Applied Motion Products Product Overview presentation june 2009
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Transcript of Applied Motion Products Product Overview presentation june 2009
Applied Motion Products, Inc.Applied Motion Products, Inc.
Product OverviewProduct Overview
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Presentation
Product OverviewStepper v. ServoSizing BasicsSi Programmer OverviewQ Programmer OverviewWho’s Who at Applied Motion
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Our Products
ALL PRODUCTS
DrivesMotors GearheadsControls
Step Motors
Servo Motors
Stepper Drives
Servo Drives
Stand-aloneIndexers
Multi-axisHubs
Inline Planetary
Right AnglePlanetary
Software
PowerSupplies
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Our Products
ALL PRODUCTS
DrivesMotors GearheadsControls
Step Motors
Servo Motors
Stepper Drives
Servo Drives
Stand-aloneIndexers
Multi-axisHubs
Inline Planetary
Right AnglePlanetary
Software
PowerSupplies
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Stepper Products
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Stepper Drives
STAC6 and ST Series DrivesNext Generation drivesAdvanced Smoothing FeaturesDSP-based
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Stepper Drives
STAC6 Series110 or 220 VAC input, single-phaseAdvanced Smoothing FeaturesEncoder FeedbackCE Compliance: EMC & LVDUL Recognized 110 VAC units
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Stepper Drives
ST SeriesDC inputAdvanced Smoothing FeaturesEncoder Feedback (Q and Si models only)
CE Compliance: EMC & LVD
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Stepper Drives
Advanced Smoothing FeaturesMicrostep EmulationTorque Ripple SmoothingAnti-Resonance/Electronic Damping
Encoder FeedbackStall DetectionStall Prevention w/ Position Maintenance
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Advanced Features
Applied Motion steppers drives improve upon two aspects of step motor system performance
Smoothness – by eliminating resonance
Accuracy – by closing the position loop
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Inherent Problem
ResonanceStep motors are resonant because in short their rotors behave much like a classic “mass on a spring”.
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Inherent Problem
ResonanceWhen a step motor takes a step, the rotor reacts to the changing stator field in the same way a mass on a spring reacts to a change in position.
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Inherent Problem
ResonanceJust like the mass on a spring, the motion of the rotor settles into position after each step.This settling can last as long as a second or more in worst cases!
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Inherent Problem
ResonanceIf the settling doesn’t occur rapidly, or the ringing of the rotor gets worse, the motor can become unstable and lose position (stall).
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Inherent Problem
ResonanceThere are two major, negative side effects of resonance.
Rough motion
Loss of torque, which can lead to loss of position
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Inherent Problem
ResonanceRough motion
When step motors resonate they generally vibrate excessively.This can be bad for sensitive equipment.
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Inherent Problem
ResonanceLoss of torque
When step motors resonate much of the torque available in the motor is used up in keeping the rotor synchronized with the stator field, and in worst cases the motor will not have enough torque to move the load.Loss of torque often leads to stalling.
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Solution
ResonanceThere are three main remedies for resonance.
MicrosteppingTorque Ripple SmoothingElectronic Damping
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Solution
MicrosteppingMicrostepping does not eliminate the natural resonant frequency of a step motor, but it does diminish the level of excitation.In other words, smaller steps mean smaller responses.
coarse steps microsteps
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Solution
MicrosteppingStepper drives from Applied Motion can microstep even when the control signal is low resolution.This is called Microstep Emulation.
coarse stepsfrom externalindexer
microstep emulationperformed by drive
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Solution
Torque Ripple SmoothingTorque ripple smoothing reduces the inherent torque ripple that all step motors display at low speeds (typically well under 5 rps).Torque ripple smoothing works by applying a “negative” current to the motor which offsets the torque ripple.
torque ripple
negative current
result = smoother motionELECTROMATE
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Solution
Electronic DampingElectronic damping remedies two aspects of the motor’s resonance.
Inherent resonant frequencies of the motor.A complex interaction between drive and motor that happens at higher speeds, often called “mid-band resonance”.
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Solution
Electronic DampingThe end result of electronic damping is to minimize and even eliminate the resonant response of the step motor over a wide range of speeds.
withoutelectronic dampingwithelectronic damping
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Solution
High performance stepper drives from Applied Motion offer…
Microstep EmulationTorque Ripple SmoothingElectronic Damping
All of which contribute to…Smoother motion from your step motor
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Inherent Problem
Accuracy – Open Loop SystemsWhen properly sized an open loop step motor system can be adequately accurate for most applications.Keys to proper sizing are knowing the load and knowing the move parameters ahead of time.However, the nature of an open loop system is such that no built-in mechanism exists for indicating a motor mis-position or stall.
