• 
• 
• 
• 
• 

Selec%ng	
  a	
  step	
  motor	
  
Common	
  step	
  motor	
  enhancements	
  
Case	
  History	
  
Benefits...
1.  Maximum	
  Efficiency	
  
  Torque	
  at	
  Speed	
  

2.  Power	
  Available	
  
  Voltage	
  &	
  Current	
  

3.  C...
•  Vary	
  the	
  voltage	
  or	
  
the	
  current	
  
•  Find	
  an	
  opera%ng	
  
speed	
  
•  Motor	
  supplier	
  wil...
Maximizing	
  Torque	
  @	
  OperaOng	
  Speed	
  
24VDC,	
  2.0	
  Amps/Phase,	
  Full	
  Stepping	
  
80	
  

Lin	
  Mot...
(Varied by motor winding and power)

80	
  

We	
  design	
  motor’s	
  max.	
  efficiency	
  at	
  your	
  opera%ng	
  spee...
Tips	
  to	
  reduce	
  resonance	
  
•  Change	
  Voltage	
  and	
  Current	
  
•  Change	
  Iner%a	
  of	
  the	
  load	...
Vibration Amplitude

Vibration Amplitude

	
  	
  	
  	
  	
  	
  	
  	
  	
  	
  	
  	
  	
  	
  	
  
3709	
  vs.	
  	
  ...
•  Vary	
  Current	
  or	
  Voltage	
  to	
  find	
  torque	
  
•  Every	
  motor	
  can	
  be	
  maximized	
  for	
  best	...
• 

Lower	
  Speeds	
  and/or	
  Higher	
  Torque-­‐	
  Gearboxes	
  

• 

Reduce	
  Resonance-­‐	
  Dampers	
  

• 

Posi...
•  When	
  posi:on	
  of	
  motor	
  must	
  always	
  be	
  
maintained	
  
•  If	
  a	
  motor	
  stall	
  detec:on	
  a...
Background:	
  
•  Medical	
  device	
  used	
  to	
  
remove	
  mucus	
  from	
  pa%ent	
  
airways	
  
Requirements:	
  ...
• 	
  Mechanical	
  	
  
• 	
  Resolu%on	
  
• 	
  Index	
  
• 	
  Differen%al	
  vs.	
  Single	
  Ended	
  Output	
  
• 	
  Frame	
  Size	
  
• 	
  Shac	
  Diameter	
  
• 	
  Moun%ng	
  Bolt	
  Circle	
  
• 	
  Environmental	
  Considera%on...
One	
  Cycle	
  

1	
  

2	
  

3	
  

Quadrature	
  States	
  

4	
  
• 	
  CPR	
  -­‐	
  Cycles	
  Per	
  Revolu%on	
  
• 	
  PPR	
  -­‐	
  Pulses	
  Per	
  Revolu%on	
  
• 	
  Example	
  -­‐...
Output	
  A	
  

Output	
  B	
  

A	
  Leads	
  B	
  
Output	
  A	
  

Output	
  B	
  

B	
  Leads	
  A	
  
•  Provide	
  Direc%on	
  of	
  Shac	
  Rota%on	
  
Informa%on	
  
•  Enable	
  4x	
  Resolu%on	
  Increase	
  Over	
  Dis...
Output	
  A	
  

Output	
  B	
  

Index	
  
Index	
  Paeern	
  
•  Once	
  per	
  360	
  Degree	
  Rota%on	
  
•  Gives	
  a	
  Single	
  Absolute	
  Loca%on	
  
•  Typically	
  Used	
  ...
A	
  

A’	
  

B	
  

B’	
  
A	
  	
  	
  

A’	
  	
  	
  

Index	
  	
  	
  

Index’	
  	
  	
  
•  High	
  Electrical	
  Noise	
  Immunity	
  
•  Transmijng	
  Encoder	
  Signals	
  Over	
  a	
  Long	
  
Distance	
  
•...
Output	
  A	
  

Output	
  B	
  

Index	
  
•  Simple	
  Interface	
  Requirements	
  
•  Most	
  Common	
  Form	
  of	
  Encoder	
  Output	
  
•  Short	
  Distance	
...
• 
• 
• 
• 
• 

Mechanical	
  
Resolu%on	
  
Index	
  	
  
Differen%al	
  vs.	
  Single	
  Ended	
  Output	
  
Final	
  Ste...
• 
• 
• 
• 
• 

Short	
  Lead	
  Times	
  
Personal	
  Customer	
  Service	
  
Great	
  Value	
  
Reliability	
  
Custom	
...
Best Practices for Motion Control: Stepper Motor and Encoder Selection
Best Practices for Motion Control: Stepper Motor and Encoder Selection
Best Practices for Motion Control: Stepper Motor and Encoder Selection
Best Practices for Motion Control: Stepper Motor and Encoder Selection
Best Practices for Motion Control: Stepper Motor and Encoder Selection
Best Practices for Motion Control: Stepper Motor and Encoder Selection
Best Practices for Motion Control: Stepper Motor and Encoder Selection
Best Practices for Motion Control: Stepper Motor and Encoder Selection
Best Practices for Motion Control: Stepper Motor and Encoder Selection
Best Practices for Motion Control: Stepper Motor and Encoder Selection
Best Practices for Motion Control: Stepper Motor and Encoder Selection
Best Practices for Motion Control: Stepper Motor and Encoder Selection
Best Practices for Motion Control: Stepper Motor and Encoder Selection
Best Practices for Motion Control: Stepper Motor and Encoder Selection
Best Practices for Motion Control: Stepper Motor and Encoder Selection
Best Practices for Motion Control: Stepper Motor and Encoder Selection
Best Practices for Motion Control: Stepper Motor and Encoder Selection
Best Practices for Motion Control: Stepper Motor and Encoder Selection
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Best Practices for Motion Control: Stepper Motor and Encoder Selection

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Lin Engineering and US Digital present stepper motor and encoder feedback selection considerations for motion control applications. We’ll share a case book example highlighting a medical application that required a high torque step motor utilizing an encoder for position feedback. Details of stepper motor and feedback options will be presented along with common terms and a guide to selection and integration.

