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Tolomatic presentation understanding motion control technology

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  • 1. MOTION CONTROL TECHNOLOGYMicrostepping Systems Brushed DC Systems Brushless Servo Systems Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 2. ENCODER FEEDBACKOpen Loop System– Gives a commanded position but has no feedback to ensure the actual position was reached. • Controller commands a signal to the drive • Drive converts and amplifies the signal to the motor • Motor moves commanded number of steps Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 3. ENCODER FEEDBACK Open Loop Example SupplyCommand Dimmer Lamp Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 4. ENCODER FEEDBACKClosed Loop– Monitors the commanded position versus the actual position and adjusts to insure the commanded position is reached • Command signal responds to eliminate error based on feedback Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 5. ENCODER FEEDBACK Closed Loop Example 65o Current Temp.72o Command 7o Error T Furnace Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 6. ENCODER FEEDBACK Servo Motor Control ExampleCOMMAND ERRORPosition 10” Move 1” Power + Amplifier Motor - FEEDBACK Sold & Serviced By: ELECTROMATE 9” Machine Motion Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 7. FEEDBACK DEVICESTell the control system where the tool or work piece is located– Analog(ex. tachometer) • Directly represent some physical quantity • Continually varied– Digital (ex. encoder) • Incremental • Absolute Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 8. FEEDBACK DEVICESIncremental Encoder– Counts the segments on a disc to determine position– Uses a clock to determine velocity– Has one single mark called an indexer to eliminate error and allow finer positioning on homing routine– 1000 Counts Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 9. FEEDBACK DEVICESQuadrature Encoder– Has two segment patterns that allow for finer positioning– Reads 4x the physical line count Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 10. MOTION CONTROL SYSTEMSMicrosteppingBrushed DCBrushless Servo Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 11. WHY A MICROSTEPPING SYSTEM?Lowest cost for precision motionFeedback device not neededLow RPM applications Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 12. STEPPER MOTORSWindings are on the stator and themagnets are on the rotorCurrent switched electronicallyto windings Half Step Full Step Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 13. STEPPER MOTORS200 physical steps on therotor assembly Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 14. ADVANTAGES OF STEPPER MOTORS• Lowest cost for precision motion• High resolution and positioning precision• Easy angle and speed control• Large holding torque• Good for simple indexing• High torque at lower speeds Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 15. LIMITATIONS OF STEPPER MOTORS• Torque decreases as velocity increases• If the load torque exceeds the motor’s available torque it can stall or lose position• Speeds typically limited to less than 2000 RPM• Motion is not as smooth as servos Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 16. STEPPER VS SERVO TORQUE CURVE 35 MRS31 30 MRV31-Continuous 25 MRV31-PeakTorque (lb-in) 20 15 10 5 0 Sold & Serviced By: 3000 3600 4200 4800 5400 6000 0 1200 1800 2400 600 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 17. MICROSTEPPING SYSTEM SUMMARY• Lowest cost for precision motion• High resolution• Large holding torque• Good for simple indexing• High torque at lower speeds• Torque decreases as velocity increases• Open loop system, no encoder feedback• Motion is not as smooth as servos Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 18. MOTION CONTROL SYSTEMSMicrosteppingBrushed DCBrushless Servo Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 19. WHY A BRUSHED DC SYSTEM?• Low to medium cost• Smooth and quiet operation• Simple control (switch to switch)• Higher torque and speed than Stepper Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 20. BRUSHED DC MOTORS1. Magnets are on the stator and the windings are on rotor2. Current is switched mechanically to the windings through the brushes Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 21. ADVANTAGES OF BRUSHED MOTORSEasily defined speed and torque output– Volts/RPM– Torque/AmpSimple design keeps the cost downBetter torque roll off compared to steppers Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 22. LIMITATIONS OF BRUSHED MOTORSCurrent switched mechanically – Brush wearThermally inefficient – Heat has to dissipate through the magnets • Can reduce performance and life • Larger sizeWithout encoder feedback limited in positioning capability Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 23. BRUSHED DC SUMMARY• Low to medium cost• Smooth and quiet operation• Typically switch to switch operation• Thermal inefficiencies can reduce performance and life• Brush wear Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 24. MOTION CONTROL SYSTEMSMicrosteppingBrushed DCBrushless Servo Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 25. BRUSHLESS SERVO SYSTEMClosed Loop– Monitors the commanded position versus the actual position and adjusts to insure the commanded position is reached • Command signal responds to eliminate error based on feedback Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 26. WHY A BRUSHLESS SERVO SYSTEM?• Extremely smooth and quiet operation• Torque, velocity, or position control• Accurate position and high output torque at high speeds• Higher performance than Stepper and Brushed DC• Maintenance free Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 27. BRUSHLESS SERVO MOTORS1. Windings are on the stator and the magnets are on the rotor2. Current is switched electrically Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 28. ADVANTAGES OF BRUSHLESS MOTORS• High continuous and peak torque• High speeds (up to 6,000 RPM)• Motor thermal protection• Metal shell plug and turn connectors• IP65 options Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 29. LIMITATIONS OF BRUSHLESS MOTORS• Increased cost• Increased weight• Higher control complexity due to encoder feedback Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 30. BRUSHLESS SERVO SUMMARY• Accurate position and high output torque at high speeds• Excellent heat dissipation allows for higher continuous torque• No mechanical brushes reduce speed torque ripple• Higher performance than Stepper and Brushed Servo• Increased cost Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 31. Applying Motion Control Systems…..Use Micro-steppers when….– You identify low speed applications where cost outweighs feedback for velocity or torqueUse Brushed DC when….– You run into low to midrange speed and torque applications that that need simple point to point positioning without high accuracyUse Brushless Servo when….– You see high speed and high torque applications that need accurate feedback for position, velocity, or torque…or– You see applications that need high performance Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 32. QUESTIONS??? Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com

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