Flux Vector AC Drive Control VS Servo Drive Control

Flux Vector AC Drive Control VS Servo Drive Control
Presented by: Kevin Miller- Motion Automation Eng Schaedler-Yesco Darryl Jacobs- Technical Consultant Rockwell Automation Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

Copyright © 2005 Rockwell Automation, Inc. All rights reserved.
Today’s Agenda 1. Flux Vector AC drive theory (FORCE) 2. Servo Drive Control theory 3. Application Examples 4. Technical performance comparisons 5. Rockwell Automation solutions Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

Basic Control Classes for AC drives
Basic Volts/Hertz Enhanced V/Hz Vector Control Volts/Hertz Control (V/Hz) V/Hz with current limiting, boost, and slip comp Sensorless Vector Control with slip comp. Flux Vector or Field Oriented Control w/ out Encoder I heard of space vector, sensorless vector, flux vector and just about every under the sun vector drive. What does all this mean? The 4 basic types of control can be tied to 3 basic control classes. What is vector control? Means you can separate flux current and torque current components. This is why sensorless vector can be considered a type of vector control. Many people also think of vector control as being able to send a torque reference. PF4 offers V/Hz w/ boost and current limit PF40 offers V/Hz w/ boost, current limit, and slip comp. Or Sensorless Vector. PF70 and 700 offers V/Hz w/ boost, current limit, and slip comp. Or Sensorless Vector. PF700VC offers V/Hz w/ boost, current limit, and slip comp. Or Sensorless Vector. Or Flux Vector. PF700S Offers Foc Flux Vector or Field Oriented Control w/ Encoder Fdbk Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

Breaking through the “vector” messages
Older and less expensive drives were limited to a volts per hertz ratio output. You could cap or limit the output current, add some boost start voltage level and more advanced drives allowed recalculating the voltage ratio to frequency or vector delta. Motor thermal protection was limited to current levels and Klixon contacts. More advance systems such as sensorless vector added I2T motor thermal modeling, better processors to calculate for faster response to load changes, takes into account the flux producing or magnetizing current that develops motor torque. Essentially sensorless vector offered best breakaway current torque performance across the entire speed range. Still the flux producing current is set to a level but not controlled. Adding encoder feedback options adds more finite samples in hard speed reference to supplement speed control and shorten response time. Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

Vector Control vs Flux Vector
Acknowledges that motor current is the vector sum of the torque and flux currents and uses this information to provide better control of motor speed/torque. Flux Vector Control The ability to independently control the flux and torque in a motor for the purpose of accurate torque and power control. Vector control in its simplest form acknowledges that the motor current in an AC drive is the vector sum of the flux and torque producing currents. It is because of this that some people would point out that even a Volts/Hertz drive could be considered a vector product. What distinguishes a product using using Field Oriented Control from a traditional vector product is its ability to separate and independently control (or regulate) the motor flux and torque. This will be explained in greater detail later in this presentation. Notice that in the definition of of Field Oriented Control we did not say “currents in an AC motor”. That’s because the concept applies equally well to DC motors and is the reason we can demonstrate “DC like” performance using Field Oriented Control on AC drives. Force Technology uses patented, high bandwidth current regulators in combination with an adaptive controller, to separate and control the motor flux and torque. This is a fundamental difference between Force Technology and other vector control techniques. Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

What is Flux Vector Control ?
The ability to independently control the flux and torque producing components of current in an motor for the purpose of accurate torque and power control. The significance of this is now beyond simply controlling the total current and voltage we can control the torque producing components in the motor just as independently as we can control voltage and overall current. Now the need for slip compensation to make up for a calculated torque slip factor of the motor is not needed as we now control what the torque differential is. Standard NEMA type induction motors always have a slip in design. This means we have control of production torque current across the speed range, not exclusively dependent on the motor natural torque curve. Adding a feedback device enhances all control regulation. Lets start by defining vector control. Vector control is the ability to independently control the flux and torque producing currents in a motor for the purpose of accurate torque and power control. Notice that this definition does not state the type of motor being used. That's because the generic definition applies to both DC and vector controlled AC motors. Field oriented control is the goal of all AC drive products which are referred to as vector, flux vector, or FOC type products. In the past the term “vector” was reserved for “high-end” products that had better speed and torque control. Today, we have seen the term “vector” become a generic term used to market a product, rather than describe its operation. Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

