ALVINthe Albuquerque LabVIEW Interest Network

An Overview ofServo Motor System and

LabVIEW

Presented by Larry GogaFebruary 19th, 2009

The 3 rules for a good presentation!

Tell them what you’re going to tell them.

Tell them what you told them.

Tell them what you wantto tell them.

Presentation Overview

• My project• Servo Systems in

General• National Instruments

LabVIEW andNI Motion

• Yaskawa Electric

• Danaher Motion• QuickSilver Controls

Inc.• Summary & Review• Hardware and

Software Demo’s• Q&A

The PROJECT!

• Process Camera• Not a normal 35mm film

camera• Made by Photo-Sonics• Circa 1972, 37 years old• Used for special effects

photography• Used for color

separations• Used for animation• Had interchangeable

motors

Color Separations

• Convert color to B&W• Take 3 images of the same

frame• Synchronized with a color

wheel in the lamphouse• Black and white film doesn’t

fade• New and pristine color prints

or negatives can be made in the future by reversing the process

The InnerWorkings

A mechanically adjustable shutterwith opening range of 0° to 170°

The MOTOR(S)

3 different motors

Specificationsfind a new motor and controller that would:

• Run continuously from 1 fps to 24 fps

• Speed operator selectable• Run in Stop Motion (1 frame)• Run in Sep. Mode (3 frames)• Run Forward & Reverse• Selectable STOP (Shutter

open or closed)• Work with various user inter-

faces (stand-alone, virtual or HMI)

• Generate output triggers

• Chase External Bi-Phase• Brushless Motor Design• Preferably American made• Reasonably priced• Work well in this application

• and ideally

• Be useable in other applications

• Most likely would be some sort of a Servo Motor and Controller System

What is a Servo System?

• A closed-loop motion system using a current amplifier, servo controller, servomotor and a position feedback device such as an encoder to precisely control speed and position of a load.

• The MOTOR can be electric, hydraulic, pneumatic or even internal combustion.

• The FEEDBACK sensor can be mechanical or electronic, analog or digital and it can be rotary or linear.

A Basic Servo System

• A servo controller with external input

• Motor connected to a feedback device

• Is a closed loop system

• How might this system work?

What do we have here?

The Feedback device canbe Relative or Absolute.

http://www.baldor.com/pdf/manuals/1205-394.pdf

The PID Controller• Proportional-

Integral-Derivative• Requires 3

adjustments - Kp, Ki and Kd

• Requires TUNING• Can be made to

learn how the system operates

Studying the PID controller can be a semester long course in Mechatronics.

http://www.ecircuitcenter.com/Circuits/pid1/pid1.htm

A Complex PID Controllerhttp://www.quicksilvercontrols.com/SP/TD/QCI-TD054_ServoTuning.pdf

Selecting a Servo System

• Hundreds of vendors X Hundreds of choices = Thousands of Options

• Call your local NI Field Sales Engineer• Looked at Danaher Motion• Talked with Marc Christianson, NI Guru• Ruled out NI Motion• Suggested Yaskawa Electric

NI MOTION

• Hardware and Software• SoftMotion, Motion

Assistant, PID Toolkit• PCI and PXI Hardware• Servo and Stepper Motor

Controllers and Drives• Universal Motion Interfaces• Tutorials• Toolkits and Sample Code

for LabVIEW Applications

www.ni.com/motion

Yaskawa Electric Hardware

Sigma 5

http://www.yaskawa.com

Yaskawa Electric Software

Hardware, Softwareand

LabVIEW Solution

Yaskawa Review

• Pros• LabVIEW Interface• Good Software• Brushless DC Motor• Auto Tuning Feature• Mass Moment of

Inertia Calculation• Good Support

• Cons• Noisy• Moderately Expensive• Programmability• Universality• Support far away• Latency Issues

Back to the drawing board…Well, back to Danaher Motion anyway!

Found ABQ representationin TMMI - Technical Marketingand Manufacturing Inc.http://www.tmmi.com/Local Contact: Ernie Aragon

Danaher is a Partnerwith

National Instrumentswww.danahermotion.com

• Added an encoder to a Stepper Motor

• Free design software

• LabVIEW Interface

• Example Programs

• Broad line of motors and controllers

• Local support

http://www.quicksilvercontrols.com/

• REVIEW• The project• Servo systems in

general, PID loop• NI Motion• Yaskawa Electric• Danaher Motion• QuickSilver Controls

• WHAT’S NEXT?• Demonstrate QCI

hardware• Look at the QCI

software• Show a LabVIEW

program running the camera

• Open for Q&A

Review and look forward