Topic 1 - Servo Technology

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Closed loop system

Servo motor working principle parts
Functional blocks of servo drive
Feedback systems
Command signalling methods
Servo response
Servo parameters
Modes of operation
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Closed loop system
Servo Control .. Basic Meaning

(Closed Loop Control)
Servo Controller
Command
Signal
Motor
Error Signal
Output
Control Signal
Encoder Feedback Signal
The Controller receives the Command Signal, as well as actual Feedback

Signal from the Output Device. It compares both, and tries to correct the Output
by generating adequate output control signal.
Servo Loop
The Servo Loop is a Time based Cycle consisting of:
Monitoring the Actual Output.

Calculating the Error Signal w.r.t. Command Signal
Correcting the Output Signal
This Loop (Cycle) keeps operating continuously. The faster the Loop time,
the Servo Action (response) is better.
Typical Loop Timings 125 Sec.
Servo basic elements
Motor Operation Command Signal
Power OUT
Power IN
Servo
Amplifier
Servo
Motor
Rotary Encoder
(Built-in)
Shaft Position Feedback Signal
Servo Motor
Drives the Load
Servo Amplifier Electonic Amplifier Unit .. Brain of the Servo System
Rotary Encoder Motor Shaft Position Sensing
Why and where Servo motor is used
Widely used because of high accuracy, high

torque, high efficiency, fast response and wide
range of speeds and torques.
They are brushless motors - hence lower

maintenance compared to other motors.
Used mainly in motion control systems packaging, printing, textile, semiconductor

production, plastics and assembly industries.
Important part of robotics and CNC machine

tools.
Servo Motor Basics
Special electromechanical device that operates in precise degrees of

rotation.
Quickly responds to positive or negative signals from a servo amplifier.
Fast and accurate speed, torque and direction control are the mark of a
servomotor's characteristics.
The primary industrial use of these motors is for the accurate positioning of
the work piece or work tool.
Servo Motor parts
Parts of Servo Motor - Stator
1) Stator 2) Rotor
3) Brake assembly
2) Bearings
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Synchronous Motor
Synchronous motor - magnetic field generated by the stator and magnetic field generated by
the rotor rotate at the same frequency.
The stator flux (magnetic force) actually rotates around the motor and the rotor actually follows
this rotating magnetic field.
This type of motor is called a synchronous motor because it always runs at synchronous
speed (rotor and magnetic field of stator are rotating at exactly the same speed).
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Servo Drive Basics
Special electronic amplifier with Vector control - used to drive electric servo motors.
Monitors feedback signals from the motor and continually adjusts for deviation from
expected behavior.
It receives a command signal from a control system, amplifies the signal, and transmits
electric current to a servo motor in order to produce motion proportional to the command
signal.
Command signal - desired velocity but can also represent a desired torque or position.
A velocity sensor attached to the servo motor reports the motor's actual velocity back to
the servo drive.
Drive compares actual motor velocity with the commanded motor velocity. It then alters the
voltage frequency to the motor so as to correct for any error in the velocity.
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Functions of Servo drive

REGULATORS (CONTROLS)
It rectifies AC power converting it to DC
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Functions of Servo drive

REGULATORS (CONTROLS)
It controls the DC output voltage and PWM voltage & current in
response to various control and feedback signals thereby
regulating the motor's performance, in speed, position
and torque.
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Feedback elements
Incremental Rotary
Encoder
SERVO MOTOR
O/P Shaft
Position Feedback Device is a built-in Element of Servo Motor.
Various Types of Position Feedback Elements are available
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Types of feedback devices
Incremental Rotary Encoder
Absolute Position Encoder
Resolver
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Current feedback
The second source of feedback information is obtained by monitoring

the motor actual current. As discussed previously, this is an accurate
indication of the torque required by the load.
ACCTs are used to sense the actual currents and the output of ACCTs is
compared with the current reference signal and accordingly the error is
eliminated.
The current limiting action of most controls is adjustable and is usually
called "Current Limit" or "Torque Limit".
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Command inputs
The Servo Amplifier is a Closed Loop Control Device, however it needs

