of temperature should be kept to a minimum. losses occur with brushless DC motors, also Applied Sciences (HTL) in Biel, Switzerland. He started his career A drive component’s efficiency describes known as EC motors. The rotating magnet programming and commissioning these losses in terms of the ratio of output in an EC motor induces eddy currents in the roller coasters and large drives on power (input power minus losses) to input magnetic return of the stator. The advantages a Kilowatt scale. For more than eleven years now, he has been working with microdrives at maxon DLR, DLR,

/ motor ag. In the sales department, he worked as technical sales support for Germany and the Northern European countries. He now provides acclaimed technical training for the worldwide sales network, as well as training seminars for customers.

maxon motor ag, Schweiz [email protected]

This motorized golf caddy

SDO, AIA, The InternationalUnion/Martin Kornmesser Astronomical features outstanding / power and performance, thanks to its specially developed high performance maxon motor ag, Jutec GmbH Photos: NASA motors by maxon motor.

driven The maxon motor magazine 1 // 2014 30 Expertise __ Energy efficiency Energy efficiency __ Expertise 31

Modeling losses in the motor of brushless maxon EC motors are a long life and minimum current consumption are equal- span and very high speeds, which are required ly important. The objective is to optimize the The graphic shows how loss occurs in a motor. This assumes that the power conversion itself is loss-free. for applications such as manicure and pedi- winding so that it consumes a minimal amount cure devices. Unfortunately, eddy currents of current, in order to achieve the longest bat- increase with speed. tery life possible. Electrical Motor Mechanical power power For applications in hand-held devices Power Motors operated in the no-load range such as medical power tools, the power loss, Ironless maxon DC . conversion . For applications where the motor is mainly namely heating, should be kept as low as motor RE 25 U I ni Mi Pout = . i . Pin = Umot I . nmot Mmot operated in or near the no-load range – for possible. To humans, temperatures as low as kn Ui = ni . instance, the mirror drives of laser leveling 50 °C seem very hot. Other applications re- kM I = Mi instruments – it is essential to minimize me- quire accommodating a very limited supply of chanical friction and iron loss. This reduction power – one such example is the Mars rover. can be achieved by selecting smaller bearings, Such applications require drives with high which means the smallest possible motor, and power or torque density, low weight, and small Mechanical Electrical by using precious metal brushes instead of dimensions. power loss power loss graphite brushes. At low speeds, the use of a . 2 . controller and sensor instead of a mechanical Conclusion PvCu = R I PvFr = ni MvFr(ni) drive helps to further reduce mechanical fric- Scaling down a drive doesn’t mean the chal- The brushless maxon “Load loss” “No-load loss” tion. lenges become smaller. They only become DC motor EC-max 30 – copper loss – friction loss – hysteresis loss Very low iron losses can be achieved different. Even for microdrives, energy ef- – eddy current loss through maxon DC motors with an iron- ficiency matters. However, the focus is less less winding or small 2-pole EC motors, also on saving energy and more on low current known as brushless DC motors. consumption, low heating, and high power density. Motors at standstill The next section of the technical article If the motor is operated at a standstill – where “Energy efficiency in microdrives” provides the motor is at maximum torque – the power a detailed explanation of why suitable motor Efficiency graph of a motor loss is given by the electrical losses. This is be- controllers and efficient mechanical drives cause when speed is equal to zero, the output are important for the energy consumption of For better illustration, all parameters have been normalized and are given as a percentage of the maximum value. It is power is also equal to zero. By means of cop- a drive. assumed that the input voltage is held constant for all curves. per losses, the entire input power is converted into heat, which turns a motor at standstill 1 : At a standstill, when the into a large heater. This is illustrated by the n/n , P/UI , n [%] 0 A speed is zero, the efficiency and vertical red line on the far right of the motor thus also the output power are diagram. There are neither friction nor iron 100% zero. However, torque is at the losses, as the motor does not turn. 90% maximum level.

80% 2 : In the case of high torques Efficiency in practice 70% compared to friction, efficiency is High efficiency at nominal voltage is, above proportional to the motor speed at 60% 2 The Mars rover a constant voltage – this can be all, a persuasive selling point. However, it is requires drives with 50% R * I seen by comparing the speed/ important to keep in mind that efficiency de- high power or torque torque gradient with the efficiency 40% pends on the respective supply voltage of the density, low weight, gradient, which overlap. motor. Because the ratio of starting current to 30% and small dimensions. Maximum input power no-load current increases sharply with higher 20% 3 : At lower output torques, friction plays an increasingly voltage, the efficiency is also higher. Further- Leerlauf 10% 1 Standstill important role, until it becomes more, the efficiency curve for lower supply 0% Stillstand the dominant factor. As a result, voltages depends more strongly on the motor No-load 4 efficiency decreases. /JPL 0% 10% 20% 30% 40% 50% 60% 70% 80% 90% 100% M/MH, torque than for higher voltages. To estimate I/I [%] 3 2 Efficiency relative to motor speed A 4 : When operating at no-load, and take into account losses in the motor, it Wirkungsgrad proportional zu Motordrehzahl efficiency is zero since no torque is better to look at the no-load current rather is being delivered. The motor than the efficiency. absorbs the entire power in order Speed % Output power % to overcome friction and iron loss. For battery-operated applications like mo- Efficiency % Input power % The no-load current I0 describes torized golf carts, it is not just a small power loss

this no-load loss. Photos: maxon motor ag, NASA that counts. The efficient use of available voltage

