Electric Rotary Actuators motors DC motors AC motors
![Electric Rotary Actuators (motors) • DC motors • AC motors – stepper (2 -phase Electric Rotary Actuators (motors) • DC motors • AC motors – stepper (2 -phase](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-1.jpg)
![Step Motors Step Motors](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-2.jpg)
![Step Motors Step Motors](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-3.jpg)
![Step Motor 12 step/rev, 1 phase on Step Motor 12 step/rev, 1 phase on](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-4.jpg)
![Step Motor 12 step/rev, 2 phase on Step Motor 12 step/rev, 2 phase on](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-5.jpg)
![Step Motor 12 step/rev, half-stepping Step Motor 12 step/rev, half-stepping](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-6.jpg)
![Step Motors Step Motors](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-7.jpg)
![Selecting Step Motors • • Torque Speed Current Lead configuration Selecting Step Motors • • Torque Speed Current Lead configuration](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-8.jpg)
![Torque/Speed Torque/Speed](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-9.jpg)
![Series/Parallel Wiring Series/Parallel Wiring](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-10.jpg)
![Step Motor Drives • • Resolution (full, half, microstepping) Current Limit (resistor or digital) Step Motor Drives • • Resolution (full, half, microstepping) Current Limit (resistor or digital)](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-11.jpg)
![Resolution • Full step/Half step • Microstepping – x 2, x 4, x 5, Resolution • Full step/Half step • Microstepping – x 2, x 4, x 5,](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-12.jpg)
![Incremental Encoders Incremental Encoders](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-13.jpg)
![Incremental Encoders • Encoders typically run on +5 V, not +24 V • Outputs Incremental Encoders • Encoders typically run on +5 V, not +24 V • Outputs](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-14.jpg)
![Absolute Encoders • doubling resolution requires adding another photodiode/LED pair • cost is much Absolute Encoders • doubling resolution requires adding another photodiode/LED pair • cost is much](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-15.jpg)
![hybrid incr/absolute encoders • add more information to index channel to reduce amount of hybrid incr/absolute encoders • add more information to index channel to reduce amount of](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-16.jpg)
![Potentiometer • A potentiometer (or pot) is a variable resistor wired to obtain a Potentiometer • A potentiometer (or pot) is a variable resistor wired to obtain a](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-17.jpg)
![Magnetostrictive Pos. Sensor • • • Pulse sent down magnetostrictive material Pulse reflects off Magnetostrictive Pos. Sensor • • • Pulse sent down magnetostrictive material Pulse reflects off](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-18.jpg)
![Magnetostrictive Sensor Magnetostrictive Sensor](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-19.jpg)
- Slides: 19
![Electric Rotary Actuators motors DC motors AC motors stepper 2 phase Electric Rotary Actuators (motors) • DC motors • AC motors – stepper (2 -phase](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-1.jpg)
Electric Rotary Actuators (motors) • DC motors • AC motors – stepper (2 -phase synchronous) – brushless (3 -phase synchronous) – induction
![Step Motors Step Motors](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-2.jpg)
Step Motors
![Step Motors Step Motors](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-3.jpg)
Step Motors
![Step Motor 12 steprev 1 phase on Step Motor 12 step/rev, 1 phase on](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-4.jpg)
Step Motor 12 step/rev, 1 phase on
![Step Motor 12 steprev 2 phase on Step Motor 12 step/rev, 2 phase on](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-5.jpg)
Step Motor 12 step/rev, 2 phase on
![Step Motor 12 steprev halfstepping Step Motor 12 step/rev, half-stepping](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-6.jpg)
Step Motor 12 step/rev, half-stepping
![Step Motors Step Motors](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-7.jpg)
Step Motors
![Selecting Step Motors Torque Speed Current Lead configuration Selecting Step Motors • • Torque Speed Current Lead configuration](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-8.jpg)
Selecting Step Motors • • Torque Speed Current Lead configuration
![TorqueSpeed Torque/Speed](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-9.jpg)
Torque/Speed
![SeriesParallel Wiring Series/Parallel Wiring](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-10.jpg)
Series/Parallel Wiring
![Step Motor Drives Resolution full half microstepping Current Limit resistor or digital Step Motor Drives • • Resolution (full, half, microstepping) Current Limit (resistor or digital)](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-11.jpg)
Step Motor Drives • • Resolution (full, half, microstepping) Current Limit (resistor or digital) AC powered or DC powered Pulse/Direction or Indexing
![Resolution Full stepHalf step Microstepping x 2 x 4 x 5 Resolution • Full step/Half step • Microstepping – x 2, x 4, x 5,](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-12.jpg)
Resolution • Full step/Half step • Microstepping – x 2, x 4, x 5, x 8, x 10, x 16, x 25, x 32, x 50, x 64, x 125, x 128, x 250, x 2 56 common choices • Max step frequency – PLC: 7 k. Hz pulse rate => 2100 RPM at x 1, 8. 2 RPM at x 256 (1. 8 deg motor) – Compumotor 6104: 2 MHz pulse rate => 2300 RPM at x 256 • Resonance problems
![Incremental Encoders Incremental Encoders](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-13.jpg)
Incremental Encoders
![Incremental Encoders Encoders typically run on 5 V not 24 V Outputs Incremental Encoders • Encoders typically run on +5 V, not +24 V • Outputs](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-14.jpg)
Incremental Encoders • Encoders typically run on +5 V, not +24 V • Outputs are typ. not 24 V compatible either
![Absolute Encoders doubling resolution requires adding another photodiodeLED pair cost is much Absolute Encoders • doubling resolution requires adding another photodiode/LED pair • cost is much](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-15.jpg)
Absolute Encoders • doubling resolution requires adding another photodiode/LED pair • cost is much higher than incremental • does not require seeking to establish reference location
![hybrid incrabsolute encoders add more information to index channel to reduce amount of hybrid incr/absolute encoders • add more information to index channel to reduce amount of](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-16.jpg)
hybrid incr/absolute encoders • add more information to index channel to reduce amount of seeking required to find reference position. • interface requires lots of wires (parallel) or a special comm. protocol
![Potentiometer A potentiometer or pot is a variable resistor wired to obtain a Potentiometer • A potentiometer (or pot) is a variable resistor wired to obtain a](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-17.jpg)
Potentiometer • A potentiometer (or pot) is a variable resistor wired to obtain a variable DC voltage proportional to position
![Magnetostrictive Pos Sensor Pulse sent down magnetostrictive material Pulse reflects off Magnetostrictive Pos. Sensor • • • Pulse sent down magnetostrictive material Pulse reflects off](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-18.jpg)
Magnetostrictive Pos. Sensor • • • Pulse sent down magnetostrictive material Pulse reflects off position magnet’s field Position is proportional to trcvd - tsent Pulse propagates at ~2800 m/s Resolution is ~. 001” with tupdate ~1 msec/in.
![Magnetostrictive Sensor Magnetostrictive Sensor](https://slidetodoc.com/presentation_image_h2/81340e5c5d2d3fd463c99bea3ffcfb6d/image-19.jpg)
Magnetostrictive Sensor
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