MCA’s Mission

The Motion Control Association (MCA) is a global not-for-profit
trade group dedicated to promoting the unde...
Key Member Benefits
Key MCA Member Benefits Include:
  Motion Control Online Buyer’s Guide listing (with web link and
full...
MCA Members
ABB Inc.
Abbeytronics LLC
Adept Technology, Inc.
ADVENOVATION, Inc.
Baldor Electric
Baumer Ltd
Baumuller Nuerm...
Get Involved!
For complete membership information:
  Visit Motion Control Online (www.MotionControlOnline.org)
and click ‘...
Brushless Servomotors
Gordon S. Ritchie
Project Manager, Technical Training
Kollmorgen
What is Servoing?
A servo is a device, electrical,
mechanical or electro-mechanical,
that upon receipt of a stimulus or
in...
Dynamic Solutions
  Servos

provide dynamic
solutions
  Precise control of the
load
  High accelerations
  High decelerati...
Motion Dependent Applications
  Packaging

& Converting
  Electronic Assembly
  Semiconductor
  Textile
  Medical
  Aerosp...
Servo Actuator vs. Hydraulic
Servo Actuators

 
 
 
 
 

 

Easy replacement for
many hydraulics
Strokes up to 1500mm
No h...
Servomotor
 
 
 
 
 
 

3 Phase Motor windings
Torque on command
Velocity Loop Control
Position Loop Control
Continuous Du...
 

Closed Loop Design
3-Phase Wye Wound
3-Phase Delta Wound
High Power Magnetics

 

Various Feedback Devices

 
 
 
Motor Phasing
  Phase

sequence
results in CW
rotation of motor
shaft
  Halls aligned to
motor’s back-emf
Housing Types
 
 
 
 
 
 

Standard Servomotor
Linear Motor
Direct Drive Housed
Direct Drive Cartridge
Direct Drive Framel...
Frame & Stack
  Frame
 Flange

Size
 Pilot Diameter
 Shaft
  Stack
 Length

of Motor
 Usually 1, 2, 3, etc
Feedback Types
  Hall

Effect
  Encoder
  Resolver
  Sine Encoder
 Various

Types
Servo system
 
 
 
 

Servos are electronically commutated
Current loop, velocity loop, and in some cases,
the position lo...
Current Loop
  Based

on Motor Inductance
  Set for optimum system performance
  Not adjusted in the field
I
Icmd

Ie
Velocity Loop
 
 
 

Tuned for the system inertia, friction
and system compliance
Compliant system must be de-tuned
Adjust...
Position Loop
  Complex

processing to create a trajectory
with a final position
  Commands the velocity to be at the
corr...
Torque & Speed
  System

Performance

Curves
  Curves can be
Speed/Torque or
Torque/Speed
  Two regions,
continuous and
in...
System Performance
Servo systems are sized to provide the
required Torque & Speed
Scope Tool
 
 
 
 

Captures data points for selected parameters
Show actual performance against commanded
Useful in under...
Bode Plot Tool
  Creates

a map of the
system mechanics
  Displays frequency
response of the
system
  Discovers natural
re...
Gordon S. Ritchie
Manager, Technical Training
gordon.ritchie@danahermotion.com

Questions???
Introduction to Servo Motion
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Introduction to Servo Motion

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This presentation will explore servo basics, servo design, motor housing types, motor technology, control loops, feedback types, where are they used, how do they work and what are the benefits of servo control in industry.
Brought to by The Motion Control Association (MCA) & Design World

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Introduction to Servo Motion