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Solution
Accuracy – Open LoopIn situations where an extra layer of accuracy is required, step motors from Applied Motion can be fitted with high resolution, incremental encoders.The encoder is mounted to the rear shaft of the step motor (order “D” option).
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Solution
Accuracy – Open LoopThe encoder is then connected to the drive via a feedback cable.
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Solution
Accuracy – Open LoopApplied Motion stepper drives can perform two main functions when an encoder is added to the system.
fool-proof Stall DetectionStall Prevention w/ Position Maintenance
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Solution
Fool-proof Stall DetectionStall detection works when the stepper drive monitors encoder position relative to commanded motor position.As soon as a mis-position occurs the drive stops motion and sets a fault to notify the user.This method is fool-proof because it works under all conditions, regardless of motor speed or load conditions.
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Solution
Stall PreventionLike stall detection, Stall Prevention works when the stepper drive monitors encoder position relative to commanded motor position.As soon as a lag between the encoder position and the commanded motor position occurs the stepper drive starts to slow the motor speed.
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Solution
Stall PreventionSlowing down the motor allows the motor to operate in a speed range where its torque output is higher, and therefore have a better chance of finishing the move.
Target Move Profile
Target Time
Target Move ProfileActual Move Profilewith Stall Prevention
Target Time
Actual Time
Point at which torquedemand increases
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Solution
Position MaintenanceWith Stall Prevention turned on the drive automatically corrects errors in motor position from external forces when the motor is at rest.In other words, if the motor is “bumped”out of position it automatically corrects itself.
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Solution
High performance stepper drives from Applied Motion offer…
Encoder feedback options
Which contribute to…A more accurate motion control system
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Hardware
High Performance Stepper Drives from Applied Motion
ST Series
STAC6 Series
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Stepper Drives
Three Model NumbersS – basic drive
Step & Direction, Oscillator, SiNet Hub, and SCLConfigurator software for setup
Q – programmable driveQ Programmer for stand-alone operationConfigurator software for setup
Si – Simple Indexer driveSi Programmer with built-in Configurator for setup and stand-alone operation
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Stepper Drives
SoftwareSTAC6 and ST Configurators
Setup motor and drive parameters, S and Q models
Q ProgrammerCreate stored programs for Q drives
Si ProgrammerSetup motor and drive parameters and create stored programs for Si drives
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ST Series
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ST Series at-a-glance
ST5-S ST10-S ST5-Q ST10-Q ST5-Si ST10-Si
Modes of Operation
Step&DirOsc.SCLHub
Step&DirOsc.SCLHub
…S plus…Q Prog.
…S plus…Q Prog.
…Q plus…Si Prog.
…Q plus…Si Prog.
InputsOutputs
3 dig in1 an in1 dig out
3 dig in1 an in1 dig out
8 dig in2 an in4 dig out
8 dig in2 an in4 dig out
8 dig in4 dig out
8 dig in4 dig out
Features Basic drive
Basic drive
EncoderRS485
EncoderRS485
Encoder Encoder
Size Smallest Smallest Small Small Small Small
Amps per Phase
5 10 5 10 5 10
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STAC6 Series
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STAC6 Series at-a-glance
STAC6-S STAC6-Q STAC6-Si
Modes of Operation
Step & DirectionOscillatorSCLSiNet Hub
…same as S plus…Q Programming
…same as Q plus…Si Programming
InputsOutputs
7 digital inputs2 analog inputs3 digital outputs
7 digital inputs2 analog inputs3 digital outputs
*Option to expand with STAC6-QE
15 digital inputs7 digital outputs
Features Encoder FeedbackRS485
Encoder FeedbackRS485
Encoder Feedback
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Stepper Motors
Compatible MotorsST
NEMA 17, 23, and 34 motors with flying leads
STAC6NEMA 23 and 34 motors with integral, 10’shielded cables
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STM Series Steppers
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STM Series Steppers
STMIntegrated motor & drive packageNEMA 23 motorsDrive based on ST5 stand-alone drive
Step & DirectionOscillatorSCLSiNet HubQ Programming
Same great Anti-Resonance and current control as STAC6 and ST drives
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Web Links
ST SeriesSTAC6 SeriesSTM Series
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Servo Products
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Servo Drives
BLu Series“Sine” drives (hi-res commutation)
Smooth motion even at low speeds
DSP-based current control, velocity & position loops
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Servo Drives - modes
Torque & Velocity modes+/-10V, 5V0-10V, 5V
Position modesStep & DirectionCW/CCW PulseA/B Quadrature
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Servo Drives - modes
