Presenter: Edmund Wong

05 25, 2015

Technical Department

© 2015 YASKAWA Electric Corporation

Contents

1. Basic Servo
1.1-1: What is servo
1.1-2: The basic elements of servo mechanism
1.1-3: The most common positioning configuration of servo
1.1-4: The basic of servomechanism
1.1-5: The structure of servomotor
1.1-6: What does servo do
1.1-7: The principle of servo magnetic field
1.1-8: The comparison of DC and AC servo
1.1-9: The encoder technology
1.2 : Servopack

2. Line Up of Servo
3. How to Read Catalogue
4. How to Select motor Size

© 2015 YASKAWA Electric Corporation 1

 1.1-1 What is servo

Controller 【What is servo?】

The word "Servo" is derived from the Latin word "servus" meaning slave and means "A
servant to work quickly and faithfully in conformity to master's directions.“
A control device which will follow the machine commanded position and speed swiftly.

Command
＋ Servo Amplifier
－
Comparator

Move to the target position

Control
Element

Power Amplifier

Servomotor

© 2015 YASKAWA Electric Corporation 2

1.1-2 The basic elements of servomechanism

The Core of servo ＝ feedback control

Servomechanism uses feedback control

Controller Output
Servo amp Servomotor
Target Encoder
mechanics Speed／position
Semi-closed feedback

Fully closed feedback

Sensor

 The main structure of servo mechanics realized by mean of feedback

control system which tries to make the value of output identical to the input
value
 There are two types of feedback control system
1. Semi-closed system: Using a sensor in a motor
2. Fully closed system: Using an external sensor installed in a machine

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1.1-2 The basic units term

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1.1-3 The most common positioning configuration of servo

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1.1-4 The basic of servomechinism

Servodrive is the combination of a servo amplifier and a servo motor.

Servomechanism is a system including servodrives, controllers and
transfer mechanisms and mechanics you want to control.
Mechanics

Servo amplifier Servo motor

Controller

Transfer
mechanism
Sensor

Servodrive

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1.1-5 The structure of a servomotor
Rotor
External core

Internal core

Permanent Magnet

Coil
Gap between a rotor and a stator

Shaft
Stator Coil Stator Encoder

Bearing

Shaft

Permanent magnet
© 2015 YASKAWA Electric Corporation 7
1.1-5 The structure of a servomotor

1) Primary Stator
2) Secondary
Permanent
Magnet

2) Secondary
moving 1) Primary Iron core
element

Coil

© 2015 YASKAWA Electric Corporation 8

 1.1-6 What does servo do
1) Torque control
Pressing Force
Servopack Wall
Servomotor Table
Torque Input
reference reference
Coupling Ball screw*
Feedback

Encoder
24bit (2^24=16777216〔P/R〕)

*Ball screw changes a rotational

motion to rectilinear motion

Application example ① ② ③

Injection molding
machine

© 2015 YASKAWA Electric Corporation 9

 1.1-6 What does servo do
2) Speed control
Servopack
Table Speed
Servomotor
Speed Input
ｖ
reference reference Ball screw
Coupling
Feedback

Encoder
24bit (2^24= 16777216〔P/R〕)

Application example
wafer

Polishing a wafer
Table

© 2015 YASKAWA Electric Corporation 10

 1.1-6 What does servo do
3) Position control
Servopack
Servomotor Table
Position Input
reference reference
Coupling
Feedback
Stop position
Ball screw
Encoder
24bit (2^24=16777216〔P/R〕)
①No. of pulse ⇒ determine the position
1000 pulses →move 1〔ｍｍ〕
100,000 pulses →move 100〔mm〕
Application
② pulseexample
frequency ⇒ determine the speed
1000〔pps〕（1〔kpps〕）→move at 1〔mm/s〕
Servo press
100,000〔pps〕（100〔kpps〕）→move at 100〔mm/s〕
(position
③ When no to a
command of pulse coming from a controller or finish positioning,
the servo motor tries to keep the position (servo clamp)
clamping level)
© 2015 YASKAWA Electric Corporation 11
 1.1-7 The principle of servo magnetic field
Moving principle of a servo motor
The law of Fleming’s left-hand rule
When current flows in a wire, and an external magnetic field is
applied across that flow, the wire experience a force
perpendicular both to that field and to the direction of the
current flow
Ｆ ＝ ＢＩＬ
Ｂ ： Magnetic flux density 〔Ｔ（Tesla）〕
Ｉ: Current〔Ａ〕
Ｌ ： the length of conductor〔ｍ〕

Force Force (F)

Magnetic field Magnetic field
(Magnetic flux density, B)

Current (I)

Length of
Current conductor (L)

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1.1-7 The principle of servo magnetic field

Place magnets and a coil like in a picture below.