What advantage does flux vector offer?
Offers pure torque control to not break shafts or hold a web tension. Allows for holding torque at very low or zero speeds. Great for lifts or momentary hold in place until a brake can be applied or released. Maximizes with control how much torque can be produced out of a motor. This becomes a DC drive displacer as faster current response and torque control are equal to or better than DC drives. This does away with the typical DC motor wear issues with more standard induction motors. Flux vector offers a better bus regulation system as now more factors other than simply reducing output frequency are used to keep the DC bus level in check. Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

What is field oriented control?
In Allen Bradley it’s referred to as FORCE technology. This kicks the flux vector control level up a notch by adding a voltage component to the flux control feedback. Typically flux vector control calculates this value where FORCE will control all components of the flux producing magnetic field. Motor thermal calculations are now part of the control, not reacting. What this allows is even better bandwidth control, response and low speed torque control. Improving the bandwidth now tightens positional reference drift simply because the numbers are more finite. This means more torque and better low speed response. The same bandwidth improvement offers more advantages with high resolution feedback and works high torque/high speed/low power motors such as permanent magnet servo motors with low inertia. With FORCE keeping tighter controls of all facets of the motor it permits more servo like applications requiring tighter motor control. Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

Sensorless Vector – Encoderless
Separates current and voltage control What is the difference between sensorless vector curve and V/Hz curve? 1) Flatter torque. Higher torque at low end. 2) Straigher vertical line which means better speed regulation. The speed remains more constant with changing load. Looks like slip comp is on in this graph. Looks like it wasn't on in v/hz curve. Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

Flux Vector Encoderless
How is this different from the speed/torque curves of the other control techniques? Notice that the torque output is consistent from no load to full load over a very wide speed range. Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

Flux Vector w/ Encoder How is this different from the speed/torque curves of the other control techniques? Notice that the torque output is consistent from no load to full load over a very wide speed range. Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

Performance Comparison
Control Mode Fan/Pump or Custom V/Hz with slip comp SVC with slip comp SVC with feedback FOC or Flux Vector without feedback FOC or Flux Vector with feedback Typical DC Speed Regulation (% of base speed) +/- 0.5% +/- 0.1% +/ % +/ % Operating Speed Range 40:1 80:1 120:1 1000:1 Speed Bandwidth 10 rad/sec 20 rad/sec 50 rad/sec 250 rad/sec (VC) 300 rad/sec (S) 100 rad/sec Torque Regulation NA +/-10 % +/- 5 % +/- 5% Torque Bandwidth 600 rad/sec 2500 rad/sec 950 rad/sec What is speed regulation? Speed regulation means that if we give a step load change seen at motor shaft, drive will maintain speed within this percentage. What do radians mean? The drive can respond to a signal that is changing that fast. F=radians/2*pi f=2500/2*pi=399hz, 2.5 ms Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

What is ….. The Difference between Field Oriented Control (700S) and Flux Vector Control (700VC) No voltage feedback on 700VC, voltage fdbk is approximated Both the Powerflex 70 Enhanced control and Powerflex 700 offer the setting options of sensorless vector or flux vector control in the same drive. Impact and Force drive also use FOC Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

Let’s discuss what motion control is
So far with AC drives we have discussed speed and torque control. What servo motion control adds to the mix: *Maintaining position control *Speed, torque and position adjustments on the fly *Coordinating drive/motor running profiles or axis together *Having velocity and acceleration independent *Homing to a known start position *Repeatable and concise steps *Camming or following a pattern beyond just a speed ratio Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

