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

2. 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.

3. 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.

4. 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.

5. 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!

6. Brushless Servomotors
Gordon S. Ritchie
Project Manager, Technical Training
Kollmorgen

7. 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.

8. Dynamic Solutions
Servos
provide dynamic
solutions
Precise control of the
load
High accelerations
High decelerations
Superior motion profiles
Photo courtesy of NASA

9. Motion Dependent Applications
Packaging
& Converting
Electronic Assembly
Semiconductor
Textile
Medical
Aerospace & Defense
Automated Guided Vehicles

10. 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

11. Servomotor
3 Phase Motor windings
Torque on command
Velocity Loop Control
Position Loop Control
Continuous Duty Zone
Intermittent Duty Zone

12.
Closed Loop Design
3-Phase Wye Wound
3-Phase Delta Wound
High Power Magnetics
Various Feedback Devices

13. Motor Phasing
Phase
sequence
results in CW
rotation of motor
shaft
Halls aligned to
motor’s back-emf

14. Housing Types
Standard Servomotor
Linear Motor
Direct Drive Housed
Direct Drive Cartridge
Direct Drive Frameless
Explosion Proof

15. Frame & Stack
Frame
Flange
Size
Pilot Diameter
Shaft
Stack
Length
of Motor
Usually 1, 2, 3, etc

16. Feedback Types
Hall
Effect
Encoder
Resolver
Sine Encoder
Various
Types

17. 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

18. Current Loop
Based
on Motor Inductance
Set for optimum system performance
Not adjusted in the field
I
Icmd
Ie

19. 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

20. 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

21. Torque & Speed
System
Performance
Curves
Curves can be
Speed/Torque or
Torque/Speed
Two regions,
continuous and
intermittent

22. System Performance
Servo systems are sized to provide the
required Torque & Speed

23. Scope Tool
Captures data points for selected parameters
Show actual performance against commanded
Useful in understanding system Band Width
Saves startup time

24. Bode Plot Tool
Creates
a map of the
system mechanics
Displays frequency
response of the
system
Discovers natural
resonance frequency
FR
FAR

25. Gordon S. Ritchie
Manager, Technical Training
gordon.ritchie@danahermotion.com
Questions???