Electric Rotary Actuators (motors)

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Presentation transcript:

Electric Rotary Actuators (motors) DC motors AC motors stepper (2-phase synchronous) brushless (3-phase synchronous) induction

Step Motors

Step Motors

Step Motor 12 step/rev, 1 phase on

Step Motor 12 step/rev, 2 phase on

Step Motor 12 step/rev, half-stepping

Step Motors

Selecting Step Motors Torque Speed Current Lead configuration

Torque/Speed

Series/Parallel Wiring

Step Motor Drives Resolution (full, half, microstepping) Current Limit (resistor or digital) AC powered or DC powered Pulse/Direction or Indexing

Resolution Full step/Half step Microstepping Max step frequency x2,x4,x5,x8,x10,x16,x25,x32,x50,x64,x125,x128,x250,x256 common choices Max step frequency PLC: 7kHz pulse rate => 2100 RPM at x1, 8.2RPM at x256 (1.8deg motor) Compumotor 6104: 2MHz pulse rate => 2300RPM at x256 Resonance problems

Incremental Encoders

Incremental Encoders Encoders typically run on +5V, not +24V Outputs are typ. not 24V compatible either

Absolute Encoders doubling resolution requires adding another photodiode/LED pair cost is much higher than incremental does not require seeking to establish reference location

hybrid incr/absolute encoders add more information to index channel to reduce amount of seeking required to find reference position. interface requires lots of wires (parallel) or a special comm. protocol

Potentiometer A potentiometer (or pot) is a variable resistor wired to obtain a variable DC voltage proportional to position

Magnetostrictive Pos. Sensor Pulse sent down magnetostrictive material Pulse reflects off position magnet’s field Position is proportional to trcvd - tsent Pulse propagates at ~2800 m/s Resolution is ~.001” with tupdate ~1msec/in.

Magnetostrictive Sensor