The blurry line between drives and servos today.
The Powerflex 700 VC drive today can do: Torque Proving with fast brake control Indexing function with homing Speed profile blending …all without a PLC, using a standard induction motor and standard encoder feedback. This offers an option to use standard like parts across small and large HP ranges. Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

The blurry line between drives and servos today.
The Powerflex 700S with Drivelogix goes even further in offering: *Electronic Gearing *Absolute Position Control *High resolution feedback capable *Dual feedback device capable *High speed Synchlink control (50 microsec) and co-orination *Will run standard AC motors and servo motors *Uses standard AC drive components and accessories *Accepts 25 most common RSLogix5000 motion commands. Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

So why would I do motion control with a drive?
*Commonality of parts and training *Low to high HP ranges 1/2HP to 1250HP *Broad range of input voltage from single phase to 690V *Affords best fit for motor, gear and coupling type *Flange mount heat sink out the back options and stand alone NEMA 4X enclosure option *Another part of Integrated Architecture tag ready *Uses common AC drive accessories such as dynamic brake resistors, regen modules, communication cards *Choosing just enough performance within a drive family *Built in EMC filtering and common mode cores ….where it makes sense. Typical torque input response time is 750 microseconds! Typical speed input response time is about 1 millisecond. Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

Powerflex 700 applications
Powerflex 70 and 700 handle a wide variety of VT and CT applications with common AC induction motors. Fans Pumps Conveyors Palletizers Lifts Automated Storage and Retrieval Food Packaging Machine Tool …virtually anywhere motor speed or torque control is applied. Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

PowerFlex 700S / Applications
Coating Lines Tenter Frames Bottling Re-winder Plaster board Line Accelerator rolls Stamping Nip Rolls Copper Line Converting Lab Lines Spline Rolling Machine Coating Lab Line Lay on Roll for Turret Winder Turntable Transfer Backery Line Roll Grinding Hoist Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

Where do servo drives make more sense…
Where speed regulation is precise. Where positioning in precise and must be repeatable. Where gearing and transmissions are required while maintaining position accuracy. Much easier to coordinate multiple axis operation. Where many different move types with varying accel/decel profiles are required. When precise speed, torque, position and axis move coordination are all required to perform the task. Where getting the best match motor to match the load requires is essential for best performance at the best cost. In short something designed for the job. Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

Some basic servo motion control differences
Motion control typically runs in a very tight accuracy range for speed and position. A feedback device is almost always used. Servo tackles moving a load with high speed motors attached to low gearing. This affords high accuracy at slow speeds, higher velocity points and smallest possible hardware. It’s the current that costs real money in hardware. Servo motors and drives are designed to handle very quick acceleration and deceleration ramps. This high velocity ramp affords tremendous torque. Zero speed for holding torque is common with motor brakes just for parking. Motion controllers have the ability to adjust to maintain a positional reference, can maintain a home position reference via tracking and/or absolute feedback. Servo motors typically can produce 2 to 2.5 times their rated torque in peak delivery. As such most servo drives peak at 200% Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

Comparing Performance
PF700S with Drivelogix Ultra3000 Ultra5000 Kinetix 6000 Position Loop Task Update Time 1msec 500 usec 125 usec Velocity Loop Task 250 usec Sercos Minimum Cycle Time N/A 1 msec Registration input time 8msec 4-8 usec 3usec Torque Control Task Update Time usec Across the board servo drives are design for much faster control update rates. Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

Some basic servo motion control differences
Same no blower design to 7250RPM Servo motor permanent magnet design is high torque delivery, low inertia, high speed with quick acceleration to fit in tight spaces. Mountings and shafts are design for plum direct mounting. The longer case design is to maximize torque at all speeds with great heat dissipation for quick speed changes over a very wide speed range. This same design offers very incremental concise moves. A fast response drive to control this type of motor. Standard round frame AC motors are designed with gaps in 2 to 8 pole configurations more suitable speed and torque regulation, not positioning. The motor itself is really a transformer with the stator to rotor pull being the secondary. The exception is a true laminated motor. More poles means more torque but usually more slip. Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

