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command
generator
(e.g., PLC)
desired position
or velocity
controller
voltage/
current
power
amp
amplified
voltage/
current
encoder
motor
DC Motors
motor
shaft
brushes
I
I
magnetic
field
Top
Front
split commutator
split commutator
motor
shaft
axis of
rotation
brushes
V+
power
supply
V-
L1
AC Motors
stator windings
rotor
L2
L1
L3
Neut.
Neut.
Neut.
Neut.
torque
operating range
f120
S
RP M = 1
p
100%
where,
synchronous speed
speed
Brushless Motors
V1
V2
torque
V3
speed
Stepper Motor
1A
controller
2A
1B
2B
stepper
motor
Step
1A
2A
1B
2B
1
2
3
4
1
0
0
1
0
1
1
0
1
1
0
0
0
0
1
1
torque
speed
operating
range
stall torque
T
parallel/shunt
series
Motion Profiles
Joint angle (degrees)
180
90
time(sec)
-90
Joint velocity (degrees/sec)
m ax
ma x
t ac c
t m ax
tde c
Hydraulic Servo
actuating
signal
position
servo valve
amplifier
servovalve
hydraulic
actuator
sump
hydraulic
power
supply