Introduction to Servo Motion
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The Motion Control Association (MCA) is a global non-profit organization aimed at promoting motion control technologies and creating business opportunities for mechatronics companies. Key member benefits include access to industry statistics, a buyer's guide, and participation in an annual business conference. The document also details the technical specifications and advantages of servo systems and actuators, highlighting their applications in various industries.
Introduction to Servo Motion
- 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???