Stepper motor avoids missteps A built-in resolver corrects motor-shatt position, keeping the motor in step at all times for precision testing application | ouise tlic, Replonsl Faior ‘Degree servo and steer srraotors peste tor ‘Soro oop mode. 0) design news 75 ww.designnews.com‘MOTION CONTROL wore i ey all. Kell 995 that hen Deda nal esse or Hog we counton the MOLOFS to nap ne caupmens HOI eee se $500, In const the price tg. on the rab ving thew cle and xin sl ASCEGAlpuSte lee shan $650 ‘top mors th AlhaStp ter $9007 Keller ap. See ir forte ties a much ee tees Gal thet ‘Tw AaStp motor ves thi raed conveyng, Iason owes the {ystem wich andes small defeats restorS he conveyor the mtions = ists the evo ae he lions mht tnt Bos ad ts Be tener eto dives aga hte ere the mors cel - ‘pve with the ected “das 1,000 steps pe revlon with ter 1 dpc th) al th forming and testing hed tolerances within a few thousands ctaincn Nie Fells Tether it wil stop and send an alarm, iol of Keller ines pened AphaSep ror "The res 2.500 sep es compare to 1,00 Tor Ti eer pee] br ee el Tilwees? hess The peinary adontage of the AlphStep that we et Redhck ony ven we acl at a eet pe i Kel For more information (Go wenselgnnewecomnt or air the number on the Rease Senice Cars motor type ype of contrat ‘ead stop capa? cost ‘corm seper peo ve 10 Seno (cots eco piace nour wnra.mmrs, | 15 former vase Abresop matarusmtuen woke | Open op cungremalepunen: | es " ‘evade main seen 76 design news 0 25.0% wow. desionnews.comrrr Nya yy AT | sacs ‘The open-ioop advantage of stepper ‘motors combined with part-time position feedback means that this ‘motor will never miss a step. ae Appeatons Engineering Manager ‘Geena Motor ‘Torance, Cal it eames to position contr, the hice is olten between a stepper motor and a servomotcr. Beonte stopper motors typically have more poles than servomotors, they produco alot of torgve for their size. They are also stable ace {DESIGN NOVEMBER 2.2000 and provide quick and accurate moves. Moreover, the fact that they are open toop devices mivana that they cost less than 8 ‘comparable sorvomotor which requires an fnexlr or resolver for position feedback. On the downit, an excessive lond or vibration tan eaite & stepper motor to lose anche hlsm withthe input pulses and miss a step, [And because there ino feedback Toop, the ‘motor has no way af compensating for the ‘Servomotors, on the other hand, avoid this prablem by incorporating n feedback. Toop for position contro. However, beesuse servomotors are often tmatable they ere fin control, A relatively high gain gives Sie response to pion deviations be design comgizos others, generating another Tongue vector, The rotor then moves a quarer of toth pitch, or 1.8 40 ign with this new torque vector. Th process continous each succossive ulse is iaput to the driver. Thu each phase ie contributing a sine Shaped torque/dieplacement curve with a period of 7.2. Maximum Torque is produced when the rotor tooth is 14 to the left or sight oF the Stable equilibrium point, This is ealed full topping and it involves 20 Sightstepclotreal sequence, ‘Miorostepping involves more torque vectors, Instead of fully energizing & mv Phase or leaving it of digitalto-anae oo Tog converters are uéed a0 that the im hse ae aria nr partly ot, c viding each 1.s°step into many me peal) Stualler step. Some mlerostepping A ‘stom are capable ofa 250-ep ele le tical sequence producing up to a eae Be Fe [125.000 stepsrrev. The main advan eam pleas tage to mierostepping is Bigher resl paar tog and lower vibration, “Gnu limitation of stepper motors is that they are designed for open-loop. Control. he driver is given seertain tan generates overshoot ap well. Lowering’ number of pulses to move the motor. How= the gan seduces oversicot bu increases re-ver,excocsive load or high vibration ean. howe tims, Gain settings are therefore ad- ease tho motor tolose synchronism withthe iste to strike a balance between response input pulses and miss steps. A stepper molar {moan overshoot Also gainsetingsadda mises stops bocaus the rotor haa to move 0 tlelayto the ttal move time. much that the next tooth, or some other “uc the AlphaStep molordeive combina- tooth, muves te align withthe tare vector tion rom Onental Motor melds the best of When an external force or vibration is en- both motor fypes. It combines the quick re- countered, one