Description
ABB INNIS11 module
Contact: Mr. Lai
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Servo means “serve” and “obey”.
The servo system can be either an open loop control mode or a closed loop control mode. This article is described according to the latter.
1. Brief description of servo system
Servo mechanism refers to the control of the position, speed and acceleration of a mechanical system through closed loop control.
A servo system consists of controlled object, actuator and controller (load, servo motor and power amplifier, controller and feedback device).
The function of the actuator is to provide power for the controlled object. Its composition mainly includes the servo motor and power amplifier. The servo motor includes feedback devices such as photoelectric encoder, rotary encoder or grating (position sensor).
The function of the controller is to provide closed-loop control of the entire servo system, such as torque control, speed control, position control, etc. The servo driver usually includes the controller and power amplifier.
Feedback devices may require voltage, current, and speed sensors in addition to position sensors.
The following figure shows the composition block diagram of the general industrial servo system, in which the red is the component of the servo driver and the yellow is the component of the servo motor.
“Servo” – the word originates from the Greek word “slave”. People want to use the “servo mechanism” as a handy tool to tame and act according to the requirements of the control signal: before the signal comes, the rotor is still; When the signal comes, the rotor immediately turns; When the signal disappears, the rotor can stop automatically immediately. Because of its “servo” performance, it is named servo system.
About Motion Control
Motion Control (MC) originated from early servo control. In short, motion control is to control and manage the position and speed of mechanical moving parts in real time, so that they can move according to the expected motion track and specified motion parameters.
2 Common parameters
2.1 Servo motor nameplate parameters
Flange size
Number of motor poles
Rated output power of motor
Power supply voltage specification: single-phase/three-phase
Motor inertia: divided into large, medium and small inertia, which refers to the inertia of the rotor itself. From the perspective of response, it is better that the motor rotor inertia should be small; From the perspective of load, the greater the rotational inertia of the motor, the better
Motor output shaft type: keyway, flat shaft, optical shaft, reducer adaptation
Motor power line definition: U: RED V: BLACK W: WHITE
Rated speed
Number of encoder lines: 2500/1250/1000/17B/20B
Flanges are connected parts between shafts for connection between pipe ends.
2.2 Nameplate parameters of servo driver
Rated output power
Power supply voltage specification
Number of encoder lines
2.3 Performance index of servo system
Detection error: including the error of the given position sensor and the feedback position sensor, which is inherent in the sensor and cannot be overcome;
System error: the system type determines the system error.
As long as p+q>0, it has sufficient tracking ability for step input signal; For the speed input signal, the tracking ability of Type I system is greatly weakened, and the tracking error is inversely proportional to the proportional coefficient of the open-loop transfer function. Type II still has excellent tracking ability; For the acceleration input signal, only the Type II system can barely follow.
3 Servo motor related
3.1 Selection of servo motor
System accuracy: rotor inertia, motor type, torque jitter, etc. shall be comprehensively considered
Motor power: load mode and size, calculated output torque
Electric speed
Optional brake: the brake is used to lock the position when the motor stops, so as to prevent the motor from moving due to external force; Braking is not in operation.
Overload capacity
Common domestic brands: Anchuan, Delta, Yankong, Gemicam
3.2 Feedback device of servo motor
The operation of AC servo motor requires an angle position sensor to determine the rotation angle of the rotor pole relative to the stator winding at each time, so as to control the operation of the motor.
The photoelectric encoder plays three roles in AC servo motor control:
Provide data of mutual position between motor stator and rotor
Speed measurement through angle encoder, providing speed feedback signal
Provide angular displacement signal of transmission system as position feedback signal
The photoelectric encoder is the most common detection element in the servo system.
An encoder is a device that programs and converts signals (such as bit streams) or data into signals that can be used for communication, transmission and storage.
According to the detection principle, the encoder can be divided into optical, magnetic, inductive and capacitive. According to its calibration method and signal output form, it can be divided into three types: incremental, absolute and hybrid.
Incremental: one pulse signal is sent every unit of angle
Absolute formula: corresponding to a circle, each moving position of the moving parts has a corresponding code, usually represented by multiple bits of binary code, and multiple positions can be recorded and measured through external ring recording devices; The absolute coded data of the current position can be read out (memory function) even if the power is turned on again after the power is cut off.
Note: After the single turn absolute encoder is powered off, the motor will move for more than half a turn, which will result in the loss of position; After power failure of multi turn absolute encoder, the motor will move for more than 2048 turns, which will result in position loss.
A-B 1756-L84ES
A-B 1753-L32BBBM-8A
SCHNEIDER 140CPU65160
A-B 1407-CGCM
A-B 1407-CGCM
AB 1394-SJT22-T-RL
A-B 1394C-SJT22-A
AB 1336E-B030-AE-EN-HA2-L7E
A-B 1326AB-B720F-S2K7L
ABB 129740-002
STEMMANN 6263246
ZOGO 7702
TRICONEX 3721
TRICONEX 3721
TRICONEX 3625
TRICONEX 3009
ABB DSAX452
GE IC800SSI228RD2
GE HE700GEN200
REXRTOH TDM1.3-050-300-W1-000
WOODWARD 8440-1706
PTM PSMU-350-3
ELAU MC-4/11/10/400
SANYO DENKI P30B04010PCKST
ETHERWAN EMC1600
ABB XO08R2
GE HE700GEN200
WOODWARD 8200-226
KOLLMORGEN S20660-SRS
KOLLMORGEN S20260-SRS
ELAU ISH100/30025/0/0/00/0/00/00/00
KOLLMORGEN SERVOSTAR310
EMERSON 5X00106G01
EMERSON 5X00109G01
ABB 086339-001
ABB 086345-004
EMERSON 5X00489G01
EMERSON 1X0078H01L
EMERSON 1C31169G02
Company advantage service:
1.Has been engaged in industrial control industry for a long time, with a large number of inventories.