The left side of coil gets force of BIL upward and the right side
of the coil gets force of BIL downward.
The whole coil gets the rotational force and this generates the
torque.
The magnitude of the torque T is T=2RBIL.

The magnitude of torque is

proportional to current
Direction of
current
Force
Commutator

Brush Force
Center

View from A Spring

© 2015 YASKAWA Electric Corporation 13

 1.1-7 The principle of servo magnetic field

＊ At a stator of AC servo motor, three phases of

coil UVW are wound U phase
Stator
＊Sinusoidal current made a gap of 120deg in a
phase flows to the coil according to the position
of magnet V' W'
＊ At anytime, torque proportional to the Rotor
maximum current is generated
V phase
W phase

U’
Current to Torque
flow to each generated Three-phase combined torque
phase Ｔｍ＝１．５ ＫＴＩ０

Flux density
of each
phase

＊ ＫＴ： Torque constant

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1.1-8 The comparison of DC and AC servo

DC servo motor AC servo motor

Rotor Coil Permanent Magnet

Stator Permanent magnet 3 phase coil UVW

Rectifier Rectification is done Control the flow of a

by a mechanical mean current by detecting the
with a brush and a position of coil and magnet
commutator
Characteristics Servo driver is simple Because of no parts
mechanically worn out, the
maintenance is much less

Weak points Regular check out for Servo driver is complicated

brush and
replacement

© 2015 YASKAWA Electric Corporation 15

1.1-9 The encoder technology

・Sensor type
Incremental encoder

Encoder

Absolute encoder

・transmission method （Encoder → amplifier）

A, B phase output
encoder
Encoder

Serial encoder （main stream）

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 1.1-9 The encoder technology

1) Principle of incremental encoder

＊ There are two slits, A-phase
and B-phase in a gap of 90 deg
in a phase
＊ In this way, an amount and
the direction of turn can be
detected

＊ More economical
＊ Homing search is require
when the moment after re-cycle
power.

© 2015 YASKAWA Electric Corporation 17

1.1-9 The encoder technology
2) The principle of an absolute encoder

＊ Position can be
retained even re-cycle
power
＊ Simple design in
positioning machine

＊ More costly than

incremental type for
initial implementation

© 2015 YASKAWA Electric Corporation 18

1.1-9 The encoder technology
Absolute encoder

Single abs +
Servopack Controller
position data +
Multi turn
data （battery backed up）

Absolute encoder stores the data of position and a number of turns the
motor rotates.

Multi-turn data of encoder is backed up by a battery when it was turned off.

When power is on, the encoder generates position data from data of multi-
turn and position, and send it to a Servo driver.
Servo driver sends the position data to a controller which how much the
difference between the current and original position.

© 2015 YASKAWA Electric Corporation 19

1.2 Servopack

Servomotor needs to have a servo amplifier to drive.

Servopack is the product name of Yaskawa servo amplifier
The function blocks of servopack are shown below.

Power part
Motor

Main Power Converter Inverter

Current
Command Control part calculation part

Feedback

Encoder

© 2015 YASKAWA Electric Corporation 20

 1.2 Servopack

・ Structure of power parts

Power part is to generate current to drive a servo motor.
It consists of two parts; converter part and inverter part.
Converter part: generating DC from AC
Inverter part: generating current to flow to UVW phase at specific rotational angle
Converter Inverter

Output current
Input voltage

・ Current calculation part

The purpose of this part is to determine how much current should flow to each phase.
This is calculated by the command value coming from torque control part and position
of magnet of the motor. As a motor rotates, position of magnet changes and the size
of current flow changes.

© 2015 YASKAWA Electric Corporation 21

 1.2 Servopack
・ Structure of control part
Position loop

Speed loop
Current loop Motor
Position
Command Position
＋ ＋ Speed ＋ Current
control
control control
－ － －

Current feedback
Speed
Position feedback
Position→Speed
Feedback conversion

Encoder

Command → Control part → Output and the output is fed back to command

© 2015 YASKAWA Electric Corporation 22

 1.2 Servopack
1） Position control part
・ Input for positioning command is in a pulse signal
・ Positioning place is specified by the No. of pulse and the speed of positioning is specified
by a number of pulses in an unit of time (sec) (PPS: Pulse/ Second)
・ Therefore, input pulse is addition and feedback pulse is subtraction
・ When the number of pulses input becomes same as the number of pulse feedback, finish
positioning
・ All the calculations are done by software in Servopack right now

Pulse reference
Speed control part
Position
Counter loop gain

Feedback pulse

© 2015 YASKAWA Electric Corporation 23

 1.2 Servopack
The combination of
2) Speed control proportional control and
Speed reference is compared with the current Integral control is called PI
control
feedback speed, and give a torque reference to
the torque control part to try to make the
Integration
difference between feedback and reference
speed 0. Proportion and Integration are used
to adjust the amount of error.
Speed reference Proportion Torque reference

Speed Speed reference Feedback speed with

the Integral control Feedback

Proportion to resistance
load torque
Feedback Speed
without integration The value of time constant can be
control changed in order to how fast the
Need to have torque machine follows the reference.
compensating the load The value is varied with the rigidity
resistance of the machine.

