Servo Motor

ALVINthe Albuquerque LabVIEW Interest Network An Overview ofServo Motor System andLabVIEWPresented by Larry GogaFebruary 19th, 2009

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.

Presentation OverviewMy projectServo Systems in GeneralNational Instruments LabVIEW and NI MotionYaskawa Electric

Danaher MotionQuickSilver Controls Inc.Summary & ReviewHardware and Software DemosQ&A

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

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

The InnerWorkingsA mechanically adjustable shutter with opening range of 0 to 170

The MOTOR(S)3 different motors

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

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.

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

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

A Complex PID Controllerhttp://www.quicksilvercontrols.com/SP/TD/QCI-TD054_ServoTuning.pdf

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

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

Yaskawa Electric HardwareSigma 5http://www.yaskawa.com

Yaskawa Electric SoftwareHardware, SoftwareandLabVIEW Solution

Yaskawa ReviewProsLabVIEW InterfaceGood SoftwareBrushless DC MotorAuto Tuning FeatureMass Moment of Inertia CalculationGood Support

ConsNoisyModerately ExpensiveProgrammabilityUniversalitySupport far awayLatency Issues

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

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/

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

********************