UNIVERSIDAD NACIONAL DE COLOMBIA
Facultad de Ingeniería
Andres Mauricio Avilan Herrera
[email protected]
MOTION CONTROL SYSTEMS OVERVIEW
1. What are the main characteristics of a servo amplifier and a servomotor?
The main characteristics of a servo amplifier and a servo motor are:
Servo Amplifier:
• Signal Amplification: The servo amplifier receives low-voltage signals representing torque,
speed, and position commands, and amplifies them into appropriate power for the
servomotor.
• Closed-Loop Control: It utilizes feedback to regulate the speed and direction of the
servomotor's movement.
Servomotor:
• Fast Response: Designed to respond quickly to control commands, enabling precise motion
control.
• Positional Precision: Capable of maintaining precise position, making it ideal for applications
requiring accurate positional control.
• Encoder Incorporation: Many servomotors include an encoder to measure the shaft position
with high accuracy.
• High Power Density: Typically offers high power density, providing high torque in a compact
package.
What are the main components of a motion control system?
The main components of a motion control system include:
• Controller: Provides commands dictating when and how the servomotor will move.
• Amplifier (Servo Amplifier): Amplifies low-voltage control signals from the controller into high-
power signals suitable for driving the servomotor. It also typically interfaces with feedback
devices such as encoders to provide closed-loop control.
• Servomotor: Converts electrical signals from the amplifier into mechanical motion.
• Feedback Device (Encoder): Provides position, velocity, and/or other relevant feedback to
the controller and amplifier. This feedback enables closed-loop control, ensuring accurate
positioning and motion control.
• Human-Machine Interface (HMI): Allows operators or users to interact with the motion control
system. It may include touchscreens, buttons, or other interfaces for setting parameters,
monitoring performance, and diagnosing issues.
What is the meaning of axis of motion in the context of motion control systems?
In motion control systems, an "axis of motion" refers to a direction in which something can move. Each
direction of movement represents an axis of motion. However, without a servomotor or another
mechanism to provide movement, an axis alone doesn't make anything move.
What are the three stages to enable a servo from a power-up perspective?
• Control Power: Turning on the amplifier, which generates a command to also turn on the
controller and HMI.
• Main Power: Supplying the necessary power to actuate the servomotor.
• Servo Enable: The controller gives the command to energize the servomotor. It may not
necessarily move at this point, but it will be ready to move. Once the servo is enabled, it may not
move until it receives further commands from the controller.
What is the essence of the so-called directional movement and what is its importance in
industrialapplications?
The essence of directional movement, involving forward and reverse motion, is vital in industrial
applications for two main reasons:
• Alignment: It ensures that the servo's movement aligns with the machine's intended direction,
enhancing operational efficiency. For instance, in a conveyor belt system, the servo must move
the belt in the correct direction for effective material transportation.
• Torque Management: Directional movement enables the control and limitation of torque in
specific directions, ensuring safety and preventing damage to machinery or products.
What is over travel and what is its practical applicability?
"Over travel" refers to a safety feature in a motion control system that prevents the motor from moving in
a certain direction beyond a predetermined point. This is implemented through an input in the amplifier
that halts movement when a predefined limit is reached.
The practical applicability of "over travel" lies in its ability to safeguard machinery and sensitive
components from damage. Although the controller is typically designed to prevent the machine from
getting too close to sensors or physical limits, it's prudent to plan for unforeseen events. In such cases,
"over travel" acts as an additional layer of protection by halting movement only in the critical direction
that could affect the machine.
What is the difference between over travel stop and emergency stop?
An "over travel stop" is not the same as an emergency stop. While an emergency stop will halt
movement in all directions immediately, "over travel" stops movement only in the specified direction,
helping to prevent localized damage and maintain the overall integrity of the system.
What are relative moving and absolute moving?
Relative moving refers to motion based on the current position, such as moving three steps forward
from where you are. Absolute moving involves specifying a precise position or coordinate, like
specifying the exact location of a table.
What does Zero Point Return mean and how does a Homing Routine work?
"Zero Point Return," also known as "Homing Routine," is a process used to establish a reference point,
typically referred to as the "home position" or "zero position," in a motion control system. Here's how it
works:
a. To use absolute positioning, we must define the zero position. A repeatable method is
required to find the zero point, which we call the Homing or zero point return.
b. During the Homing Routine, we make use of over-travel sensors and move the axis to a
programmable compensation distance to stop at an initial position relative to the sensor.
What are the two main categories of motion actuators and their corresponding engineering
units?