SCLReceive commands from an external host (PC, PLC, microcontroller, HMI, etc.) via RS-232/422/485
QStand-alone programmability with host command execution
SiStand-alone programmability
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Servo Drives
BLuDC SeriesDC inputIncremental Encoder Feedback, 8000 countsCE Compliant
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Servo Drives
BLuAC5 SeriesAC inputIncremental Encoder Feedback, 8000 countsCE Compliant
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Servo Drives
Three Model NumbersS – basic drive
Torque, Velocity, Step & Direction, SiNet Hub, and SCLQuick Tuner software for setup
Q – programmable driveQ Programmer for stand-alone operationQuick Tuner software for setup
Si – Simple Indexer driveSi Programmer with built-in Quick Tuner for setup and stand-alone operation
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Servo Motors
From 30 Watts – 750 WattsCont. torque: 0.09 – 2.4 N-m (0.84 – 21 in-lb)
Peak torque: 0.29 – 7.2 N-m (2.53 – 64 in-lb)
Wide range of windings24, 48, 60 VDC100, 200 VAC
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Servo Motors
M SeriesMetric Flanges40, 60, and 80mm
N SeriesNEMA FlangesNEMA 17, 23, and 34
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SV and V Series
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SV Series servo drives
SV7Lower cost than BLuDC7A continuous, 14A peak24-80 VDC inputEncoder feedback to start
Resolver feedback to come
Same base control options: S, Q, and SiPlus CANOpen option to come
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V Series servo motors
NEMA 23 flangeNEMA 17 and 34 flanges to come
Medium torque-densityLow costCompatible planetary gearboxes available
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Web Links
Servo ProductsBLuDC4BLuDC9BLuAC5N & M Series MotorsSV7V Series Motors
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Stepper v. Servo
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Stepper v. Servo
First, why brushless?No maintenance – One of the best reasons to choose brushless motors is because they require basically no maintenance. There are no brushes to wear out.Cost is steadily decreasing – In the past brushless motors were always the most expensive, however their prices continue to drop and make it more attractive to use brushless motors.
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Stepper v. Servo
Why Steppers and Servos?Servos and Steppers offer many advantages in positioning applications.Full programmability – There is no longer a need to move limit switches and other mechanical parts for machine setups and changeovers.Excellent repeatability – Because these motors can position from digital signals, it is easy for them to repeatedly return to the same position over and over.
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Stepper v. Servo
Why Steppers and Servos?High accuracy – Because these motors have high resolutions and excellent torque characteristics, they can accurately position to a fine resolution.Software and Controls are becoming easier to integrate – Icon-based programming and more user-friendly interfaces allow for even non-programmers to integrate motion controllers into their machines and applications.
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Stepper Systems
Stepper Systems are
Open Loop
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Servo Systems
Servo Systems are
Closed Loop
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Stepper Systems
Open Loop means…Current in the motor is the same, regardless of loadStep motors run hotNatural Resonance frequencies occur
Applied Motion drives take care of this!
Speed v. Torque curves represent peak torque under ideal conditionsTorque margins are necessary
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Stepper Systems
The advantages are…Lower costSimplicity
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Servo Systems
Closed loop means…Current in motor is directly related to the load requirements
No load means no current
Servo motors generally run cooler than steppersBoth peak and continuous torque ratings are availableTuning is requiredSystem is generally more complexCost is generally higher than stepperELECTROMATE
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Servo Systems
The advantages are…Higher speedsHigher peak torques
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Stepper Speed v. Torque
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Servo Speed v. Torque
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Stepper v. Servo
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Stepper v. Servo
Generally speaking, in a linear application with an actuator, the most prudent path to success is to pick the system that best balances cost and performance.
Determine the speed and torque requirements and look at the curves.
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Sizing
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Sizing
There are a few key application elements you need to determine before choosing a proper motor and drive combination:
Total System Inertia (load + motor)Peak Speed RequirementPeak Torque Requirement (cont + accel)
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Sizing
A primer on sizing…The Smart Motion Cheat SheetFrom MinarikFrom Electromate Industrial SalesThis PDF has all the equations you need to calculate inertia, speed, and torque for your linear actuator application.
