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 you’re going to tell them. Tell them what you told them. Tell them what you want to tell 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 Demo’s 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 doesn’t 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 inter- faces (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 A servo controller with external input Motor connected to a feedback device Is a closed loop system How might this system work? What do we have here? The Feedback device can be Relative or Absolute.

The PID Controller Proportional- Integral-Derivative Requires 3 adjustments - Kp, Ki and Kd Requires TUNING Can be made to learn how the system operates Studying the PID controller can be a semester long course in Mechatronics.

A Complex PID Controller

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

Yaskawa Electric Hardware Sigma 5

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! Found ABQ representation in TMMI - Technical Marketing and Manufacturing Inc. Local Contact: Ernie Aragon Danaher is a Partner with National Instruments

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

REVIEW The project Servo systems in general, PID loop NI Motion Yaskawa Electric Danaher Motion QuickSilver Controls WHAT’S NEXT? Demonstrate QCI hardware Look at the QCI software Show a LabVIEW program running the camera Open for Q&A Review and look forward