servo motor
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ALVINthe Albuquerque LabVIEW Interest Network An Overview ofServo Motor System andLabVIEWPresented by Larry GogaFebruary 19th, 2009
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The 3 rules for a good presentation! Tell them what youre going to tell them.Tell them what you told them.Tell them what you wantto tell them.
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Presentation OverviewMy projectServo Systems in GeneralNational Instruments LabVIEW and NI MotionYaskawa Electric
Danaher MotionQuickSilver Controls Inc.Summary & ReviewHardware and Software DemosQ&A
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The PROJECT!Process CameraNot a normal 35mm film cameraMade by Photo-SonicsCirca 1972, 37 years oldUsed for special effects photographyUsed for color separationsUsed for animationHad interchangeable motors
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Color SeparationsConvert color to B&WTake 3 images of the same frameSynchronized with a color wheel in the lamphouseBlack and white film doesnt fadeNew and pristine color prints or negatives can be made in the future by reversing the process
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The InnerWorkingsA mechanically adjustable shutter with opening range of 0 to 170
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The MOTOR(S)3 different motors
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Specificationsfind a new motor and controller that would:Run continuously from 1 fps to 24 fpsSpeed operator selectableRun in Stop Motion (1 frame)Run in Sep. Mode (3 frames)Run Forward & ReverseSelectable STOP (Shutter open or closed)Work with various user inter- faces (stand-alone, virtual or HMI)Generate output triggersChase External Bi-PhaseBrushless Motor DesignPreferably American madeReasonably pricedWork well in this application and ideally Be useable in other applicationsMost likely would be some sort of a Servo Motor and Controller System
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What is a Servo System?A closed-loop motion system using a current amplifier, servo controller, servomotor and a position feedback device such as an encoder to precisely control speed and position of a load.The MOTOR can be electric, hydraulic, pneumatic or even internal combustion.The FEEDBACK sensor can be mechanical or electronic, analog or digital and it can be rotary or linear.
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A Basic Servo SystemA servo controller with external inputMotor connected to a feedback deviceIs a closed loop systemHow might this system work?
What do we have here?The Feedback device canbe Relative or Absolute.http://www.baldor.com/pdf/manuals/1205-394.pdf
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The PID ControllerProportional-Integral-DerivativeRequires 3 adjustments - Kp, Ki and KdRequires TUNINGCan be made to learn how the system operates
Studying the PID controller can be a semester long course in Mechatronics.http://www.ecircuitcenter.com/Circuits/pid1/pid1.htm
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A Complex PID Controllerhttp://www.quicksilvercontrols.com/SP/TD/QCI-TD054_ServoTuning.pdf
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Selecting a Servo SystemHundreds of vendors X Hundreds of choices = Thousands of OptionsCall your local NI Field Sales EngineerLooked at Danaher MotionTalked with Marc Christianson, NI GuruRuled out NI MotionSuggested Yaskawa Electric
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NI MOTIONHardware and SoftwareSoftMotion, Motion Assistant, PID ToolkitPCI and PXI HardwareServo and Stepper Motor Controllers and DrivesUniversal Motion InterfacesTutorialsToolkits and Sample Code for LabVIEW Applicationswww.ni.com/motion
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Yaskawa Electric HardwareSigma 5http://www.yaskawa.com
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Yaskawa Electric SoftwareHardware, SoftwareandLabVIEW Solution
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Yaskawa ReviewProsLabVIEW InterfaceGood SoftwareBrushless DC MotorAuto Tuning FeatureMass Moment of Inertia CalculationGood Support
ConsNoisyModerately ExpensiveProgrammabilityUniversalitySupport far awayLatency Issues
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Back to the drawing boardWell, back to Danaher Motion anyway!Found ABQ representationin TMMI - Technical Marketingand Manufacturing Inc.http://www.tmmi.com/Local Contact: Ernie AragonDanaher is a PartnerwithNational Instrumentswww.danahermotion.com
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Added an encoder to a Stepper Motor
Free design software
LabVIEW Interface
Example Programs
Broad line of motors and controllers
Local supporthttp://www.quicksilvercontrols.com/
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REVIEWThe projectServo systems in general, PID loopNI MotionYaskawa ElectricDanaher MotionQuickSilver ControlsWHATS NEXT?Demonstrate QCI hardwareLook at the QCI softwareShow a LabVIEW program running the cameraOpen for Q&A
Review and look forward
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