Motion Control via Servo
“Closed Loop Position Servo ” Motion Control Definition Standard Drives -vs- “Closed Loop Position Servo” Motion Control Position control with the ability to stay on track. Typical drive application will allow position to slip with no means of recovery without manual homing. Applications include: Converting Industry Example Packaging Industry Example Food & Beverage Example Assembly Example Metal Forming Example

Servo Motion Control Define “Closed Loop Position Servo” Motion Control Motion Control is the process of managing or directing the movement of machinery or equipment. Automated equipment employing “Closed Loop Position Servo” Motion Control will provide machine movement that is: Accurate Accurate- Capable of moving to a precise position! Repeatable Repeatable- Capable of moving to the same precise position every time the machine is commanded to do so!

Servo Motion Control Define “Closed Loop Position Servo” Motion Control The “Pick & Place” motion application on the right is used in a variety of industries. Application examples include product transfer lines, component insertion, etc.. The “Pick & Place” example further clarifies the concept of “Accurate” and “Repeatable”. Accurate: The “Pick & Place” unit is typically commanded to precise locations to assure that packages or components are inserted to specification. Precision is determined by the application requirements. Position accuracy of XX.0010” (accurate to 1 thousandth of an inch) are common. Position 2 Position 1 Pick and Place

Servo Motion Control Define “Closed Loop Position Servo” Motion Control Repeatable: Closed Loop Position Servos are frequently applied in a production environment where thousands of identical assemblies are manufactured daily. To assure product quality and reliability, components must be assembled to tight tolerances (identical). Motion Controllers typically move to multiple positions each time a part is manufactured. It must be capable of repeating those exact movements for each part. Position 2 Position 1 Pick and Place

Servo Motion Control Define “Closed Loop Position Servo” Motion Control Standard Drives –vs-Closed Loop Position Servo Frequently, people ask, “What is the difference between a ‘Standard Drive’ and a ‘Closed Loop Position Servo’?” Typically, In Standard Drive applications, speed (velocity) is the main control parameter. Speed controlled by a “Standard Drive” Rotary Knives are frequently used in industry to cut material to specified lengths. In this Rotary Knife example a “Standard Drive” is used to control the speed of the Material(aka “Web”) feed. Rotary Knife

Position of Knife controlled by “Closed Loop Position Servo”
Servo Motion Control Define “Closed Loop Position Servo” Motion Control Standard Drives –vs-Closed Loop Position Servo In Closed Loop Position Servo applications position is the main control parameter. Velocity can vary to maintain position. Position of Knife controlled by “Closed Loop Position Servo” The Closed Loop Position Servo ( AKA “Servo”) is used to position the cutter to cut the material to the desired length. Rotary Knife

Photo-eye wired to Motion Controller’s “Registration Input”
Servo Motion Control Application Examples of Motion Control in Industry In packaging applications, Servo Driven “Smart Belts” are used to position randomly spaced packages into evenly spaced packages. The evenly spaced packages are fed to downstream equipment for further processing. “Smart Belts” typically use photo-eyes to detect product. These Photo-eyes are typically wired to a special motion controller “high speed” input called a “Registration Input”. Photo-eye wired to Motion Controller’s “Registration Input” Smart Belt

Servo Motion Control Application Examples of Motion Control in Industry Vertical Form, Fill & Seal machines are used in the food industry for a wide variety of packaging applications. Applications include high speed candy packaging and low speed coffee packaging. Typically, product is fed into a pouch and sealed on both ends. Servos are used to feed the packaging material and to seal/cut the pouch on both ends of the package. Servos eliminate waste by feeding the packaging material to the proper length while synchronizing the cutter. Servo driven packaging material feed. Servo driven cutter in synchronization with material feed. Vertical

Servo Motion Control Belt Actuator converts rotary motion to linear motion Application Examples of Motion Control in Industry In the semiconductor industry, the Wet Bench is used for transferring sliced semiconductor wafers through a series of chemical baths to clean and remove residue left from the slicing of the semiconductor wafer. A servo driven mechanical actuator is used to lift the boat of wafers out of the dip tank. A longer horizontal servo driven actuator is used to shuttle the load from one tank to another. Ball Screw Actuator converts rotary motion to linear motion. Wet Bench

