Industrial Servo Motor Yaskawa AC Sigma II Servo Motor 30W 100V 6mm
SGMAH-A3BAF21
QUICK DETAILS
Manufacturer: Yaskawa
Product number: SGMAH-A3BAF21
Description: SGMAH-A3BAF21 is an Motors-AC Servo manufactured by
Yaskawa
Servomotor Type: SGMAH Sigma II
Rated Output: 750W (1.0HP)
Power Supply: 200V
Output speed:5000 rpm
Torque rating:7.1 Nm
Minimum operating temperature:0 °C
Maximum operating temperature:+40 °C
Weight:8 lb
Height:3.15 in
Width:7.28 in
Depth:3.15 in
Encoder Specifications: 13-bit (2048 x 4) Incremental Encoder;
Standard
Revision Level: F
Shaft Specifications: Straight shaft with keyway (not available
with revision level N)
Accessories: Standard; without brake
Option: None
Type: none
OTHER SUPERIOR PRODUCTS
| Yasakawa Motor, Driver SG- | Mitsubishi Motor HC-,HA- |
| Westinghouse Modules 1C-,5X- | Emerson VE-,KJ- |
| Honeywell TC-,TK- | GE Modules IC - |
| Fanuc motor A0- | Yokogawa transmitter EJA- |
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Let's discuss why one might want to introduce an Integral factor
into the gain (A) of the control. The Bode diagram shows A
approaching infinity as the frequency approaches zero.
Theoretically, it does go to infinity at DC because if one put a
small error into an open loop drive/motor combination to cause it
to move, it would continue to move forever (the position would get
larger and larger). This is why a motor is classified as an
integrator itself - it integrates the small position error. If one
closes the loop, this has the effect of driving the error to zero
since any error will eventually cause motion in the proper
direction to bring F into coincidence with C. The system will only
come to rest when the error is precisely zero! The theory sounds
great, but in actual practice the error does not go to zero. In
order to cause the motor to move, the error is amplified and
generates a torque in the motor. When friction is present, that
torque must be large enough to overcome that friction. The motor
stops acting as an integrator at the point where the error is just
below the point required to induce sufficient torque to break
friction. The system will sit there with that error and torque, but
will not move.
The excitation sequences for the above drive modes are summarized
in Table 1.
In Microstepping Drive the currents in the windings are
continuously varying to be able to break up one full step into many
smaller discrete steps. More information on microstepping can be
found in the microstepping chapter. Torque vs, Angle
Characteristics
The torque vs angle characteristics of a stepper motor are the
relationship between the displacement of the rotor and the torque
which applied to the rotor shaft when the stepper motor is
energized at its rated voltage. An ideal stepper motor has a
sinusoidal torque vs displacement characteristic as shown in figure
8.
Positions A and C represent stable equilibrium points when no
external force or load is applied to the rotor
shaft. When you apply an external force Ta to the motor shaft you
in essence create an angular displacement, Θa
. This angular displacement, Θa , is referred to as a lead or lag
angle depending on wether the motor is actively accelerating or
decelerating. When the rotor stops with an applied load it will
come to rest at the position defined by this displacement angle.
The motor develops a torque, Ta , in opposition to the applied
external force in order to balance the load. As the load is
increased the displacement angle also increases until it reaches
the maximum holding torque, Th, of the motor. Once Th is exceeded
the motor enters an unstable region. In this region a torque is the
opposite direction is created and the rotor jumps over the unstable
point to the next stable point.
When the feedback (F) does not match the command (C), an error (E)
is computed (C - F = E) and
amplified to cause the motor to run until C = F and E = 0. The
equations are simple and help provide
insight into the servo:
EA=F or E=F/A
and C - F = E OR C - F = F/A (substitution)
thus CA - FA = F
CA = F + FA
CA = F (1 +A)
CA/(1 + A) = F
The feedback (which is also the output) reproduces the command by
the ratio of A/(1 + A). If A is
large, this ratio becomes 1 and if small, it becomes A. Since a
motor is an integrator, if it is driven
with a constant error, it will run forever, so F (in position
terms) will increase indefinitely - this
means that the value of A is infinite (not really) for a DC error.
If E is a sine wave, the value of A
will vary with the frequency of that wave. When the frequency
doubles, A drops in half. If one plots
the ratio of A/(1 + A) with frequency, one gets a curve similar to
a simple R-C filter.
