SERVO MOTOR

SERVO MOTOR

 The servo motor is most commonly used for high technology devices in the
industrial application like automation technology.
 It is a self contained electrical device, that rotate parts of a machine with high
efficiency and great precision.
 The output shaft of this motor can be moved to a particular angle.
 Servo motors are mainly used in home electronics, toys, cars, airplanes, etc.
 A servo motor is a rotary actuator that allows for precise control of angular
position.
SERVO MOTOR

 Servo motors have been around for a long time and are utilized in many
applications.
 They are small in size but pack a big punch and are very energy-efficient.
These features allow them to be used to operate remote-controlled or
radio-controlled toy cars, robots and airplanes. Servo motors are also used
in industrial applications, robotics, in-line manufacturing, pharmaceutics
and food services.
 The servo circuitry is built right inside the motor unit and has a
positionable shaft, which usually is fitted with a gear .
 The motor is controlled with an electric signal which determines the
amount of movement of the shaft.
Types of Servo Motor

 Servo motors are classified into different types based on their application, such
as AC servo motor, DC servo motor, brushless DC servo motor, positional
rotation, continuous rotation and linear servo motor etc.
 Typical servo motors comprise of three wires namely, power control and ground.
 The shape and size of these motors depend on their applications.
 RC servo motor is the most common type of servo motor used in hobby
applications, robotics due to their simplicity, affordability and reliability of control
by microprocessors.
DC Servo Motor

 The motor which is used as a DC servo motor generally have a separate DC

source in the field of winding & armature winding.
 The control can be archived either by controlling the armature current or field
current.
 Field control includes some particular advantages over armature control.
 In the same way armature control includes some advantages over field control.
Based on the applications the control should be applied to the DC servo motor.
 DC servo motor provides very accurate and also fast respond to start or stop
command signals due to the low armature inductive reactance.
 DC servo motors are used in similar equipments and computerized numerically
controlled machines.
DC Servo Motor
AC Servo Motor

 AC servo motor is an AC motor that includes encoder is used with controllers for
giving closed loop control and feedback.
 This motor can be placed to high accuracy and also controlled precisely as
compulsory for the applications.
 Frequently these motors have higher designs of tolerance or better bearings and
some simple designs also use higher voltages in order to accomplish greater
torque.
 Applications of an AC motor mainly involve in automation, robotics,, and other
applications a high level of precision and needful versatility.
AC Servo Motor
Positional Rotation Servo Motor

 Positional rotation servo motor is a most common type of servo

motor.
 The shaft’s o/p rotates in about 180o.
 It includes physical stops located in the gear mechanism to stop
turning outside these limits to guard the rotation sensor.
 These common servos involve in radio controlled water, radio
controlled cars, aircraft, robots, toys and many other
applications.
 Continuous Rotation Servo Motor

 Continuous rotation servo motor is quite related to the common positional

rotation servo motor, but it can go in any direction indefinitely.
 The control signal, rather than set the static position of the servo, is understood
as the speed and direction of rotation.
 The range of potential commands sources the servo to rotate clockwise or
anticlockwise as preferred, at changing speed, depending on the command
signal.
 This type of motor is used in a radar dish if you are riding one on a robot or you
can use one as a drive motor on a mobile robot.
Linear Servo Motor

 Linear servo motor is also

similar the positional rotation
servo motor, but with an extra
gears to alter the o/p from
circular to back-and-forth.
Servo Motor Working

 A unique design for servo motors are proposed in controlling the robotics and for
control applications.
 They are basically used to adjust the speed control at high torques and accurate
positioning.
 Parts required are motor position sensor and a highly developed controller.
These motors can be categorized according the servo motor controlled by
servomechanism. If DC motor is controlled using this mechanism, then it is
named as a DC servo motor.
 Servo motors are available in power ratings from fraction of a watt to 100 watts.
 The rotor of a servo motor is designed longer in length and smaller in diameter
so that it has low inertia.
SG90
 SG 90

 Tiny and lightweight with high output power. Servo

can rotate approximately 180 degrees (90 in each
direction), and works just like the standard kinds but
smaller.
 You can use any servo code, hardware or library to
control these servos.
 Good for beginners who want to make stuff move
without building a motor controller with feedback &
gear box, especially since it will fit in small places. It
comes with a 3 horns (arms) and hardware.
SG90
Specifications

