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Basics of Motion Control1
Basics of Motion Control1
Introduction .......................................................................................2
Totally Integrated Automation ........................................................4
Motion Control .................................................................................5
Mechanical Basics .........................................................................13
Servomotor Construction ............................................................. 25
Servomotor Ratings ...................................................................... 33
Speed-Torque Characteristics ..................................................... 39
Siemens Servomotors .................................................................. 44
Servomotor Accessories .............................................................. 46
Encoders and Resolvers .............................................................. 49
Pulse Width Modulation .............................................................. 55
Siemens MASTERDRIVE MC Family ........................................ 63
MASTERDRIVE MC Compact PLUS ......................................... 64
MASTERDRIVE MC Compact and Chassis .............................. 73
Technology Options ...................................................................... 78
Cables ............................................................................................. 87
Applications ................................................................................... 88
Selection ........................................................................................ 95
SIMODRIVE ................................................................................... 97
Review Answers ........................................................................... 99
Final Exam .................................................................................... 100
Introduction
Motion Control
10
Siemens MC Drives
11
Review 1
1.
2.
3.
12
Mechanical Basics
Force
Net Force
Net force is the vector sum of all forces that act on an object,
including friction and gravity. When forces are applied in the
same direction they are added. For example, if two 10 lb
44.482 N (10 lb) forces were applied in the same direction the
net force would be 88.964 N (20 lb).
13
Torque
14
Speed
Linear Motion
Rotational Motion
15
Acceleration
Law of Inertia
16
Friction
17
Inertia Ratios
18
Work
Work is defined by the product of the net force (F) applied and
the distance (d) moved. If twice the force is applied, twice the
work is done. If an object moves twice the distance, twice the
work is done.
W=Fxd
Power
19
Power
Torque vs Power
Acceleration Torque
20
21
Using the values for the three time periods in the previous
example, effective torque can be calculated.
Cycle
Increment
Torque
(Nm)
Torque
Time
(lb ft) (seconds)
7.85
5.78
0.2
0.737
1.474
0.2
22
1
2.4
SimoSize
23
Review 2
24
1.
2.
3.
4.
5.
6.
7.
8.
9.
Servomotor Construction
25
Magnetic Field
26
Synchronous Speed
27
Synchronous Rotor
DC Motor Comparison
28
conductor..
There are weak points with this design. The commutator adds
significant weight to the rotor, increasing inertia and reducing
acceleration capability. The design of the commutator also limits
the maximum speed of the motor. Current flow through rotor
windings generates heat in the center of the motor that requires
some method of cooling, such as intenal ventilation. In addition,
there are added maintanance cost, such as brushes, which
must be checked and replaced regularly.
29
Synchronous Servomotor
30
Asynchronous Rotor
31
Asynchronous Slip
32
Servomotor Ratings
Siemens Servomotors
Nameplate
33
Voltage
The example motor, like all 1FK6 and 1FT6 motors, is rated for
380 to 460 VAC, which correlates to an effective voltage in the
stator windings of 240 VAC. Induction motors are designed to
operate on a voltage source that supplies a smooth sinusoidal
sine wave, such as the one shown below.
34
Current
Stall (Stand still) current is 8.2 amps at zero speed and stall
torque ( o) with 60 K rise. The Current at stall is 10.7 amps with
a 100 K rise.
35
Insulation Class
There are two ratings for stall torque ( o), stall current (Io), and
temperature rise given for this motor. These ratings are related.
o = 10.4/13.0 Nm
Io = 8.20/10.7 A
Temperature Rise = 60/100 K
The motor begins developing torque to turn the connected load.
If the load is such that it only requires 10.4 Nm of torque at stall,
current will be 8.20 A and the temperature rise will be 60 K. If
the load requires 13.0 Nm at stall, current will be 10.7 A and
temperature rise will be 100 K. This is well within Class F
temperature limitations.
IP Protection
Description
Not Protected
Protected Against Objects Greater than 50 mm
Protected Against Objects Greater than 12 mm
Protected Against Objects Greater than 2.5 mm
Protected Against Objects Greater than 1.0 mm
Protected Against Dust
Dust Tight
0
1
2
3
4
5
6
Not Protected
Protected Against Dripping Water
Protected Against Dripping Water when Tilted up to 15
Protected Against Spraying Water
Protected Against Splashing Water
Protected Against Water Jets
Protected Against Heavy Seas
37
Review 3
1.
2.
3.
4.
5.
38
6.
7.
Speed-Torque Characteristics
Duty Cycle
All motors are limited by the amount of heat that can develop in
the motor windings. Speed-torque curves are based on
standardized duty cycles which lead to the same temperature
rise. The number of possible duty cycle types is almost infinite.
To help promote a better understanding, duty cycles have been
divided into nine standardized categories, which cover most of
the applications encountered.
S1
S2
S3
S4
S5
S6
S7
S8
S9
Duty cycle profiles can become complex. S1, S3, and S6,
however, are three common duty cycles. Part 2 of the General
Motion Control Catalog provides speed/torque curves for S1
and intermittent/periodic duty cycles where applicable.
S1 Duty
39
S3 Duty
S6 Duty
40
Speed-Torque Curve
of Synchronous
Servomotor
41
42
43
Siemens Servomotors
44
Synchronous Servomotors
Protection
Cooling
1FK6
IP64 (IP65)*
Natural
1FT6
Natural
0.5 - 15.5
(0.7 - 20.7)
0.8 - 88
(7 - 779)
Blower Vent
6.9 - 34.6
(9.2 - 46.4)
17 - 160
(150 - 1416)
Water
11 - 27.6
(14.7 - 37)
34 - 78
(300 - 690)
* Optional
Asynchronous
Servomotors
Motor
Protection
Cooling
1PH7
IP 55
1PL6
IP23
Blower Vent
24.5 - 300
(32.8 - 400)
370 - 1720
(273 - 1268)
1PH4
IP65
Water
7.5 - 61
(10 - 81)
48 - 330
(35 - 243)
45
Servomotor Accessories
Many systems need a holding brake as part of an emergencystop function, or for other reasons related to safety. These
brakes are electromagnetic brakes. When voltage is applied to
the brake, the brake is released and the motor is free to be
turned by the AC drive. In the event of a power loss, such as a
power interruption caused by initiating an emergency stop, the
brake is engaged. This will bring the motor to a standstill.
Holding brakes are available for the 1FK6, 1FT6, and 1PH7
motors.
46
Gear Reducer
47
LP Gears
PG Gears
Transmission
4, 5, 7, 10
Ratios, single-stage
5, 10
Transmission
Ratios, 2-stage
Efficiency
up to 97%
>95%
Torsional Play
4, 5, 7, 10
Review 4
48
1.
2.
3.
4.
5.
Siemens encoders and resolvers are designed for use with the
Siemens servomotors discussed in previous sections. Encoders
and resolvers allow the MASTERDRIVE MC to determine
speed, position, and direction of shaft rotation.
49
Closed-Loop Control
50