2.Industry leading, price advantage, quality assurance
3.Diversified models and products, and all kinds of rare and discontinued products
4.15 days free replacement for quality problems
1.Has been engaged in industrial control industry for a long time, with a large number of inventories.
2.Industry leading, price advantage, quality assurance
3.Diversified models and products, and all kinds of rare and discontinued products
4.15 days free replacement for quality problems
All kinds of module card driver controller servo motor servo motor embedded card wires and cables Power module control module is applicable to steel, hydropower, nuclear power, power generation, glass factory, tire factory, rubber, thermal power, paper making, shipping, navigation, etc
ABB — AC 800M controller, Bailey, PM866 controller, IGCT silicon controlled 5SHY 3BHB01 3BHE00 3HNA00 DSQC series
BENTLY — 3500 system/proximitor, front and rear card, sensor, probe, cable 3500/20 3500/61 3500/05-01-02-00-001 3500/40M 176449-01 3500/22M 138607-01
Emerson — modbus card, power panel, controller, power supply, base, power module, switch 1C31,5X00, CE400, A6500-UM, SE3008,1B300,1X00,
EPRO — PR6423 PR6424 PR6425 PR6426 PR9376 PR9268 Data acquisition module, probe, speed sensor, vibration sensor
FOXBORO — FCP270 FCP280 FCM10EF FBM207 P0914TD CP40B FBI10E FBM02 FBM202 FBM207B P0400HE Thermal resistance input/output module, power module, communication module, cable, controller, switch
GE —- IS200/215/220/230/420 DS200/215 IC693/695/697/698 VMICPCI VMIVME 369-HI-R-M-0-0-E 469 module, air switch, I/O module, display, CPU module, power module, converter, CPU board, Ethernet module, integrated protection device, power module, gas turbine card
HIMA — F3 AIO 8/4 01 F3231 F8627X Z7116 F8621A 984862160 F3236 F6217 F7553 DI module, processor module, AI card, pulse encoder
Honeywell — Secure digital output card, program module, analog input card, CPU module, FIM card
MOOG — D136-001-007 Servo valve, controller, module
NI — SCXI-1100 PCI – PXIE – PCIE – SBRIO – CFP-AO-210 USB-6525 Information Acquisition Card, PXI Module, Card
Westinghouse — RTD thermal resistance input module, AI/AO/DI/DO module, power module, control module, base module
Woodward — 9907-164 5466-258 8200-1300 9907-149 9907-838 EASYGEN-3500-5/P2 8440-2145 Regulator, module, controller, governor
YOKOGAWA – Servo module, control cabinet node unit
Main products:
PLC, DCS, CPU module, communication module, input/output module (AI/AO/DI/DO), power module, silicon controlled module, terminal module, PXI module, servo drive, servo motor, industrial display screen, industrial keyboard, controller, encoder, regulator, sensor, I/O board, counting board, optical fiber interface board, acquisition card, gas turbine card, FIM card and other automatic spare parts
ABB — AC 800M controller, Bailey, PM866 controller, IGCT silicon controlled 5SHY 3BHB01 3BHE00 3HNA00 DSQC series
BENTLY — 3500 system/proximitor, front and rear card, sensor, probe, cable 3500/20 3500/61 3500/05-01-02-00-001 3500/40M 176449-01 3500/22M 138607-01
Emerson — modbus card, power panel, controller, power supply, base, power module, switch 1C31,5X00, CE400, A6500-UM, SE3008,1B300,1X00,
EPRO — PR6423 PR6424 PR6425 PR6426 PR9376 PR9268 Data acquisition module, probe, speed sensor, vibration sensor
FOXBORO — FCP270 FCP280 FCM10EF FBM207 P0914TD CP40B FBI10E FBM02 FBM202 FBM207B P0400HE Thermal resistance input/output module, power module, communication module, cable, controller, switch
GE —- IS200/215/220/230/420 DS200/215 IC693/695/697/698 VMICPCI VMIVME 369-HI-R-M-0-0-E 469 module, air switch, I/O module, display, CPU module, power module, converter, CPU board, Ethernet module, integrated protection device, power module, gas turbine card
HIMA — F3 AIO 8/4 01 F3231 F8627X Z7116 F8621A 984862160 F3236 F6217 F7553 DI module, processor module, AI card, pulse encoder
Honeywell — Secure digital output card, program module, analog input card, CPU module, FIM card
MOOG — D136-001-007 Servo valve, controller, module
NI — SCXI-1100 PCI – PXIE – PCIE – SBRIO – CFP-AO-210 USB-6525 Information Acquisition Card, PXI Module, Card
Westinghouse — RTD thermal resistance input module, AI/AO/DI/DO module, power module, control module, base module
Woodward — 9907-164 5466-258 8200-1300 9907-149 9907-838 EASYGEN-3500-5/P2 8440-2145 Regulator, module, controller, governor
YOKOGAWA – Servo module, control cabinet node unit
Main products:
PLC, DCS, CPU module, communication module, input/output module (AI/AO/DI/DO), power module, silicon controlled module, terminal module, PXI module, servo drive, servo motor, industrial display screen, industrial keyboard, controller, encoder, regulator, sensor, I/O board, counting board, optical fiber interface board, acquisition card, gas turbine card, FIM card and other automatic spare parts
