ALVIN

the Albuquerque LabVIEW Interest Network

An Overview of
Servo Motor System and
LabVIEW
Presented by Larry Goga
February 19th, 2009

The 3 rules for a good presentation!

Tell them what youre going

to tell them.
Tell them what you want
to tell them.
Tell them what you told them.

Presentation Overview
My project
Servo Systems in
General
National Instruments
LabVIEW and
NI Motion
Yaskawa Electric

Danaher Motion
QuickSilver Controls
Inc.
Summary & Review
Hardware and
Software Demos
Q&A

The PROJECT!
Process Camera
Not a normal 35mm film
camera
Made by Photo-Sonics
Circa 1972, 37 years old
Used for special effects
photography
Used for color
separations
Used for animation
Had interchangeable
motors

Color Separations

Convert color to B&W

Take 3 images of the same
frame
Synchronized with a color
wheel in the lamphouse
Black and white film doesnt
fade
New and pristine color prints
or negatives can be made in
the future by reversing the
process

The Inner
Workings
A mechanically adjustable shutter
with opening range of 0 to 170

The MOTOR(S)
3 different motors

Specifications
find a new motor and controller that would:

Run continuously from 1 fps

to 24 fps
Speed operator selectable
Run in Stop Motion (1 frame)
Run in Sep. Mode (3 frames)
Run Forward & Reverse
Selectable STOP (Shutter
open or closed)
Work with various user interfaces (stand-alone, virtual or
HMI)
Generate output triggers

Chase External Bi-Phase

Brushless Motor Design
Preferably American made
Reasonably priced
Work well in this application

and ideally

Be useable in other
applications
Most likely would be some
sort of a Servo Motor and
Controller System

What is a Servo System?

A closed-loop motion system using a
current amplifier, servo controller,
servomotor and a position feedback
device such as an encoder to precisely
control speed and position of a load.
The MOTOR can be electric, hydraulic,
pneumatic or even internal combustion.
The FEEDBACK sensor can be
mechanical or electronic, analog or
digital and it can be rotary or linear.

A Basic Servo System

What do we have here?

A servo controller
with external input
Motor connected to
a feedback device
Is a closed loop
system
http://www.baldor.com/pdf/manuals/1205-394.pdf How might this
system work?
The Feedback device can
be Relative or Absolute.

The PID Controller

ProportionalIntegral-Derivative
Requires 3
adjustments - Kp, Ki
and Kd
Requires TUNING
Can be made to
learn how the
system operates
http://www.ecircuitcenter.com/Circuits/pid1/pid1.htm
Studying the PID controller can be a semester long course in Mechatronics.

A Complex PID Controller

http://www.quicksilvercontrols.com/SP/TD/QCI-TD054_ServoTuning.pdf

Selecting a Servo System

Hundreds of vendors X Hundreds of choices
= Thousands of Options
Call your local NI Field Sales Engineer
Looked at Danaher Motion
Talked with Marc Christianson, NI Guru
Ruled out NI Motion
Suggested Yaskawa Electric

NI MOTION

Hardware and Software

SoftMotion, Motion Assistant,
PID Toolkit
PCI and PXI Hardware
Servo and Stepper Motor
Controllers and Drives
Universal Motion Interfaces
Tutorials
Toolkits and Sample Code
for LabVIEW Applications

www.ni.com/motion

Yaskawa Electric Hardware

Sigma 5

http://www.yaskawa.com

Yaskawa Electric Software

Hardware, Software
and
LabVIEW Solution

Yaskawa Review

Pros
LabVIEW Interface
Good Software
Brushless DC Motor
Auto Tuning Feature
Mass Moment of
Inertia Calculation
Good Support

Cons
Noisy
Moderately Expensive
Programmability
Universality
Support far away
Latency Issues

Back to the drawing board

Well, back to Danaher Motion anyway!

www.danahermotion.com

Danaher is a Partner
with
National Instruments

Found ABQ representation

in TMMI - Technical Marketing
and Manufacturing Inc.
http://www.tmmi.com/
Local Contact: Ernie Aragon

http://www.quicksilvercontrols.com/

Added an encoder
to a Stepper Motor
Free design software
LabVIEW Interface
Example Programs
Broad line of motors
and controllers
Local support

Review and look forward

REVIEW
The project
Servo systems in
general, PID loop
NI Motion
Yaskawa Electric
Danaher Motion
QuickSilver Controls

WHATS NEXT?
Demonstrate QCI
hardware
Look at the QCI
software
Show a LabVIEW
program running the
camera
Open for Q&A