information (Command) to be given about the type of Motion required from
the Motor.
The information (e.g. Displacement / Speed / Direction / Stop etc.) is given
by External Device to Servo Amplifier through Command Input Signal.
Typical Command Signals .. Pulses / Analog Signal Voltage / Fieldbus
Communication Command
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Command inputs
Command Signal
Servo
Amplifier
Servo
Motor
Command Signal contains information about what type of Motor Rotation

is required.
Types of Command Signals

- Discrete Signals (Digital Pulses or Analog Voltage)
- Fieldbus Communication
- Triggering of built-in Position Table.
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Command inputs command pulses / analog
This is done in Amplifier, thro Parameter Setting

Example:
Analog Voltage
Motor Speed Relation
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Command inputs serial communication
PLC
Servo
Amplifier
1
*
Fieldbus Communication Module in Motion Controller (PLC) sends

information to one or more Servo Amplifiers in Fieldbus Communication
Mode (Digital Information)
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Servo Tuning & Response
Servo Tuning / Response refers to

During Start of Motion (from rest state), or during stop of Motion (from
Movement to rest state), or during Speed Change over (Increase / Decrease)
How
smoothly
the
Servo
Motor
(Smooth Start / Stops without Overshoots & Corrections).
behaves
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Start of Movement
Speed
Speed
Time
Time
Smooth Start
Jerky Start
(Similarly, stopping at the End Position Can be with Overshoot / Hunting or

Smooth).
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Tuning of Servo essentially refers to adequate Pumping of Current into Servo

motor depending on the Load moment of Inertia.
Auto Tuning feature is normally available in Servo Amplifier. When the
machine is assembled, the Servo Motor is made to move the axis Fwd / Rev at
different speeds for certain times. During this, the Servo Amplifier understands
the behavior (response) of the Load, & then automatically tunes (Sets) itself for
Smooth Start / Stop.
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Advantages of Servo system
Constant torque over nominal speed range

Best speed accuracy and stability.
High intermittent torque
High torque to inertia ratio
Control of torque is possible
High speeds
Excellent for frequent speed reversal
Excellent smoothness in movement
Positioning accuracy
Available in all sizes
Not vulnerable to external factors
Low maintenance
Quiet
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Disadvantages of Servo motor
Initially Expensive but as compare to all advantages its better and cheaper
than other conventional systems.
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www.baumueller-services.

Closed loop system

Closed loop system

Servo Control .. Basic Meaning

Encoder Feedback Signal

The Controller receives the Command Signal, as well as actual Feedback

The Servo Loop is a Time based Cycle consisting of:

Monitoring the Actual Output.

Typical Loop Timings 125 Sec.

Servo basic elements

Motor Operation Command Signal

Shaft Position Feedback Signal

Why and where Servo motor is used

Widely used because of high accuracy, high

They are brushless motors - hence lower

Used mainly in motion control systems packaging, printing, textile, semiconductor

Important part of robotics and CNC machine

Servo Motor Basics

Special electromechanical device that operates in precise degrees of

Quickly responds to positive or negative signals from a servo amplifier.

Servo Motor parts

Parts of Servo Motor - Stator

Servo Drive Basics

Functions of Servo drive

Functions of Servo drive

Position Feedback Device is a built-in Element of Servo Motor.

Various Types of Position Feedback Elements are available

Types of feedback devices

Incremental Rotary Encoder

Absolute Position Encoder

The second source of feedback information is obtained by monitoring

The Servo Amplifier is a Closed Loop Control Device, however it needs

Command Signal contains information about what type of Motor Rotation

Types of Command Signals

Command inputs command pulses / analog

This is done in Amplifier, thro Parameter Setting

Motor Speed Relation

Command inputs serial communication

Fieldbus Communication Module in Motion Controller (PLC) sends

Servo Tuning & Response

Servo Tuning / Response refers to

Servo Tuning & Response

(Similarly, stopping at the End Position Can be with Overshoot / Hunting or

Servo Tuning & Response

Tuning of Servo essentially refers to adequate Pumping of Current into Servo

Advantages of Servo system

Constant torque over nominal speed range

Disadvantages of Servo motor

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