The two main categories of motion actuators are:
• Linear Motion: Linear motion actuators move in a straight line, typically measured in inches
(in) or millimeters (mm). Linear actuators can be used for applications such as conveyor
systems, robotic arms, or sliding doors.
• Rotary Motion: Rotary motion actuators rotate around an axis, typically measured in degrees
(°). Rotary actuators can be used for applications such as robotic joints, rotary indexing
tables, or positioning mechanisms.
Both linear and rotary motion actuators can be further categorized based on their range of motion:
• Finite Motion: Actuators with a limited range of motion. They operate within a defined range
and typically have specific start and end points.
• Infinite Motion: Actuators capable of continuous rotation or linear motion. They do not have
specific start or end points and can move indefinitely.
How do you interpret the final expression of the Yaskawa´s presenter: It´s personal?
The final expression, "It's personal," suggests a deep personal commitment and dedication from
Yaskawa to ensure quality in its products and services. It conveys the idea that their commitment to
excellence goes beyond business obligations, becoming a personal matter that they take very seriously.
2. Present a comprehensive block diagram for a Servomechanism system, identifying and explaining
each principal component's function. Emphasize the roles of feedback and feedforward controls.
Consult manufacturers' manuals for verifiable references and component costs.
Servomechanism system: Extruder of my Ender 3 3D printer
• Microcontroller: The microcontroller, controls all operations of the extruder. It reads print commands
from the SD card and sends appropriate control signals to the servomotors of axis of the system.
• Servomotor: The servomotor controls the speed and position of the extruder. It receives control
signals from the microcontroller and moves the extruder forward and backward to extrude filament
in a controlled manner.
• Position Sensor (Encoder): The position sensor, such as a rotary encoder, provides feedback to the
microcontroller about the current position of the extruder. This allows the microcontroller to adjust
the speed and position of the extruder as needed to maintain accuracy.
• Servomotor Driver: Amplifies the control signals from the microcontroller to drive the servomotor. It
controls the current and speed of the servomotor to ensure smooth and precise movement of the
extruder.
• Power Supply: Provides the necessary power to drive the servomotor and other components of the
system. Ensures a stable supply of power for reliable operation of the extruder.
Feedback Control:
The position sensor provides feedback to the microcontroller about the current position of the extruder. This
information is used to adjust the speed and position of the extruder as needed to maintain accuracy.
Feedforward Control:
The microcontroller utilizes the information from the defined trajectory in the G-code on the SD card to
anticipate and adjust the speed and position of the extruder before changes occur in the load or operating
conditions.
3. Compile a list of five (5) significant terms that the project team considers crucial or highly relevant to
engineers specializing in motion control systems. For each term, offer a formal definition or
description in an electronic form, substantiated by technical literature, and cite the sources
consulted.
PID Control: PID control, or proportional-integral-derivative control, is a control mechanism widely used in
motion control systems to regulate the output based on the difference between a desired setpoint (target
position) and the actual position. It calculates control output by combining proportional, integral, and
derivative terms, adjusting the control effort to minimize error over time. Source: Ogata, K. (2010). Modern
Control Engineering. Pearson.
Feedback Loop: A feedback loop is a mechanism in motion control systems where the output signal, such
as position or velocity, is continuously measured and compared to the desired setpoint. The difference, or
error signal, is then fed back to the controller to adjust the control input and minimize discrepancies
between the desired and actual outputs. Source: Ogata, K. (2010). Modern Control Engineering. Pearson.
Trajectory Planning: While on the other hand, trajectory planning is a real time transition of vehicle from
one feasible state to next feasible state with taking account of vehicle’s kinematic constraints (velocity
constraint, acceleration constraint and navigation comfort). Source: Engineering Applications of Artificial
Intelligence, 2021
Servo Motor: A servo motor is a rotational or translational motor that receives power from a servo amplifier
and creates torque or force for a mechanical system, such as an actuator or brake. Servo motors allow
precise control of angular position, acceleration, and velocity. A closed-loop control system is employed
with this type of motor. A closed-loop control system considers the current output and modifies it to
achieve the desired condition. In these systems, the control action is based on the motor output. A positive
feedback system controls the motion and final position of the shaft. Source:
https://www.solisplc.com/servo-motor
Motion Profile: A motion profile defines the desired trajectory of a motion control system over time,
specifying the position, velocity, and acceleration profiles required to achieve smooth and precise motion.
It includes parameters such as start and end points, maximum velocity, maximum acceleration, and jerk
limits.
