Configuring linear servo motor - Revision history

Tero K at 11:12, 18 June 2016

2016-06-18T11:12:32Z

Tero K at 11:11, 18 June 2016

2016-06-18T11:11:11Z

Tero K at 20:58, 28 August 2015

2015-08-28T20:58:50Z

Tero K: Text replacement - "\[\[([A-Z]{2,3})\]\]" to "{{param|$1}}"

2015-08-28T19:55:26Z

Text replacement - "\[\[([A-Z]{2,3})\]\]" to "{{param|$1}}"

Tero K at 10:45, 16 July 2015

2015-07-16T10:45:49Z

Tero K at 10:30, 16 July 2015

2015-07-16T10:30:47Z

Tero K at 10:29, 16 July 2015

2015-07-16T10:29:34Z

Tero K at 10:27, 16 July 2015

2015-07-16T10:27:14Z

Tero K: /* Setting parameters */

2015-07-16T10:21:40Z

‎Setting parameters

Tero K at 10:05, 16 July 2015

2015-07-16T10:05:29Z

@@ Line 1: / Line 1: @@
-[[File:Linearservo cutaway.jpg|thumbnail|Ironless linear motor cross-section]]
+[[File:Linearservo cutaway.jpg|thumbnail|Ironless linear motor cross-section|362px]]
 [[File:Linearmotorprinzip.png|thumb|Linear motor works just like rotary synchronous motor that has been cut open and straightened as flat]]
-[[File:Linearencoder.jpg|thumbnail|A typical sealed linear encoder]]
+[[File:Linearencoder.jpg|thumbnail|A typical sealed linear encoder|362px]]
 Linear servo motor is an actuator producing linear force or motion and is constructed from a linear motor and a linear feedback device such as linear encoder. Compared to rotary motor with lead screw, the main benefits of linear servos are very high speeds and zero mechanical backlash. The typical drawbacks are less available force and possibly high design time effort.

@@ Line 30: / Line 30: @@
 #Finally as usual, {{param|FBI}} parameter must be set properly to achieve proper configuration.
-It's also a good idea to set {{param|AXT}} type to Linear and set {{param|AXS}} to same as pole pair pitch.
+It's also a good idea to set {{param|AXT}} type to Linear and set {{param|AXS}} to same as pole pair pitch so velocities and distances calculated by Granity will be shown in correct scale.
 {{info|Granity always assumes that we’re setting up a rotary motor, and when choosing linear axis as AXT, it assumes it’s driven by rotary motor (leadscrew/belt/rack'n'pinion transmission). With linear motors, one should imagine words “pole pair” in place of “revolution” in all unit labels in Granity. I.e. when Granity says "mm per revolution" it means "mm per pole pair".}}

@@ Line 24: / Line 24: @@
 This example works with [[Granity]] software. Follow your drive's setup guide for all parts except these:
-#Set {{param|MT}} Motor type as 3 phase AC or BLDC motor
+#Set {{param|MT}} as 3 phase AC or BLDC motor
-#Set {{param|MPC}} Pole count to 2
+#Set {{param|MPC}} to 2
-#Set {{param|FBR}} Feedback device resolution to a value calculated as: Lines per mm*Pole pair pitch. For example if we have a linear encoder with 100 pulses per millimeter and a linear motor with 50 mm pole pair pitch (25 mm pole pitch), we calculate FBR = 100*50 = 5000. '''Important:''' check whether encoder resolution is specified as pulses or cycles per mm OR counts per mm - if it's defined as counts per mm (after 4X decoding), then this value needs to be divided by 4 to get pulses per mm which is the correct input value format.
+#Set {{param|FBR}} to a value calculated as: Lines per mm*Pole pair pitch. For example if we have a linear encoder with 100 pulses per millimeter and a linear motor with 50 mm pole pair pitch (25 mm pole pitch), we calculate FBR = 100*50 = 5000. '''Important:''' check whether encoder resolution is specified as pulses or cycles per mm OR counts per mm - if it's defined as counts per mm (after 4X decoding), then this value needs to be divided by 4 to get pulses per mm which is the correct input value format.
-#Set {{param|MTC}} Thermal time constant according to your motor. If the value is unknown, it is recommended to start with low values such as 30 seconds as the forcer of linear motor may have very low time constant. MTC attempts to protect motor from overheating.
+#Set {{param|MTC}} according to your motor. If the value is unknown, it is recommended to start with low values such as 30 seconds as the forcer of linear motor may have very low time constant. MTC attempts to protect motor from overheating.
 #Finally as usual, {{param|FBI}} parameter must be set properly to achieve proper configuration.