  1. 1. MCA’s Mission The Motion Control Association (MCA) is a global not-for-profit trade group dedicated to promoting the understanding and use of motion control technologies and developing business opportunities for mechanical and electronic (mechatronics) motion control companies. MCA is part of the Automation Technologies Council, an umbrella group serving over 525 automation companies involved in robotics, machine vision, and related technologies.
  2. 2. Key Member Benefits Key MCA Member Benefits Include:   Motion Control Online Buyer’s Guide listing (with web link and full contact information. Plus 20 Product Listings (including photo and description).   Quarterly Motion Control Industry Statistics & Trend Analysis Reports.   Half page listing in the printed Motion Control Industry Directory distributed to thousands of buyers annually.   Invitation to the annual MCA Business Conference. Collocated with the Robotics Industries Association and Automated Imaging Association conferences, nearly 300 industry leaders attend.   Discounted booth space at Automate 2011 where 35,000 are excepted to register.
  3. 3. MCA Members ABB Inc. Abbeytronics LLC Adept Technology, Inc. ADVENOVATION, Inc. Baldor Electric Baumer Ltd Baumuller Nuermont Corporation Bosch Rexroth Corporation Curtiss-Wright Controls Dynapar Dynetic Systems Electromate Elmo Motion Control, Inc. Export Access Festo AG & Co. KG FSI Technologies Inc. Heidenhein Corp. HPI Sales iCONN Systems, LLC Incremotion Associates Infranor Inc. item North America JVL Industri Elektronik A/S KEBA Corporation Kollmorgen - A Danaher Motion Co. KUKA Robotics Corporation Lee Linear Lenze - AC Tech LINAK maxon precision motors, inc. Microvision, Inc. Midwest Motion Products Minarik Automation & Control Mitsubishi Electric Automation, Inc. Moons Industries (America), Inc. MotorSolver LLC Nabtesco Motion Control, Inc. National Aperture, Inc. National Instruments Newport Spectra-Physics GmbH Nook Industries, Inc. Omron Electronics Oriental Motor USA Corp Parker Electromechanical Automation Performance Motion Devices Phoenix Contact USA Precise Automation, Inc. Pro-Dex, Oregon Micro Systems Renishaw, Inc. Rockwell Automation Ruland Manufacturing Co., Inc. Schneider Electric, ELAU Packaging Solutions Servotronix Motion Control Ltd. Shimpo Drives SICK, Inc. Siemens Industry, Inc. Sumitomo Drive Technologies Technosoft US Inc. Texas Instruments The Timken Company Tolomatic, Inc. Trust Automation Wittenstein Yaskawa Electric America, Inc.
  4. 4. Get Involved! For complete membership information:   Visit Motion Control Online (www.MotionControlOnline.org) and click ‘About MCA’.   Email Kathleen Straight at kstraight@motioncontrolonline.org.   Or call +1 734-994-6088!
  5. 5. Brushless Servomotors Gordon S. Ritchie Project Manager, Technical Training Kollmorgen
  6. 6. What is Servoing? A servo is a device, electrical, mechanical or electro-mechanical, that upon receipt of a stimulus or input, will employ feedback for velocity and/or position control, creating a closed loop.
  7. 7. Dynamic Solutions   Servos provide dynamic solutions   Precise control of the load   High accelerations   High decelerations   Superior motion profiles Photo courtesy of NASA
  8. 8. Motion Dependent Applications   Packaging & Converting   Electronic Assembly   Semiconductor   Textile   Medical   Aerospace & Defense   Automated Guided Vehicles
  9. 9. Servo Actuator vs. Hydraulic Servo Actuators             Easy replacement for many hydraulics Strokes up to 1500mm No hydraulic lines No Hydraulic leaks Can position to an accurate point in mid stroke No danger of high pressure line breaks Hydraulic Actuators       High forces Rugged Design Established in industry
  10. 10. Servomotor             3 Phase Motor windings Torque on command Velocity Loop Control Position Loop Control Continuous Duty Zone Intermittent Duty Zone
  11. 11.   Closed Loop Design 3-Phase Wye Wound 3-Phase Delta Wound High Power Magnetics   Various Feedback Devices      
  12. 12. Motor Phasing   Phase sequence results in CW rotation of motor shaft   Halls aligned to motor’s back-emf
  13. 13. Housing Types             Standard Servomotor Linear Motor Direct Drive Housed Direct Drive Cartridge Direct Drive Frameless Explosion Proof
  14. 14. Frame & Stack   Frame  Flange Size  Pilot Diameter  Shaft   Stack  Length of Motor  Usually 1, 2, 3, etc
  15. 15. Feedback Types   Hall Effect   Encoder   Resolver   Sine Encoder  Various Types
  16. 16. Servo system         Servos are electronically commutated Current loop, velocity loop, and in some cases, the position loop reside in the drive Can interface with external controllers for velocity or position The motor and drive make up the system
  17. 17. Current Loop   Based on Motor Inductance   Set for optimum system performance   Not adjusted in the field I Icmd Ie
  18. 18. Velocity Loop       Tuned for the system inertia, friction and system compliance Compliant system must be de-tuned Adjust the current to maintain the commanded velocity I Vcmd Ve Vfb Icmd Ie
  19. 19. Position Loop   Complex processing to create a trajectory with a final position   Commands the velocity to be at the correct point at the correct time over time I Vcmd Pcmd Pe Pfb Ve V Icmd Ie
  20. 20. Torque & Speed   System Performance Curves   Curves can be Speed/Torque or Torque/Speed   Two regions, continuous and intermittent
  21. 21. System Performance Servo systems are sized to provide the required Torque & Speed
  22. 22. Scope Tool         Captures data points for selected parameters Show actual performance against commanded Useful in understanding system Band Width Saves startup time
  23. 23. Bode Plot Tool   Creates a map of the system mechanics   Displays frequency response of the system   Discovers natural resonance frequency FR FAR
  24. 24. Gordon S. Ritchie Manager, Technical Training gordon.ritchie@danahermotion.com Questions???

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