Operation mode of integrated servo motor

1.Definition of integrated servo motor

Integrated servo motor‌ is a motor that integrates servo motor and driver. It has the characteristics of compact structure, easy installation and fast response speed. The integrated servo motor has a servo driver integrated inside it, which can directly receive signals from the controller and perform corresponding actions. Compared with traditional split servo motors, this design reduces the number of external connecting parts, further simplifying the installation and maintenance process of the system. In addition, due to the integrated design, the integrated servo motor also has significant advantages in performance, such as higher accuracy and faster response speed, thereby improving the overall performance and reliability of the system.

‌2.Components of integrated servo motor

1.Motor part‌: including rotor, stator, windings, magnetic poles and other components. There are various types of motors, such as DC servo motors, AC servo motors, stepper servo motors, etc. Each type of motor is different in structure and control method.

2.Sensor part: usually includes position sensor, speed sensor, torque sensor, etc., which are used to detect the position, speed, torque and other parameters of the motor in real time, and feed the detection results back to the control system for real-time adjustment.

3.Controller part‌: Usually composed of a control chip, amplifier, encoder, etc., used to receive parameters fed back by sensors and output control signals to the motor to control and adjust the position, speed, torque and other parameters of the motor. .

4.Power supply part‌: Usually composed of power transformer, rectifier, filter, etc., used to provide stable power supply voltage and current to ensure the normal operation of the motor.

5.Mechanical part‌: Usually composed of reducers, couplings, transmission devices, etc., used to convert the rotational motion output by the motor into linear motion or other specific motion forms to meet different application requirements.

3.Operation mode of integrated servo motor

1.Position mode‌: This is the most commonly used control mode for servo motors. The host computer sends high-speed pulses of a certain frequency and cooperates with the direction signal to realize the forward and reverse rotation of the motor. By adjusting the frequency of the pulses, the speed of the servo motor can be changed. The core of the position mode is the position closed-loop control system, which consists of position sensors, controllers, drives and motors. It uses PID control algorithm to achieve precise control of the motor position by adjusting the proportional coefficient, integral coefficient and differential coefficient. Position mode is widely used in situations that require precise positioning, such as CNC machine tools, robot joints, automated assembly lines, etc.

2.Speed ​​mode‌: Speed ​​mode uses analog quantities to control the rotation speed of the motor. Although speed mode has fewer applications because it can control speed with the same accuracy as position mode, it still has its uses in certain specific applications. The core of speed mode is the speed closed-loop control system, which consists of speed sensor, controller, driver and motor. It also uses PID control algorithm to eliminate speed deviation and make the motor shaft run at a constant or changing speed.

3.Torque mode‌: Torque mode is usually used in constant voltage control to control the output torque of the servo motor through analog quantities. This mode is combined with the position mode for closed-loop control, and the effect is more ideal. The control of torque mode is more complicated, and it is necessary to detect the output current of the servo drive and perform torque control based on the current feedback signal.

4.Application scope of integrated servo motor

‌1.Industrial automation‌: Integrated servo motors play a vital role in the field of industrial automation and are widely used in robotic arms, conveyors, assembly lines and other equipment. They realize efficient production processes and improve production efficiency and product quality through precise position control and motion control. The fast response and precise position feedback capabilities of servo motors enable it to adapt to complex industrial environments and task requirements‌.

2.Robot technology‌: Servo motors are an ideal choice for robot joint drive. They can provide high-performance power output and flexible motion control to meet the different needs of robots in various industries, services and special environments. In fields such as automated production lines and logistics warehousing, servo motor-driven robots can achieve efficient operations and automation tasks‌.

3.CNC machine tools‌: Integrated servo motors are widely used in CNC machine tools, which can achieve precise motion control and position control, provide high-speed, high-precision working performance, and meet the needs of modern manufacturing for equipment automation and intelligence‌.

4.Medical equipment‌: Servo motors are widely used in various medical equipment, such as medical robots, imaging equipment, surgical instruments, etc. The high precision and reliability of servo motors play a vital role in medical equipment, ensuring the stability and safety of medical equipment‌.