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Sizing
VisualSizerVisualSizer sizing softwareFree stand-alone sizing softwareManufacturer-independent (generic) so it works with anyone’s systemAble to size motors and drives for linear actuators and many other kinds of loadsDownload from www.copperhilltech.com
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Si Programmer Overview
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Si Programmer Software
We are well-known in industry for our easy-to-use, icon-based programming environment
“Si” stands for “Simple Indexer”ELECTROMATE
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Si Features & Benefits
So easy-to-useA non-programmer’s programIcon-basedIntuitive graphical interface
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Si Features & Benefits
So easy-to-useA non-programmer’s programIcon-basedIntuitive graphical interface
Very little support
Customers are up and running quickly
“Sell it and Forget it”
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Si Features & Benefits
Same software regardless of which drive you choose
Works with Steppers and Servos
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Si Features & Benefits
Same software regardless of which drive you choose
Works with Steppers and Servos
Customers can switch between stepper and servo without rewriting their program
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Si Features & Benefits
Runs on Windows
All programming cables and software included with each drive – for free
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Si Features & Benefits
Runs on Windows Anyone with a PC can use it
All programming cables and software included with each drive – for free
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Si Features & Benefits
Runs on Windows Anyone with a PC can use it
All programming cables and software included with each drive – for free
Free software!Download from our website today
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Advanced Functions in Si
For All Si™ Drive ModelsSubroutinesBranch On LimitBranch On FaultInterruptMultiple, programmable jog speeds
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Si Drives
Drive model numbers that contain either an “Si” or “i’ designate a drive or control with the Si Indexer built-in
STAC6-SiSTAC6-220-SiST5-SiST10-SiBLuDC4-SiBLuDC9-SiBLuAC5-Si
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Si Drives
Drive model numbers that contain either an “Si” or “i’ designate a drive or control with the Si Indexer built-in
STAC6-SiSTAC6-220-SiST5-SiST10-SiBLuDC4-SiBLuDC9-SiBLuAC5-Si
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Si Programmer Screen
Download Si Programmer
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Q Programmer Overview
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Q Programmer Software
Our latest motion control software adds much more power and flexibility to our drives
“Q” stands for “Queue”ELECTROMATE
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Q Features & Benefits
Large set of commands
Motion controlI/O manipulation and sensingRegister manipulationMath functionsMulti-tasking
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Q Features & Benefits
Large set of commands
Motion controlI/O manipulation and sensingRegister manipulationMath functionsMulti-tasking
Solve complicated applications
Machine and motion control in one drive
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Q Features & Benefits
Runs on Windows
All programming cables and software included with each drive – for free
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Q Features & Benefits
Runs on Windows Anyone with a PC can use it
All programming cables and software included with each drive – for free
Free software!Download from our website today
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Q Drives
Servo DrivesBLuDC4-QBLuDC9-QBLuAC5-Q
Stepper DrivesSTAC6-QST5-QST10-Q
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Q Drives
Servo DrivesBLuDC4-QBLuDC9-QBLuAC5-Q
Stepper DrivesSTAC6-QST5-QST10-Q
ELECTROMATEToll Free Phone (877) SERVO98
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Q Programmer Screen
Download Q Programmer
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Who’s Who at Applied Motion
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Who’s Who at Applied Motion
FactoryWatsonville, CA(831) 761-6555 tel(831) 761-6544 faxhttp://www.applied-motion.com
ELECTROMATEToll Free Phone (877) SERVO98
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Who’s Who at Applied Motion
Customer Service / Inside SalesJulie Georgiana
Ext. [email protected]
Stacia SperryExt. [email protected]
ELECTROMATEToll Free Phone (877) SERVO98
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Who’s Who at Applied Motion
Regional SalesWest: Mike Fahey
Ext. [email protected]
Midwest: Matt Liiste(952) [email protected]
East: Dennis Joyce(413) [email protected]
ELECTROMATEToll Free Phone (877) SERVO98
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Who’s Who at Applied Motion
Tech SupportJim Amos
Ext. [email protected]
Eric RiceEric Rice(773) 561-7833 or Ext. [email protected]
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Questions?
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Thanks for Attending!
ELECTROMATEToll Free Phone (877) SERVO98
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