driven The maxon motor magazine 1 // 2014 driven The maxon motor magazine 1 // 2014 32 Column __ __ Column 33

financially, and legally, to succeed. Their mak- transforming our urban landscapes, will re- Tomorrow’s flying cars ers wanted to bring into reality machines that main a symbol of a future that we were once society mistook for suburban fantasies. promised, but that will never be. It will keep Today, the use of composite materials and filling the skies between powerful skyscrap- are a thing of the past information technologies might allow new ers, above automated food processors, mov- projects to take off – several of which will no ing sidewalks and armies of robot servants, Article: Patrick J. Gyger doubt claim to be the first proper flying car. landing in the backyards of our imagination. Paul Moller’s Skycar has been in the works for decades, and Terrafugia’s Transition is sup- posed to go into production in 2014, while the vertical take-off and landing TF-X model Magazine cover should be ready around 2020. NASA has also by Frank R. Paul been toying with the idea of Personal Air Ve- (1934). hicles as a solution to the problems of satura- tion at aerial hubs and highways. Still, financi- ers and the public will need to be convinced, and the American passion for automobiles never spread to personal airplanes. No matter what happens, the flying car of the future will either have to be piloted by a professional, or be fully automated. You won’t just be guided: you’ll be overseen or even directed. It will also be horrendously expensive. It is not quite the dream of absolute freedom of movement im- agined in the mid-20th century by visionary engineers and science fiction artists. The flying car as a device of personal lib- eration, freeing us from timetables and traf- fic jams, fueled by atomic energy, radically

“The world is as we know it now to be, ing machines inside cities is far from a new and always has been: everyone forgets idea. Few remember today that one could The flying car Patrick J. Gyger is a Swiss alight in central Manhattan in the mid-1930s: “Transition” historian. He is the director that it could be, or ever was, other the Downtown Skyport was reserved for an is to go of le lieu unique, national than the way it is now.” – John Crowley elite, but hinted that aviation would soon be into production center for arts in Nantes, in 2014. France. From 1999 to 2010, within the reach of everyone. he was the director of Maison Throughout the 20th century, inventors d’Ailleurs in Switzerland, filled with industrial-age dreams and nourished a museum for science fiction One of the drawbacks of living in a city center by visions of science fiction imagined personal and utopia, where he curated more than thirty exhibitions is the long journey you might have to endure airplanes en masse and how they would shape (most of which where shown to reach the nearest airport, which will usu- the city. Before WWII, magazines started pro- internationally) and published ally be located in the outskirts. No wonder the moting the idea of a flying car in each garage. extensively. He is the author City of Tomorrow often tries to solve that in- Mr. and Mrs. Smith could expect to conquer of Flying Cars: The Extraordinary History of Cars convenience. Take Aerotropolis, for instance: airspace just as easily as they had the highway. Designed for Tomorrow’s the author of the concept wants to promote a And so it seemed when the first true flying au-

World (Haynes, 2011). Frank R. Paul, San Diego Air & Space Museum, Terrafugia /Arthur C. Radebaugh, Mario Del Curto, /Arthur C. Radebaugh, Mario Del Curto, “new urban form placing airports in the cent- tomobile appeared in 1937: Waldo Waterman’s / er with cities growing around them”. Arrowbile. In the booming post-war econo- But the Aerotropolis name rings with a my, several inventors successfully took on the quaint retrofuturistic tone, and brings to challenge. The most striking examples were mind 1930s pulp imagery (as for instance Robert Fulton’s Airphibian (1946), Theodore The Granger Collection seen in Frank R. Paul or Arthur C. Rade- Hall’s ConvAirCar 118 (1947) and Moulton / In the 1940s, the baugh): massive tower blocks looming over Taylor’s Aerocar (1949). But these projects ConvAirCar 118 Keystone suspended highways. And indeed, having fly- were seen as simply too risky technically, B. Kimmell Archives Photos: Todd drew some attention.

driven The maxon motor magazine 1 // 2014 driven The maxon motor magazine 1 // 2014 34 Outlook __

Outlook 2 // 2014 maxon X drives The perfect human Discover exciting new applications and interesting stories from the world of drive technology. The upcoming issue of driven – the Configure your drive system. maxon motor magazine – will be available starting November 4, 2014. DC motor, gearhead, encoder. New possibilities with new dimensions. dcx.maxonmotor.com

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Impressum

Published by: maxon motor ag, Realisation: Infel Corporate Media, Print: Landenberg-Druck AG, Brünigstrasse 220, Postfach 263, Militärstrasse 36, CH-8004 Zurich Pilatusstrasse 10, CH-6060 Sarnen CH-6072 Sachseln, Editors: Michael Frischkopf, Frequency of publication: Tel. +41 (41) 666 15 00 Simona Stalder, Marcel Leibacher Biannual issue as iPad/Android app and Design: Peter Kruppa (Art Management: CEO Eugen Elmiger, as print magazine (April/November) Direction), Sebastian Mutti Dr. Ulrich Claessen, Norbert Bitzi, Photo Editor: Diana Ulrich, Languages: German, English Peter Grütter Matthias Jurt, Yvonne Schütz Print run: 11,000 (German), Project manager: Michel Riedmann 4000 (English) Proofreading: CLS 4-Text GmbH, Chief Editor: Anja Schütz Spichernstraße 2, D-10777 Berlin Copyright: © 2014 by maxon motor ag, www.maxonmotor.com Sachseln. Reprint only with express written permission from the publisher. Photo: iStockphoto / Malyugin

driven The maxon motor magazine 1 // 2014 maxon motor

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