 Weight: 9 g
 Dimension: 22.2 x 11.8 x 31 mm approx.
 Operating speed: 0.1 s/60 degree
 Operating voltage: 4.8 V (~5V)
 Temperature range: 0 ºC – 55 ºC
SG90
Servo library
Servo library

 This library allows an Arduino board to control RC servo motors. Servos have integrated
gears and a shaft that can be precisely controlled.
 Standard servos allow the shaft to be positioned at various angles, usually between 0
and 180 degrees.
 Continuous rotation servos allow the rotation of the shaft to be set to various speeds.
 The Servo library supports up to 12 motors on most Arduino boards and 48 on the
Arduino Mega.
 On boards other than the Mega, use of the library disables analogWrite() (PWM)
functionality on pins 9 and 10, whether or not there is a Servo on those pins.
 On the Mega, up to 12 servos can be used without interfering with PWM functionality;
use of 12 to 23 motors will disable PWM on pins 11 and 12.
Circuit

 Servo motors have three wires: power, ground, and signal.

 The power wire is typically red, and should be connected to the 5V pin on the Arduino
board.
 The ground wire is typically black or brown and should be connected to a ground pin on
the Arduino board.
 The signal pin is typically yellow, orange or white and should be connected to a digital pin
on the Arduino board.
 Note that servos draw considerable power, so if you need to drive more than one or two,
you'll probably need to power them from a separate supply (i.e. not the +5V pin on your
Arduino). Be sure to connect the grounds of the Arduino and external power supply
together.
Functions
 attach()
 write()
 writeMicroseconds()
 read()
 attached()
 detach()
 attach()

 Attach the Servo variable to a pin. Note that in Arduino 0016 and earlier, the Servo library supports only
servos on only two pins: 9 and 10.
 Syntax
servo.attach(pin)
servo.attach(pin, min, max)
 Parameters
servo: a variable of type Servo
pin: the number of the pin that the servo is attached to
min (optional): the pulse width, in microseconds, corresponding to the minimum (0-degree) angle on the
servo (defaults to 544)
max (optional): the pulse width, in microseconds, corresponding to the maximum (180-degree) angle on the
servo (defaults to 2400)
 write()
 Writes a value to the servo, controlling the shaft accordingly. On a standard servo, this will
set the angle of the shaft (in degrees), moving the shaft to that orientation. On a
continuous rotation servo, this will set the speed of the servo (with 0 being full-speed in
one direction, 180 being full speed in the other, and a value near 90 being no movement).
 Syntax
servo.write(angle)
 Parameters
servo: a variable of type Servo
angle: the value to write to the servo, from 0 to 180
read()

 Read the current angle of the servo (the value passed to the last call to write()).
 Syntax
servo.read()
 Parameters
servo: a variable of type Servo
 Returns
The angle of the servo, from 0 to 180 degrees.
attached()

 Check whether the Servo variable is attached to a pin.

 Syntax
servo.attached()
 Parameters
servo: a variable of type Servo
 Returns
true if the servo is attached to pin; false otherwise.
detach()

 Detach the Servo variable from its pin. If all Servo variables are
detached, then pins 9 and 10 can be used for PWM output with
analogWrite().
 Syntax
servo.detach()
 Parameters
servo: a variable of type Servo
 writeMicroseconds()
 Writes a value in microseconds (uS) to the servo, controlling the shaft accordingly. On a standard servo,
this will set the angle of the shaft. On standard servos a parameter value of 1000 is fully counter-
clockwise, 2000 is fully clockwise, and 1500 is in the middle.
 Note that some manufactures do not follow this standard very closely so that servos often respond to
values between 700 and 2300. Feel free to increase these endpoints until the servo no longer continues to
increase its range. Note however that attempting to drive a servo past its endpoints (often indicated by a
growling sound) is a high-current state, and should be avoided.
 Continuous-rotation servos will respond to the writeMicrosecond function in an analogous manner to
the writefunction.
 Syntax
servo.writeMicroseconds(uS)
 Parameters
servo: a variable of type Servo
uS: the value of the parameter in microseconds (int)
Thank you