5.Aerospace‌: In the field of aerospace, servo motors are widely used in the steering gear system of aircraft to achieve attitude control and flight stability of the aircraft by controlling the rudder surface of the aircraft. The rapid response capability and precise control capability of the servo motor enable the aircraft to achieve various complex flight movements, ensuring flight safety and stability‌.

In addition, integrated servo motors are also used in medical equipment, 3D printing, textiles, printing and other industries. With the continuous development of technology, its application scenarios will continue to expand, providing more efficient and accurate solutions for various industries‌.

Application fields and advantages of five-phase stepper motors

1.Definition of five-phase stepper motors

A five-phase stepper motor is a motor powered by a five-phase AC power supply. Its structure is more complex than that of a four-phase stepper motor, and it can provide higher control accuracy and finer step lengths. This type of motor is usually used in application scenarios that require high-precision control, such as precision CNC machine tools, high-precision robots and other equipment. The working principle of a five-phase stepper motor is to control the power-on sequence of the five windings and the magnitude of the current to make the rotor produce different rotation angles, thereby achieving precise position control. Due to the high precision of the five-phase stepper motor, it has been widely used in high-precision automation equipment.

2.How to control the direction of the five-phase stepper motor

1.Change the direction of the current

The direction of the five-phase stepper motor can be achieved by changing the direction of the current. Usually, a five-phase stepper motor has two sets of coils, each with two pins, marked as A+, A- and B+, B-. If you want the motor to rotate clockwise, the current should enter the coil from A+ and B- and exit the coil from A- and B+; if you want the motor to rotate counterclockwise, the current should enter the coil from A- and B+ and exit the coil from A+ and B-.

2.Change the step sequence

Stepper motor control is actually controlling the step sequence of the motor. The step sequence of a five-phase stepper motor is AB-BC-CD-DE-EA. If you need to change the direction of the motor to the opposite direction, you need to change the step sequence. The method is to reverse the flow of current, that is, first energize the E and D coils, then energize the A and E coils, and so on.

3.Use a direction controller

If you don't want to change the connection method or step sequence in the circuit, you can also use a direction controller to change the direction of the five-phase stepper motor. The direction controller can add a reversing switch at the input or output of the motor control signal. When you need to change the direction, just switch the switch.

3.Advantages of five-phase stepper motors

1.Smooth motion and high resolution: The five-phase stepper motor makes the rotation of the stepper motor smoother by introducing more phases, reduces vibration and noise, and improves the stability of the mechanical system. It can achieve a smaller step angle and improve the resolution of the stepper motor through microstepping, which is very useful for applications that require precise positioning and control. 

2.Low speed and high torque: The five-phase stepper motor can provide higher output torque at low speed, which is very beneficial for some applications that require low speed and high torque output, such as medical equipment and precision instruments. 

3.Reduce resonance and high-speed performance: At certain frequencies, stepper motors may resonate, resulting in unstable motion. Five-phase stepper motors can effectively reduce resonance and improve the smoothness of the system's motion. At the same time, it can better control the motor at high speed and reduce the possibility of losing steps, which is very important for applications that require high-speed motion, such as printing presses and CNC machine tools. ‌

4.High efficiency: By better controlling the phase of the motor, the five-phase stepper motor can achieve the same output power at a lower current, thereby improving the energy efficiency of the system. ‌

5.Strong adaptability: The five-phase stepper motor driver is suitable for various stepper motors, including different types of motors such as bipolar, quadrupole and octapole, and has a wide range of applicability. ‌

4.Application fields of five-phase stepper motors

1.Automation equipment and instruments: The five-phase hybrid stepper motor is suitable for various small automation equipment and instruments, such as pneumatic marking machines, labeling machines, cutting machines, laser marking machines, plotters, engraving machines, CNC machine tools and pick-and-place devices. In these applications, the five-phase stepper motor can provide low vibration, low noise, high precision and high speed performance to meet user needs. ‌

2.Precision CNC machine tools and high-precision robots: Due to its high-precision characteristics, the five-phase stepper motor is widely used in high-precision automation equipment such as precision CNC machine tools and high-precision robots. These devices have high requirements for precision and performance. Five-phase stepper motors can provide finer steps and higher control accuracy to ensure accurate operation of the equipment. 