Servo Motion Control Application Examples of Motion Control in Industry Press feeds are used to feed sheet steel in to a mechanical press. Press machinery is used in a variety of industries including automotive and motor manufacturing. Servos are used to feed material into the press in correct lengths. In this application, the servo motors rotates pinch rolls( apply pressure and pull material). Product lengths can be modified in the motion controller. Press Feed

Basics of Motion Hardware and Factors
Basic Motion Hardware These are some of the basic hardware items involved in motion. Servo Motor Servo Drive Actuator Transmission Stage Motor Current Motor Voltage Motion Controller Motion Controller Software Overtravel Switch Home Switch Brake Control, feedback, brake and power cables. Basic Motion Application Sizing and Operation *Total and Mismatch Inertia *Cycle Profile or Indexing *Gearing *Rotary or Linear load Peak Torque/Velocity/Current *Bus Utilization *Registration *Shunt Requirements *Absolute Feedback *Continuous and Peak Stall Torque

Basics of Motion Hardware
Basic Motion Hardware The “Pick and Place” example is an interesting linear application to study in greater detail. It employs the basic motion components. Motor with Feedback Machinery Transmission Stage Movement Negative Overtravel Limit Switch Load Home Limit Switch Positive Overtravel Limit Switch Table Ballscrew

Basic Motion Hardware The shaded area below identifies the major controller components of a motion control system. In the next series of slides, we’ll define the basic operation of each component and explain how they interact with each other to function as a system. Machinery Transmission Stage Movement Motor with Feedback Negative Overtravel Limit Switch Load Home Limit Switch Positive Overtravel Limit Switch Table Motor Power Ballscrew Position Feedback Servo Drive Command Signal Motion Controller Motion Software Position Feedback Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

Basics of Motion Control in Operation
Basic Motion Hardware Motion Controller Functions Control the Motion When executing motion programs, motion controllers provide precise control of: Position Velocity Acceleration In a typical AC drive application the acceleration rate is a constant 0 to maximum speed value unless set by another action such as a digital input. Motion Controller Command Signal Position Feedback Machine Motion Controllers maintain precision by continually comparing the machine’s actual position (Position Feedback) to “where it should be” (Commanded position). The Command Signal to the machine corrects errors very quickly. Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

Basic Motion Hardware The Motion Controller is the “Brains” of the system. Motion controllers serve (3) primary functions: Motion Controller Functions Store and Execute Motion Programs Control the Motion Store Configuration Parameters Motor with Feedback Motor Power Position Feedback Servo Drive Motion Controller Command Signal Motion Software Position Feedback Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

Basics of Motion Basic Motion Hardware Servo Drives interpret the Motion Controller command signal and control the amount of speed and torque delivered by the motor. Drives accomplish this task by converting plant power to the voltage and current levels required by the motor to control the application. The commands can be analog, digital, networks or fiber interface. One thing to take notice of here is we’re getting into more control cabling and addition programming than a typical drive application. Motor with Feedback Motor Power Plant Power Position Feedback Servo Drive Motion Controller Command Signal Motion Software Position Feedback Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

This sounds complicated…any way to simplify?
Selecting the best solution has never been easier. It starts with a good machine concept and hard mechanical load data. Rockwell Automation Motion Analyzer software can walk through the moves, offer hardware choices and show all possible solutions in graphic detail. Best part is it’s a free download. Most important is consult with your Schaedler-Yesco motion specialist. Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

That sure looks like a lot of wires…
For applications where a single axis, simple digital, analog or pulse reference control is required, Allen Bradley offers: Ultra 1500 (115V & 230V) Ultra 3000 (230V and 460V) Ultra 3000 Indexer Ultra 3000 Devicenet (w/Indexer too) Ultra 5000 stand alone controller Ultraware drive set up software A huge variety of pre-molded control and feedback cables and breakout terminal boards Micrologix with pulse output control Contrologix 2 axis analog servo control card …but there is a better way… Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