Time

© 2015 YASKAWA Electric Corporation 24

 1.2 Servopack

3) Current control
Comparing the electric current (torque) reference from speed control with
the present feedback electric current is to adjust to be 0.
AC servo motor generates the proportional torque to the current.
Therefore, we can form a relationship between current and torque as
current control = torque control.

Current （Torque）
command
+ Current control Detection of
current Motor

－
Current feedback

© 2015 YASKAWA Electric Corporation 25

 1.2 Servopack
Time
Example of positioning motion
When executing positioning under the Direction signal Pulse ref completed
condition 10Kpps
Pulse ref 20000 Pulse count
as following: reference unit 0.001mm, (Error counter
distance plus (+))
20mm, velocity 10mm/s Feedback pulse
(Error counter
minus(-))
Number of positioning pulse: ２０，０００
Ref pulse input comes Ref and Speed ref stop but motor
Positioning speed：１０，０００ＰＰＳ in but feedback feedback keep running and
signal need time to pulse feedback pulse still
acc due to load inertia are balance coming in due
and motor to load inertia. Finally
run at the error diff gradually
constant speed. reduce and motor stop.
Servo motor
Direction ref
Servo pack
Error counterε
Pulse ref accumulated

Ref speed
Feedback pulse 速度指令の
Ref speed
大きさ
Encoder Motor speed

Position completed signal

a: area where the time of error pulse accumulated. c: area where the time of pulse reducing
Finally position completed
Total no of pulse and feedback pulse are completely same and than positioning are completed.

© 2015 YASKAWA Electric Corporation 26

 2 Line Up of Servo
1） Rotary

2𝜋 ∗ 𝑇𝑚 ∗𝑁𝑚 2𝜋 ∗𝐽𝑚 ∗𝑁𝑚

Pm = ta=
60 (𝑇𝑎−𝑇𝑙)
60
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 2 Line Up of Servo
1） Linear

F=M*A

F = (Mc + ML) * V / Ta

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 2 Line Up of Servo
1. Selection of products base on specification need

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 2 Line Up of Servo
2. Selection of
products base on
host interface.

Note
*1: Confirm specifications of the servo
amp.
*2: Applicable for MECHATROLINK-Ⅰ,
Ⅱand III.
*3: These units are manufactured by
Yaskawa Electric Corporation.

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2 Line Up of Servo
3. Selection base on transmission of mechanism

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3. How to Read Catalogue
3.1 Overview of the system

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3. How to Read Catalogue
3.2 Overview of the servo driver and servomotor

Servomotors Servopacks

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3. How to Read Catalogue
3.1 Overview servomotor lineup

Direct Drive servomotors

Linear servomotors

Rotary servomotors Linear Sliders

© 2015 YASKAWA Electric Corporation 34

3. How to Read Catalogue
3.1 To choose a servomotor You need to know the following information
①. Rated output
②. Type of encoder
③. Options if necessary
④. Torque
⑤. Speed
①

②
③

① ④

⑤
③
②

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 3. How to Read Catalogue
Make sure that a motor you choose can achieve
a torque and a speed you desire.
→Look at Torque-Motor Speed Characteristics

Instantaneous Duty Zone

Continuous Zone

Effective torque < rated torque, Instantaneous Duty

Zone can be used

Solid line: three-phase 200V or single phase 230V

dotted line: single-phase 200V

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3. How to Read Catalogue
Be aware of how much time you have to keep the torque in
operation.
→if exceed the limit, an alarm will trigger.

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3. How to Read Catalogue

Selection of Servopack model

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3. How to Read Catalogue
Types of Servopack
Difference: a type of connection between a controller and a servopack

Analogue & Pulse MECHATROLINK-Ⅱ MECHATROLINK-Ⅲ

10Mbps 100Mbps
- Transmission Cycle: 0.5ms - Transmission Cycle: 0.125ms
for 4 axes for 4 axes
- connect up to 16 axes (SVB) - connect up to 32 axes (SVC)

© 2015 YASKAWA Electric Corporation 39

3. How to Read Catalogue
Example
You want to have Servopack for SGM7J-08A
- 750W motor You want to use it in three-phase AC200V with
- Absolute encoder no option
- Straight with Key and Tap Choices
- With oil seal ①SGDV-5R5A00B000 (Analogue& Pulse)
If SGM7J, ②SGDV-5R5A10B000 (MECHATROLINK-II)
SGM7J-08A7A6S ③SGDV-5R5A20B000 (MECHATROLIINK-III)

© 2015 YASKAWA Electric Corporation 40