3.Industrial automation, machine tools, printing presses: Five-phase stepper drives are mainly used in industrial automation, machine tools, printing presses and other fields, with precise angle and speed control as the main features. These application areas require stepper motors to provide stable and reliable operation and precise position control. 

4.Textile machinery and equipment: Stepper motors are widely used in textile machinery and equipment, such as computer embroidery machines. In particular, five-phase hybrid stepper motors use high-phase stepper motors to reduce step angles and improve control accuracy. They are suitable for applications with smooth operation, low noise, fast response and long service life. 

5.Conclusion 

As a special stepper motor, the five-phase stepper motor has the advantages of high precision, high efficiency and low noise. Its working principle, circuit structure and control method are different from those of traditional stepper motors, but its application range is wider. In the future, with the continuous advancement of science and technology and people's increasing demand for high-precision intelligent equipment, five-phase stepper motors are expected to be used in more fields.

Design features and application areas of hollow shaft stepper motors

1.The meaning of hollow shaft stepper motor

The hollow shaft stepper motor is a special stepper motor, which is characterized by a hollow motor shaft. This design allows the motor shaft to be used not only to transmit torque, but also allows other devices (such as optical shafts, slender tools, etc.) to be inserted through the shaft center, thereby achieving more complex application requirements.

2.Working principle of hollow shaft stepper motor

The working principle of hollow shaft stepper motor is mainly based on electromagnetic induction and stepper drive control. This motor consists of a rotor and a stator, in which the stator generates an electromagnetic field, which acts on the rotor to cause it to rotate. By inputting a specific pulse signal, the stepper drive can control the step and speed of the motor. One of the design features of the hollow shaft stepper motor is that the center of its rotor is hollow. This design allows the shaft center to pass through, which is suitable for application scenarios where other devices or transmission parts need to pass through the rotor shaft. In addition, the design and application of hollow shaft stepper motors also optimize mechanical design, facilitate wiring, and save design space and production costs. For hollow shaft stepper motors with precision requirements, they have very high requirements for the precision of the hollow shaft or inner hole diameter and thread, mainly because most of these motors are customized to meet the needs of using third-party trapezoidal screws or ball screws. Such high-precision requirements ensure the mechanical accuracy and operating accuracy of the stepper screw motor

3.Design features of hollow shaft stepper motors

1.Hollow shaft design: Compared with traditional motors, the center of the rotor of the hollow shaft stepper motor is empty and can pass through the axis, which is suitable for those application scenarios where other equipment or transmission parts need to pass through the rotor shaft. 

2.High-precision positioning: Since the step distance and angle of rotation are controllable each time, the hollow shaft stepper motor can achieve high-precision positioning movement to meet the needs of high-demand industrial applications. 

3.High efficiency: The hollow shaft stepper motor adopts digital control technology, which can provide high-efficiency operation while achieving high precision and saving energy. ‌

4.Programmability: The operation mode and parameters of the hollow shaft stepper motor can be controlled by programming, and can be adjusted according to different application requirements, with good flexibility and scalability

4.Specific application areas of hollow shaft stepper motors

1.Automation equipment: Hollow shaft stepper motors are widely used in automation equipment, such as robots, automated production lines, CNC machine tools, etc. In these devices, hollow shaft stepper motors can provide precise position control and motion control, while facilitating the passage of cables, trachea, etc.

2.Medical equipment: In the field of medical equipment, hollow shaft stepper motors are often used in surgical robots, medical imaging equipment, laboratory automation equipment, etc. These devices have high requirements for precision and reliability, and hollow shaft stepper motors can meet these requirements and facilitate the layout of cables, trachea, etc.