Motion in Integrated Architecture
A motion control system that allows you to connect over a SERCOS fiber optic ring to the following drives: Kinetix 6000 Kinetix 7000 Ultra3000 1394 A combination of architecture, world class A-B motion products, and motion application expertise. Kinetix motion is part of Integrated Architecture. With integrated motion, the power platform can be whatever the customer wants. We now have 230 volt stand-alone amplifiers as well as 460 volt common bus amplifiers. With analog cards, we can use anyone’s amplifier. With SERCOS, we can bundle the package to provide the complete solution. A cost effective integrated solution that provides you with everything you need to be cost-effective and competitive. Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

Where does Kinetix fit? Any application that requires: metal forming
case packing cartoning pouch filling bottling canning pharmaceutical packaging food processing flow wrapping palletizing labeling automated assembly positioning conveyors pick and place robotics laminating wrapping press feed tire assembly electronic line shafting Any application that requires: accurate positioning of product rapid acceleration/deceleration precise speed control with varying loads repeatability, accuracy, cycle timing, maintenance of mechanical clutches/brakes an entire Rockwell Automation machine system solution Focused on these industries: Packaging Material Handling Converting Assembly And others . . . Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

Motion control already in RSLogix5000
components are eliminated one integrated sequential and motion controller one software package 2 Software Packages 2 Programming Languages Extra Communication Logic Coordination 1 Software Package 1 Programming Language 1 Processor Drives located remote from the control minimizing cabinet space each segment (node-to-node) of a SERCOS ring can be up to 32 meters in length using economical plastic fiber, or up to 200 meters using glass fiber. M16SE control up to 16 axes per module $193.75/axis M08SE controls up to 8 axes per module $262.50/axis M02AE 2 axes Analog $2100 $1050/axis Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

fiber optic connection
Time is money less expensive and easier to wire fewer axis module cards required two fiber connections replace 18 discrete wires per drive, eliminating 36 terminations per axis fewer components to wire Completely digital interface analog terminal block fiber optic connection less time required to implement already integrated plug and play modules easy to add axes faster to start up easier to troubleshoot Click on links to see movie files for analog terminal block and fiber optic connection only one software package to purchase and learn Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

Less connections, faster uptime, lower total cost
smaller enclosure panel requirements saves money and floor space Eliminates lots of cabling for each axis All motion controller function resides in the Contrologix ControlLogix SERCOS Interface Motion Modules M16SE and PM16SE 16 axes SERCOS Module/Card with one fiber cable M08SE M03SE 8 and 3 axes SERCOS Module and 1756-L60M03SE Compactlogix 1768-M04SE 4 axis module Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

Kinetix 8 axis system example
Overall Wiring Reduction With Kinetix Integrated Motion Using The Kinetix 6000 Kinetix The new science of integrated motion Traditional Motion Controller 8 axis system example Which panel would they rather show their customers, have their maintenance men troubleshoot and pay to wire? Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

Overall Wire Terminations Reduction
485 Total 157 28 Controller to Drive Wiring Same 8 axis example showing control and power wiring comparison. 134 48 Registration I/O Wiring 90 Total 58 4 Control Power Wiring Reinforces where the savings come from. If a customer already uses SERCOS, they would have less wiring savings in one part. Give the conservative nature of the numbers we used, they probably will make it up in another section, such as input wiring. 16 3 Phase Power Wiring 136 Traditional Kinetix The new science of integrated motion Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

How else is it easier to use?
Start up is easier Drop down boxes and wizards High resolution feedback eliminates the need to tune servo drives in all but the most extreme cases Drives located remote from the control each segment (node-to-node) of a SERCOS ring can be up to 32 meters in length using economical plastic fiber, or up to 200 meters using glass fiber. RSLogix 5000 Direct Commands Online direct execution of motion commands -- no application program needed RSLogix 5000 Direct Commands Simplifies commissioning and debugging Allows selection and execution of 22 motion commands on-line via RSLogix5000 includes enable/disable, registration, fault reset, and motion commands Simple to use fill in the blank parameter specification Multiple command windows can be open for the same axis Simplifies machine integration and commissioning no need for an application program to test axis motion Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

