applied motion products product overview presentation june 2009

Applied Motion Products, Inc.Applied Motion Products, Inc.

Product OverviewProduct Overview

ELECTROMATEToll Free Phone (877) SERVO98

Toll Free Fax (877) SERV099www.electromate.com

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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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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

Toll Free Phone (877) SERVO98Toll Free Fax (877) SERV099

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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




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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http://www.applied-motion.com/products/stepper/systems/ST/

http://www.applied-motion.com/products/stepper/systems/STAC6.php

http://www.applied-motion.com/STM/

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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http://www.applied-motion.com/products/servo/

http://www.applied-motion.com/products/servo/drives/BLuDC4.php

http://www.applied-motion.com/products/servo/drives/BLuDC9.php

http://www.applied-motion.com/products/servo/drives/BLuAC5.php

http://www.applied-motion.com/products/servo/motors/NMseries.php

http://www.applied-motion.com/SV/

http://www.applied-motion.com/V/index.php

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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http://www.appliedmotion.com/

http://www.electromate.com/technicalsupport/?c=smartmotion

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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http://www.copperhilltech.com/

http://www.copperhilltech.com/

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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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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Same software regardless of which drive you choose

Works with Steppers and Servos



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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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Runs on Windows

All programming cables and software included with each drive – for free



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Runs on Windows Anyone with a PC can use it




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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 Programmer Screen

Download Si Programmer



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http://www.applied-motion.com/support/software.php

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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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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Runs on Windows




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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 Programmer Screen

Download Q Programmer



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http://www.applied-motion.com/support/software.php

Who’s Who at Applied Motion



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FactoryWatsonville, CA(831) 761-6555 tel(831) 761-6544 faxhttp://www.applied-motion.com



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http://www.applied-motion.com/


Customer Service / Inside SalesJulie Georgiana

Ext. [email protected]

Stacia SperryExt. [email protected]



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mailto:[email protected]



Regional SalesWest: Mike Fahey


Midwest: Matt Liiste(952) [email protected]

East: Dennis Joyce(413) [email protected]



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Tech SupportJim Amos


Eric RiceEric Rice(773) 561-7833 or Ext. [email protected]



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Questions?



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Thanks for Attending!



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applied motion products product overview presentation june 2009

Business

servo98 toll free fax

inherent problem resonancewhen

inherent problem resonanceif

inherent problem resonancejust

stepper drives stac6

stepper productsold

motor canbecome unstable

applied motion products