3.Printing equipment: In printing equipment, hollow shaft stepper motors can be used to drive printing rollers, paper conveying and other components. The hollow shaft design can facilitate the passage of cables, trachea, etc., and improve the integration and reliability of the equipment.

4.Textile machinery: In textile machinery, hollow shaft stepper motors can be used to drive components such as yarn winding and looms. The hollow shaft design can facilitate the passage of cables, air pipes, etc., and improve the integration and reliability of the equipment.

5.Stage equipment: In stage equipment, hollow shaft stepper motors can be used to drive components such as stage lifting and stage rotation. The hollow shaft design can facilitate the passage of cables, air pipes, etc., and improve the integration and reliability of the equipment.

6.Aerospace: In the field of aerospace, hollow shaft stepper motors can be used to drive components such as rudders and landing gear. The hollow shaft design can facilitate the passage of cables, air pipes, etc., and improve the integration and reliability of the equipment.

7.Vehicle engineering: In vehicle engineering, hollow shaft stepper motors can be used to drive components such as electric windows and seat adjustments. The hollow shaft design can facilitate the passage of cables, air pipes, etc., and improve the integration and reliability of the equipment.

5.Conclusion

With the development of microelectronics and computer technology, the demand for stepper motors is increasing day by day, and they are used in various fields of the national economy. Hollow shaft stepper motors rely on their professional technology and experience in design, manufacturing and application to provide a rich product range to meet the needs of different customers and different applications.

Source:https://steppermotor2.hatenablog.com/entry/2024/08/05/173050

How to choose and judge the quality of integrated stepper motors

1.Introduction

An integrated stepper motor refers to a design that integrates the driver and stepper motor of a stepper system into one. This design not only greatly saves installation space, but also simplifies the cumbersome wiring process and enhances the practicality of the stepper system. Integrated stepper motors usually inherit the excellent characteristics of control and drive in one, saving design costs and time costs for customers, and are suitable for customers to choose stepper system solutions

2.Methods for selecting suitable integrated stepper motors

1.Selection of step angle: The step angle depends on the requirements of load accuracy. Convert the minimum resolution of the load to the motor shaft, and the angle that each equivalent motor should walk. The step angle of the motor should be equal to or less than this angle. Common step angles on the market are 0.36 degrees/0.72 degrees, 0.9 degrees/1.8 degrees, 1.2 degrees, etc.

2.Selection of static torque: The basis for the selection of static torque is the load of the motor, including inertial load and friction load. The static torque should be 2-3 times the friction load. Once the static torque is selected, the motor base and length can be determined.

3.Current selection: Motors with the same static torque have very different operating characteristics due to different current parameters. The current of the motor can be determined based on the torque-frequency characteristic curve.

4.Speed ​​and accuracy: When the speed requirement is high, a motor with a larger phase current and a smaller inductance should be selected to increase the power input, and a higher supply voltage should be used when selecting the driver. Determine the requirements for positioning accuracy and vibration, and determine whether and how many subdivisions are required.

5.Special specifications and environmental adaptability: If a stepper motor with special specifications is required, such as the diameter, length, and extension direction of the output shaft, it is usually necessary to communicate with the manufacturer and customize it within the scope allowed by technology. For special environments, such as waterproof and corrosion-resistant stepper motors, they are suitable for certain special occasions. For example, underwater robots require waterproof motors. ‌

3.Methods for judging integrated motor failure

1.Check insulation resistance: Use an insulation resistance megohmmeter to measure the insulation resistance of the motor. If the insulation resistance is greater than 0.5 megohms, it means that the insulation performance of the motor is good. ‌

2.Test DC resistance: Use the resistance range of a multimeter to test the DC resistance of the three windings of the motor. If the DC resistance of the three windings is similar and the deviation is small, it means that there is no inter-turn short circuit in the winding. ‌

3.Manual rotation test: Without connecting any equipment or wires, manually rotate the motor shaft. If it rotates smoothly and there is no jamming, it means that the motor is normal. ‌If jamming or failure to rotate occurs, it may indicate that the motor is broken or there is an internal problem. ‌

4.No-load power-on test: Power on the motor and observe whether the three-phase current is balanced and whether the motor rotates smoothly. Pay attention to abnormal conditions such as temperature rise and abnormal noise of the motor. ‌

5.Check the stepper motor driver: If the red light of the stepper motor driver keeps flashing, it may be that the power supply voltage is unstable or there is a problem with the control signal. Use a multimeter or other instrument to check the power supply voltage and control signal, and also check whether the stepper motor itself has any faults.