What are the facts on speed of commissioning?
One software package (RSLogix 5000) Information enabled devices allow configuration, tuning, programming and monitoring out of one single package. Plug and play from one place. Typical time savings of 20% per axis One example of 40% total time saved SERCOS allows drive replacement without re-configuration Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

How else is it easier to use?
Simpler to Program 37 motion instructions simple to add motion commands to the application program. No need to learn a cryptic motion programming language. Choice of three IEEE languages: Ladder Structured Text (ST) Sequential Function Chart (SFC) Extensive use of graphical tools simplifies creating and implementing complex motion profile. RSLogix5000 is the only programming package required to completely configure, program, and commission a motion system. New CAM Editor enhancements for V11 Displays velocity, acceleration, and jerk plot simplifies CAM design by allowing resultant velocity, acceleration, and jerk plots to be viewed velocity, acceleration, jerk plots can be individually enabled and manipulated Conforms with the MAOC (Motion Axis Output Cam) profile editor format Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

How can this help me? High performance high resolution feedback option improves positioning accuracy and reduces cycle times absolute feedback option eliminates time consuming homing cycles super fast, up to 64ms loop closure ensures accurate load positioning digital commands replace range limited analog signals Improved diagnostics detailed drive and motor status information is available in RSLogix 5000 and the ControlLogix/Compactlogix/SoftLogix application program drive fault and status information is displayed in descriptive text, eliminating the need to interpret cryptic codes graphical trending allows important motion parameters to be collected and viewed All built in to RSLogix 5000 This graphic shows RSLogix 5000 camming (non-linear) profiles. This is used for circular and linear interpolation, which a customer may need for his application. The remote diagnostic capability means that a customer can get inside the parameters in the drive for troubleshooting and configuring. If a drive fails, a replacement can be added without reconfiguring the system. super fast 250us loop closure ensures accurate load positioning ???? Depends on processor drive, sercos card?????? Notes page Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

Where does Kinetix make more sense…
Multiple axis set up and control start to finish is far quicker with Kinetix. Coordinating axis is inherently easier. Information enabled hardware enhances time to running. Configure, tune and program all from the same software. Widest offering of motor ranges and accessories. SERCOS reduced connection count with outstanding performance. Simpler code reuse Better integration for monitoring and diagnostics Kinetix space saving rack mount design Reduced cabling time and cost Single control connection system Integral safety relay system …In short products designed to do the job with the best time to market. Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

So when do I use a standard drive or servo drive?
Evaluate your installed base of hardware, controllers and trained staff. Evaluate how repeatable and accurate the application is. Review what has to be mechanically interfaced. Identify the required speed and power range. Do you need to know where in the process you are if power fails. Review how distributed the application control is. Does the hardware configuration make more sense to connect via a network or digital interface? Review the needs of the application with which approach is best addressed with standard hardware. Discuss the application with your Schaedler-Yesco Allen Bradley automation specialist. Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

Allen Bradley drives solutions
115V to 6190V .5HP to 10,000HP Standard NEMA1 to 4X Configured boxed solutions Application Solutions software Common accessories, look and feel Drives for simple and challenging applications Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

Kinetix Family of Servo Drives
.1 KW .25 KW 1.2 KW 6.6 KW 15 KW 18 KW 22 KW 93 KW 150 KW Ultra3000 Kinetix 2000* Highly integrated motion control – SERCOS over the entire power range with Kinetix Kinetix 6000 Kinetix 7000 CompactLogix with SERCOS Interface 4 axis control * Available summer 2006 Copyright © 2005 Rockwell Automation, Inc. All rights reserved.

Flux Vector AC Drive Control VS Servo Drive Control

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