or several rotor teeth can be Ronse and high torque ofatepper motors skipped in either direction, Beeause the Teh the fuodback power ofservomotors to torqueldisplacoment curve is 72" the rotor Tompensate for missed stepe It uses a high as tobe displaced a hitle more than 36° in Sclecnunt stepper motor and incorporates either direction, The rotor will then move fr- Petnver for postion fvedback: Atcontrolnl- sear or badkvard ling syachonism. Fovthe aie corrections for position devi- or postion veriiention, encaders ean be Stina on the fy and doven't miss steps. placed on the back shat of the motor. One Also smnalter NaFeB magnet ie weed in problom with this is thatthe postin i of Since oF AINCo because needymniuin has a ten corrected at the end ofa move alle the Riuch higher Mux density while producing encoder counter has been compared to the thesame emount of tongue Input pulse counter. I'the motor missex loot stopper motor rotors have 50 teeth, Steps, a erreetion introduces delays and ad swith an angle between each tooth of 72°. ditional steps The stator as eight pole pieces; four set90° The Alphastep incorporates a resolver for Spartak upore phase and the other fo.r position fodback to compensate for missod See up the ether phase. When phases ars steps, A resolver is used instead ofa digital Ghegisfd, «congue vector develops and the encoder primarily because itis a relatively Singnetized rotor tooth moves to slg with simple construction with no internal ci. Tigtorque vector, A pulse input to the eultry or fragile glass masks. The variable [iver energizes some phases and deener- reluctance resolver i a two-phase device, se8 MACHINEDESION NOVEMBER 2,2000 wwimactnedesgn com‘iphaStep versus comparable stepper motor ‘Sigeer ot, See sats ‘laws Belt and pulley application ‘The output consists of two sine waves 90° ‘out of phase, By sending the sine wavs through a rosolver-to-digital converter, the fmotor position ia mown at all Uses. Once the dats bas been digitized, the informa tiom increments or decrements rotor ost tion counter. Revolvers are lao more suit able for hot environments and applications ‘vith vibration, Furthermore, Uney are less susceptible to electrical noise and require Toa wiring seo MAGHINEDESIGN NOVEMBER 2, 2000 ‘Astho motor steps, the input pulses and resalver counts are fed into a pulse counter and a position counter, Peapectively, The two are constantly ‘compared for deviations I there are ‘no deviations, ie motor phases are ‘orttlly excited: This is ealled the ‘open-loop mode, However, ifany dev. ‘tion greater than 1.5" is detected, ‘the unit goer into the closed-loop node, In the closed-loop mode, the {orgue vector at the 1.8" displacement Isenengived, producing the maximum ‘amount of torque to bring the rolor tuck into synchronization. Irthe me tor has missed several steps, each ‘iceessive torge vector atthe 1 5° ‘aplnooment is energized, until the deviation is brought to within 1.8" At that point the motor returns tothe peas mode and steps normally "After the final step, the rotor tooth returns to align with the foraue vector andthe accuracy be toms 98 are min 0.088") "The only ay for the motor to mise ate to Bein the elawe than 5 see. In| teabive load it encountered for more than 8 ses, the driver wil fll and bend ovt am alarm nal he meor also incorporates a jerk limiting filter into the diver. Jercis the derivative of acecloration and feauses vibration st voloety transi ‘ons. Limiting vk with a iter pro- Guces smoother motion. However, ‘tding the fier does inerense move time. Phe ideal jerk Hiiting timo is fone cycle ofthe lowest resonance fe- ‘quoney,e0 its typically around 5 to meee, Therefore, the move will be that me Tonger hut repeateblo The AlphasStep incorporates al of this funetionaliey Inco the drive and hot the pulse generator. Typical {lose Iogp stepper motor sytem in lade a complicated controler or pulse generator, The controler senses the eneoder Srrocolver fasta and does the comparing fhe motor has missed stop, i is the func tion of the controller to make up the difier- fence tis plana fineton ofthe pul gers tort send out the pulses ata speifctime to Fimit jerk. Beeause all of this sineluded in the AlphaStep drive, no complicated front fend aystem is requted. Pulses can be gener ted by a simple pulao generator, a PLC, Computer board logic esips. en machines com