Source:https://ameblo.jp/angla27/entry-12861479660.html

Introduction to the functions and troubleshooting of closed-loop stepper motor drivers

1.Overview

A closed-loop stepper motor driver is a motor driver that integrates multiple functions such as speed regulation, positioning, increasing output torque, and reducing mechanical noise. It is mainly used in equipment and occasions that require high-precision positioning, stability, and reliability. This article will start from the principle and function of the closed-loop stepper motor driver and introduce its characteristics and solutions to common faults in detail.

2.Characteristics of closed-loop stepper motor drivers

1.High precision: The closed-loop stepper motor driver can provide high-precision motion control and can achieve operation with small steps, with the minimum step reaching 0.001mm.

2.High speed: The maximum speed of the closed-loop stepper motor driver can generally reach 1000r/min, and its speed and torque output are related to the load and voltage of the motor.

3.Low noise: The output torque of the closed-loop stepper motor driver is stable, the operation is smooth, and the mechanical noise can be reduced.

4.Low vibration: The change of the output signal of the closed-loop stepper motor driver can make the control system respond more quickly, thereby reducing vibration and jitter and improving the control accuracy of the motor.

5.High reliability: The closed-loop stepper motor driver adopts a closed-loop control system, which can achieve precise position control and improve the reliability of the system.

3.Common faults and treatment methods

1.Emergency stop fault: When the controller stops suddenly, the motor driver will rotate too fast. The treatment method for this fault is to restart the controller for debugging and check whether the wiring of the motor driver is normal. If the wiring is confirmed to be correct and the fault still exists, the motor driver needs to be replaced.

2.Parameter setting error: When the parameters of the motor driver are set incorrectly, abnormal or unsmooth movement will occur. For this fault, the solution is to carefully check whether the equipment parameter settings are correct and make corresponding adjustments.

3.Excessive noise: When the motor is running and there is a fault of excessive noise, it is necessary to check whether the motor has foreign matter or wear and tear, and adjust and replace the parts with poor contact.

4.Unable to move: When the motor cannot move normally, it is necessary to check whether the power supply of the controller is stable, whether the control circuit is faulty, and to check and repair the problems one by one.

5.Failed to return to zero: When the motor cannot return to zero, it is necessary to check whether the connection between the motor and the sensor is normal, whether the parameter settings are correct, etc., and make corresponding adjustments.

4.Conclusion

The above is a detailed explanation of the function introduction and troubleshooting of the closed-loop stepper motor driver in this article. The closed-loop stepper motor driver has a wide range of applications, but it also has many fault phenomena. Therefore, the ability to repair and troubleshoot is also very important. Readers can have a deeper understanding of the driver through the study of this article and be able to better deal with faults.

The difference between two-phase stepper motors and four-phase stepper motors

1.Working principle

1.Two-phase stepper motors

Two-phase stepper motors refer to motors whose drive circuits have only two inputs, each of which controls a coil. When this motor rotates, one coil is activated first to generate a magnetic field, and then the other coil is activated to generate a magnetic field, thereby driving the motor to rotate. Two-phase stepper motors are usually simpler and easier to control, but because there are only two inputs, the step angle cannot be subdivided.

2.Four-phase stepper motors

Four-phase stepper motors refer to motors whose drive circuits have four inputs, each of which controls a coil. When this motor rotates, two coils are activated first to generate a magnetic field, and then the other two coils are activated to generate a magnetic field, thereby driving the motor to rotate. Since four-phase stepper motors have four inputs, they can be divided into smaller step angles, which are more precise than two-phase stepper motors.

