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Prepared by: Josh Grange Email: joshua.grange@aggiemailu

ECE5320 Mechatronics Assignment#01: Literature Survey on Sensors and Actuators Topic: AC Servo Motor Specific by: Fanuc. Prepared by: Josh Grange Email: joshua.grange@aggiemail.usu.edu. 3/11/2010. Outline. Reference list To explore further Major applications

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Prepared by: Josh Grange Email: joshua.grange@aggiemailu

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  1. ECE5320 MechatronicsAssignment#01: Literature Survey on Sensors and Actuators Topic: AC Servo MotorSpecific by: Fanuc Prepared by: Josh Grange Email: joshua.grange@aggiemail.usu.edu 3/11/2010

  2. Outline • Reference list • To explore further • Major applications • Basic working principle illustrated • A typical sample configuration in application • Major specifications • Limitations • Types of Scales • How to Choose • Cost • Where to Buy ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  3. Reference list • Fanuc U.S. (n.d.). Fanuc AC Servo Alphai Series. Retrieved February 28, 2010, from Fanuc: http://www.fanuc.co.jp/ja/product/catalog/pdf/SERVO_Alpha_i_v10_s.pdf • GE Fanuc North American, Inc. (2001). Description of the alpha series AC Servo Motor. (Now Known as Fanuc U.S.) ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  4. To explore further • http://fanuc.cnc-electronics.com/ Other Brand: • http://www.fanuc.com • http://www.mitsubishi.com ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  5. Major applications • CNC Applications • Driving of Manufacturing Equipment • Precision Machining for Lathes and Mills • Measuring Instruments • Robotics • Material Handling (Pick and Place) • Position Control • Constant Load Applications ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  6. Working Principle The digital servo motor controller directs operation of the servo motor by sending velocity command signals to the amplifier, which drives the servo motor. (GE Fanuc North American, Inc., 2001) ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  7. Working Principle A servo is an automatic device that uses error-sensing feedback to correct the performance of a mechanism. The term correctly applies only to systems where the feedback or error-correction signals help control mechanical position or other parameters. For example, positioning of a milling machine uses closed loop feedback using either encoder or tachometer. (Fanuc U.S) ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  8. Working Principle Fanuc Motors come in different sizes and types. The back of the motor designates which type of feedback comes with the motor. Red designates absolute encoder feedback and Yellow designates incremental as of late it would appear that absolute is all that is being sold, but repair and replacement for incremental is still everyday business. (GE Fanuc North American, Inc., 2001) ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  9. Working Principle Built in Braking: Provide a control switch or relay on the DC side of the brake circuit to quickly activate the brake It is essential that this switch or relay be disconnected as quickly as possible to shorten the fall amount in the vertical axis. Taking the power supply for actuating the relay directly from the main power supply is effective for quickly disconnecting the relay in a power interruption To prevent the shaft from falling during an emergency stop, it is sometimes effective to use the “brake control function” in the servo software. (GE Fanuc North American, Inc., 2001) ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  10. Sample Configuration 12’ Horizontal Mill (Base) 12’ Gray Mill Linear Scale ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  11. Sample Configuration In the previous slide the two pictures gave an example of a configuration used at Petersen Inc. on a newly retrofitting horizontal mill. The Heidenhain scale is used in place of the absolute encoder found on the motor for higher accuracy. They use the outside feedback mainly for more accurate position out by the part. The motor encoder would not recognize backlash in the gear train. In the following picture are the drives used to manipulate and send signals to the motor putting the drive/motor combo in a closed loop control system and making it a servo set-up. ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  12. Major Specifications • There are many different model types and sizes of servo motors. Fanuc has alphai series motors in the following ranges (plus some): • Stall Torque: 100 – 3000 Nm • Rated Power: 11 – 220 kW • High Resolution Pulse Coder (1,000,000/rev) ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  13. Limitations and Considerations Some of the following are limitations or considerations to AC Servo Motors: • Needs a clean or sealed environment • Do not use force to align shafts and coupling • Electrical Technician is required for installation and wiring • Need to be mounted on solid part of machine • Susceptible to natural frequencies of machine and motor as a whole if motor gearing is not chosen wisely • Needs a feedback loop for controllability • Subject to high heat and extreme cold • Best application in a controlled environment • Motor Selection is important depending on application • Power and feedback wiring needs to be run from stationary wall power to moving machine ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  14. Considerations in Picking a Motor (Fanuc U.S) ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  15. Types of Motors LiS Series: Realizes high gain due to high rigidity of servo system, higher precision and maintenance free in mechanism. Used in special applications can create acceleration of up to 30G and travel at 4m/s. (Fanuc U.S) ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  16. Types of Motors Alpha i series: High Speed, High Precision, and High Efficiency Servo System Beta i series: High Cost Performance, Most suitable for positioning of industrial machines (Fanuc U.S) ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  17. How to Choose Length of Travel for Wiring Accuracy Speed of Travel Weight of Machine Location of Motor Vibration Temperature Cleanliness Signal Type Gear Train ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  18. Cost Torque Encoder Type Associated Drives Signal Amplification Connection Type Alpha or Beta Series Shaft Size/Speed Cost on alpha 40+ Series with Drives: $8,000 - $25,000 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  19. Packages typically contain three main components that are necessary to a functioning servo system. • Example: • Package - Alpha 40/4000HVis w/brake • Power Module PSM 30HVi • ($7,699) • Motor w/ brake • ($4,910 + $1,098) • Servo Drive SVM1-10HVi • ($3,436) • Total: $17,143 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  20. Where to Buy Fanuc CNC America Address: 1800 Lakewood Blvd. Hoffman Estates, IL 60192 Phone: 1-847-898-5000 Dave Logan Electric Machine Control Systems, Inc PO Box 820 Fairview, OR 97024 Phone: 503-666-1905 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

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