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Best Practices for Motion Control: Stepper Motor and Encoder Selection

  1. 1. •  •  •  •  •  Selec%ng  a  step  motor   Common  step  motor  enhancements   Case  History   Benefits  of  an  encoder   Encoder  selec%on  
  2. 2. 1.  Maximum  Efficiency     Torque  at  Speed   2.  Power  Available     Voltage  &  Current   3.  Common  Issues     Resonance     Accuracy  
  3. 3. •  Vary  the  voltage  or   the  current   •  Find  an  opera%ng   speed   •  Motor  supplier  will   back  calculate   required  torque  
  4. 4. Maximizing  Torque  @  OperaOng  Speed   24VDC,  2.0  Amps/Phase,  Full  Stepping   80   Lin  Motor   ExisOng  Motor   Pullout  Torque  (oz-­‐in)   70   60   50   OLD   Opera%ng  Speed   NEW   40   Opera%ng  Speed   30   20   10   0   200   400   600   800   1000   Speed  (pps,  1  pulse  =  1.8  degree)   1200   5  
  5. 5. (Varied by motor winding and power) 80   We  design  motor’s  max.  efficiency  at  your  opera%ng  speed   Efficiency  (%)   70   60   50   40   30   20   10   0   0   2   4   6   8   10   12   14   16   Speed  (RPS)   6  
  6. 6. Tips  to  reduce  resonance   •  Change  Voltage  and  Current   •  Change  Iner%a  of  the  load   •  Change  microstepping   •  Change  to  a  different  motor  
  7. 7. Vibration Amplitude Vibration Amplitude                               3709  vs.       Standard  0.9  
  8. 8. •  Vary  Current  or  Voltage  to  find  torque   •  Every  motor  can  be  maximized  for  best   performance  for  max  efficiency   •  Reduce  resonance  by  changing  voltage,   current,  microstepping  or  load.  
  9. 9. •  Lower  Speeds  and/or  Higher  Torque-­‐  Gearboxes   •  Reduce  Resonance-­‐  Dampers   •  Posi%on  Verifica%on  and  Correc%on-­‐  Encoders  
  10. 10. •  When  posi:on  of  motor  must  always  be   maintained   •  If  a  motor  stall  detec:on  and  ac%on  is  required   •  Typical  Industries:   •  Medical   •  Solar   •  Semiconductor  
  11. 11. Background:   •  Medical  device  used  to   remove  mucus  from  pa%ent   airways   Requirements:   •  High  holding  torque   •  Accurate  posi%oning   •  Posi%on  feedback  
  12. 12. •   Mechanical     •   Resolu%on   •   Index   •   Differen%al  vs.  Single  Ended  Output  
  13. 13. •   Frame  Size   •   Shac  Diameter   •   Moun%ng  Bolt  Circle   •   Environmental  Considera%ons  
  14. 14. One  Cycle   1   2   3   Quadrature  States   4  
  15. 15. •   CPR  -­‐  Cycles  Per  Revolu%on   •   PPR  -­‐  Pulses  Per  Revolu%on   •   Example  -­‐  100  CPR  =  400  PPR  
  16. 16. Output  A   Output  B   A  Leads  B  
  17. 17. Output  A   Output  B   B  Leads  A  
  18. 18. •  Provide  Direc%on  of  Shac  Rota%on   Informa%on   •  Enable  4x  Resolu%on  Increase  Over  Disk  CPR   •  Standard  Signals  Regardless  of  Encoder   Mechanical  Package  
  19. 19. Output  A   Output  B   Index  
  20. 20. Index  Paeern  
  21. 21. •  Once  per  360  Degree  Rota%on   •  Gives  a  Single  Absolute  Loca%on   •  Typically  Used  for  Home  or  Zero  Loca%on  
  22. 22. A   A’   B   B’  
  23. 23. A       A’       Index       Index’      
  24. 24. •  High  Electrical  Noise  Immunity   •  Transmijng  Encoder  Signals  Over  a  Long   Distance   •  Requires  Differen%al  Receiver    
  25. 25. Output  A   Output  B   Index  
  26. 26. •  Simple  Interface  Requirements   •  Most  Common  Form  of  Encoder  Output   •  Short  Distance  Signal  Transmission  
  27. 27. •  •  •  •  •  Mechanical   Resolu%on   Index     Differen%al  vs.  Single  Ended  Output   Final  Step  -­‐  Decision  
  28. 28. •  •  •  •  •  Short  Lead  Times   Personal  Customer  Service   Great  Value   Reliability   Custom  Mo%on  Control  Solu%ons  
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