2.Control method

1.Two-phase stepper motors

Since two-phase stepper motors have only two control inputs, their drive circuits are relatively simple, and only one H-bridge drive circuit is needed to control their operation. Among them, the H-bridge drive circuit is a circuit used to control the direction and size of the current, which consists of four switches. The size and order of the control current can determine the direction and speed of the motor rotation.

2.Four-phase stepper motor

Since the four-phase stepper motor has four inputs, it requires a more complex control circuit. It can be driven by an external controller such as a stepper motor controller or a microcontroller. In addition, since the four-phase stepper motor can be divided into smaller step angles, the requirements for the drive circuit are higher than those for the two-phase stepper motor.

3.Output efficiency

There are also differences in output efficiency between two-phase stepper motors and four-phase stepper motors. Since the step angle of the two-phase stepper motor is relatively large and the rotation speed is relatively slow, it is suitable for low-speed and low-precision applications. The four-phase stepper motor has a finer step angle and a faster rotation speed, which is suitable for high-speed and high-precision applications.

4.Application field

Two-phase stepper motors are mainly used to control low-speed and low-precision applications. If high-speed and high-precision control is required, four-phase stepper motors are usually used. Common applications include: electronic scales, printers, scanners, etc.

5.Conclusion

Although two-phase stepper motors and four-phase stepper motors both belong to the category of stepper motors, they have some differences in working principle, control method, output efficiency, etc. Understanding these differences can help readers better choose the type of motor suitable for their application field.

How to realize speed regulation of three-phase stepper motor

1.Overview of three-phase stepper motor

The three-phase stepper motor is an actuator that converts electrical pulse signals into angular displacement. It has the advantages of simple structure, convenient control, high precision, and no cumulative error. It is widely used in automation equipment such as CNC machine tools, robots, printers, scanners, etc.

2.Speed ​​regulation principle of three-phase stepper motor

Speed ​​regulation refers to changing the speed of the motor to meet different working requirements. The speed regulation of three-phase stepper motors is mainly achieved in the following two ways:

1.Pulse frequency speed regulation: By changing the pulse frequency input to the motor driver, the speed of the motor can be changed. The higher the pulse frequency, the faster the motor speed.

2.Current control speed regulation: By adjusting the current in the motor winding, the torque of the motor can be changed, thereby affecting the speed. The larger the current, the greater the torque and the faster the speed.

3.Speed ​​regulation method of three-phase stepper motor

1.Microstep control: By subdividing the step angle of the motor, more precise control can be achieved. For example, subdividing the step angle of 1.8 degrees into 0.9 degrees can improve control accuracy and smoothness.

2.PWM control: Use pulse width modulation (PWM) technology to adjust the current size in the motor winding to achieve smooth speed regulation.

3.Vector control: By controlling the direction and size of the motor's magnetic field, efficient and accurate speed regulation is achieved.

4.Current chopping control: By adjusting the on and off time of the current, the motor speed is controlled.

5.Hybrid control: Combine the above control methods to achieve better speed regulation performance.

4.Implementation steps of three-phase stepper motor speed regulation

1.Determine the speed regulation requirements: According to the application scenario, determine the required speed regulation range and accuracy.

2.Select a suitable driver: According to the motor parameters and speed regulation requirements, select a suitable stepper motor driver.

3.Design control circuit: Design a suitable control circuit to achieve control of the motor driver.

4.Write a control program: According to the control requirements, write a control program to achieve precise control of the motor.

5.Debug and optimize: Through actual operation, debug and optimize the control parameters to achieve the best speed regulation effect.

Three-phase stepper motor speed regulation technology has a wide range of applications and prospects in the field of automation. By choosing the appropriate speed regulation method and control strategy, the motor can be precisely controlled to meet the needs of different scenarios. With the continuous advancement of control technology, the speed regulation performance of three-phase stepper motors will be further improved, providing a stronger driving force for the development of automation equipment.