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 This example works with [[Granity]] software. Follow your drive's setup guide for all parts except these:
-#Set [[MT]] Motor type as 3 phase AC or BLDC motor
+#Set {{param|MT}} Motor type as 3 phase AC or BLDC motor
-#Set [[MPC]] Pole count to 2
+#Set {{param|MPC}} Pole count to 2
-#Set [[FBR]] Feedback device resolution to a value calculated as: Lines per mm*Pole pair pitch. For example if we have a linear encoder with 100 pulses per millimeter and a linear motor with 50 mm pole pair pitch (25 mm pole pitch), we calculate FBR = 100*50 = 5000. '''Important:''' check whether encoder resolution is specified as pulses or cycles per mm OR counts per mm - if it's defined as counts per mm (after 4X decoding), then this value needs to be divided by 4 to get pulses per mm which is the correct input value format.
+#Set {{param|FBR}} Feedback device resolution to a value calculated as: Lines per mm*Pole pair pitch. For example if we have a linear encoder with 100 pulses per millimeter and a linear motor with 50 mm pole pair pitch (25 mm pole pitch), we calculate FBR = 100*50 = 5000. '''Important:''' check whether encoder resolution is specified as pulses or cycles per mm OR counts per mm - if it's defined as counts per mm (after 4X decoding), then this value needs to be divided by 4 to get pulses per mm which is the correct input value format.
-#Set [[MTC]] Thermal time constant according to your motor. If the value is unknown, it is recommended to start with low values such as 30 seconds as the forcer of linear motor may have very low time constant. MTC attempts to protect motor from overheating.
+#Set {{param|MTC}} Thermal time constant according to your motor. If the value is unknown, it is recommended to start with low values such as 30 seconds as the forcer of linear motor may have very low time constant. MTC attempts to protect motor from overheating.
-#Finally as usual, [[FBI]] parameter must be set properly to achieve proper configuration.
+#Finally as usual, {{param|FBI}} parameter must be set properly to achieve proper configuration.
-It's also a good idea to set [[AXT]] type to Linear and set [[AXS]] to same as pole pair pitch.
+It's also a good idea to set {{param|AXT}} type to Linear and set {{param|AXS}} to same as pole pair pitch.
 {{info|Granity always assumes that we’re setting up a rotary motor, and when choosing linear axis as AXT, it assumes it’s driven by rotary motor (leadscrew/belt/rack'n'pinion transmission). With linear motors, one should imagine words “pole pair” in place of “revolution” in all unit labels in Granity. I.e. when Granity says "mm per revolution" it means "mm per pole pair".}}

@@ Line 1: / Line 1: @@
 [[File:Linearservo cutaway.jpg|thumbnail|Ironless linear motor cross-section]]
 [[File:Linearmotorprinzip.png|thumb|Linear motor works just like rotary synchronous motor that has been cut open and straightened as flat]]
 Linear servo motor is an actuator producing linear force or motion and is constructed from a linear motor and a linear feedback device such as linear encoder. Compared to rotary motor with lead screw, the main benefits of linear servos are very high speeds and zero mechanical backlash. The typical drawbacks are less available force and possibly high design time effort.

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 ==Configuration==
 ===Preparations===
 Needed parameters of linear motor:
 *Magnetic pole pair pitch (this equals 2x pole pitch)
@@ Line 18: / Line 17: @@
 Needed linear feedback device parameters:
 *Resolution (lines or pulses per millimeter)
 ===Setting parameters===
@@ Line 40: / Line 40: @@
 [[Category:Argon_user_guide]]
 [[Category:Setup_guides]]

← Older revision		Revision as of 10:21, 16 July 2015
Line 30:		Line 30:

	It's also a good idea to set [[AXT]] type to Linear and set [[AXS]] to same as pole pair pitch.		It's also a good idea to set [[AXT]] type to Linear and set [[AXS]] to same as pole pair pitch.
		+	{{info\|Granity always assumes that we’re setting up a rotary motor, and when choosing linear axis as AXT, it assumes it’s driven by rotary motor (leadscrew/belt/rack'n'pinion transmission). With linear motors, one should imagine words “pole pair” in place of “revolution” in all unit labels in Granity. I.e. when Granity says "mm per revolution" it means "mm per pole pair".}}

	===Troubleshooting===		===Troubleshooting===

@@ Line 30: / Line 30: @@
 It's also a good idea to set [[AXT]] type to Linear and set [[AXS]] to same as pole pair pitch.
 ==EMI notice==
 Especially ironless linear motors are known to leak large amounts of [[electromagnetic interference]] due to open construction and lack of Faraday's cage. It may be necessary to use an [[Edge filter]] between the drive and motor to reduce the amount of EMI.
-[[category:Argon user guide]]
-[[category:Setup guides]]
+[[Category:Argon_user_guide]]