PRODUCTS MOTION CONTROL
NEW STEPPER DRIVE PROVIDES SMOOTH MOTION CONTROL
Kollmorgen’s new P80630-SDN stepper drive controls 2-phase hybrid stepper motors and features a high power density, offering up to 7.8A peak in a package just 26mm wide. The new drive has an input voltage range of 24-75VDC and provides step
and direction control up to 5.5 Arms (Amps root-mean-square) current per phase and 7.8A peak. With step resolution ranging from full-step to 1/128 micro-stepping, the P80630-SDN achieves 200 to 25,600 steps per revolution, providing precise open loop control without requiring the cost or footprint of an encoder. The stepper drive supports conventional single-ended or differential step and direction interfaces (user-provided pulse train required) or CW/CCW command inputs. The drive also increases the power-to-weight ratio compared to its predecessors, with 10% greater output current in a 60% smaller package, that is up to 34mm shorter in height compared to the Kollmorgen 6410. Precise performance at all speeds is provided out-of-the-box without the need for electronic damping control switches. Designed for low speed, high precision point-to-point motion control for fixed loads, this is suitable for applications including labellers, indexers, CNC machines, and packaging solutions. INMOCO can supply the new stepper drive with matched
Kollmorgen hybrid stepper motors. The P80630-SDN also integrates with Kollmorgen and third-party step-and- direction motion controllers. The upcoming release of further P8000 series stepper motors will also feature fieldbus protocol integration, as well as expanded features.
INMOCO
www.inmoco.co.uk
A COMPACT MOTION SOLUTION FOR HUMANOID ROBOTS
Humanoid robots need more than 20 motor axes to actuate human-like movements, each axis representing a degree of freedom in movement, such as rotation or translation. So when it needed a motion solution to drive
and control the arm and knee joints of several of its robot designs, a Chinese manufacturer of humanoid robots and cobots turned to Portescap. The motion solution needed to achieve the
necessary speed and accuracy of motion to ensure dexterity as well as the control to establish safety. Cost-effective manufacture was also a priority, and the solution had to fit within a compact, low weight envelope, while noise levels had to be kept to minimum. For this application, Portescap specified its Athlonix 24DCT brush
DC motor and MR2 encoder. Neodymium magnets helped to increase available torque by 20% over the competing motor designs, thanks to the properties of greater magnetic strength, which also enhanced power density. The motor’s coreless design, which uses surrounding permanent magnets, also contributed to a lower mass motion package. To optimise the lifetime of the motors, Portescap’s solution included
constant spring force carbon brushes. This design ensured regular contact with the commutator that would minimise the potential of bounce and increased friction during operation, as well as improving performance with a more consistent electrical connection. This smooth performance would also reduce both audible and electronic noise. Accurate position control for the robotic joints was achieved with a
Portescap MR2 magneto-resistive encoder. Utilising a resistive element to measure position, accurate feedback with up to 512 lines of resolution could be provided. Meanwhile, the resistive design gave inherent durability, even in harsh operating environments, thanks to its free-of-moving-parts design, as well as protection thanks to Portescap’s sealed housing.
Portescap
www.portescap.com SENSORLESS, FIELD-ORIENTED CONTROL
KEB has developed a sensorless control system, Complex Vector Sensorless Control (CVSCL). The new motor control method enables the determination of position, speed and electrical motor parameters. Thanks to CVSCL, a speed- dependent selection of different encoderless control methods is not necessary. The encoderless control algorithm, which is also used to adapt
parameters, can in principle be fed with any input signals. In a demonstration model set up at KEB, high-frequency signals were injected into the motor via a COMBIVERT F6 drive controller. The proof of the free choice of injection signals for encoderless
control is provided in the model setup by using music. The songs that the motor plays are created by additionally injected motor voltages. These are first high-pass filtered and then superimposed on the setpoint voltages of the field-oriented control. The resulting voltages are finally impressed into the motor with the help of the power semiconductors of the frequency inverter. The control concept represented by this setup is implemented via
dSPACE’s MicroLabBox. This provides a real time solution with high computing power and only low I/O latencies. “For application areas where the drive must be operated safely in
the lower speed range up to and including zero speed, or where high speeds must be reached quickly and safely from the start, CVSCL is a true enrichment,” explained Achim Schöke, deputy head of Development Electronics at KEB.
KEB Automation
www.keb.co.uk
20 DESIGN SOLUTIONS JULY/AUGUST 2023
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