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.

MCA’s Mission

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.

Key Member Benefits

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

MCA Members

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.

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!

Get Involved!

Brushless Servomotors Gordon S. Ritchie

Project Manager, Technical Training

Kollmorgen

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.

Dynamic Solutions

" Servos provide dynamic solutions

" Precise control of the load

" High accelerations

" High decelerations

" Superior motion profiles Photo courtesy of NASA

Motion Dependent Applications

" Packaging & Converting

" Electronic Assembly

" Semiconductor

" Textile

" Medical

" Aerospace & Defense

" Automated Guided Vehicles

Servo Actuator vs. Hydraulic

"  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

"  High forces

"  Rugged Design

"  Established in

industry

Servo Actuators Hydraulic Actuators

Servomotor

"  3 Phase Motor windings

"  Torque on command

"  Velocity Loop Control

"  Position Loop Control

"  Continuous Duty Zone

"  Intermittent Duty Zone

"  Closed Loop Design

"  3-Phase Wye Wound

"  3-Phase Delta Wound

"  High Power Magnetics

"  Various Feedback Devices

Motor Phasing

" Phase sequence

results in CW

rotation of motor

shaft

" Halls aligned to

motor’s back-emf

Housing Types

"  Standard Servomotor

"  Linear Motor

"  Direct Drive Housed

"  Direct Drive Cartridge

"  Direct Drive Frameless

"  Explosion Proof

Frame & Stack

" Frame

# Flange Size

# Pilot Diameter

# Shaft

" Stack

# Length of Motor

# Usually 1, 2, 3, etc

Feedback Types

" Hall Effect

" Encoder

" Resolver

" Sine Encoder

# Various Types

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

Current Loop " Based on Motor Inductance

" Set for optimum system performance

" Not adjusted in the field

Icmd

I

Ie

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

Icmd

I

Ie

Vcmd

Vfb

Ve

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

Icmd I

e V

cmd

V

Ve

Pfb

Pcmd

Pe

Torque & Speed

" System Performance Curves

" Curves can be Speed/Torque or Torque/Speed

" Two regions, continuous and intermittent

System Performance

Servo systems are sized to provide the

required Torque & Speed

Scope Tool "  Captures data points for selected parameters

"  Show actual performance against commanded

"  Useful in understanding system Band Width

"  Saves startup time

Bode Plot Tool

" Creates a map of the

system mechanics

" Displays frequency

response of the

system

" Discovers natural

resonance frequency

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