Index

Accuracy Belt drives, 81 Brushed potentiometers, 119 In encoders, 107 Inductosyn, 125 Linear optical encoders, 129 LVDT, 119 Motion control requirements, 31 Aerospace applications, 28 Automation, 1 Automotive applications, 27 Ball screw, see Lead screw Bearings Air, 88 Conventional, 85 Magnetic, 89 Belt drives Application factor, 83 Construction, 81 Brushed d.c. motors, 137 Iron-rotor, 141 Ironless-rotor, 139 Printed-circuit motor, 143, 154 Torque motor, 141 Brushless motors d.c, 172 General arrangements, 170 Linear, 188 Sinewave wound, 182 CAN, 278 CNC, 2-11,259 Computer Numerical Control, see CNC Controllers 289 Axis, 259 Brushless d.c. motor, 178 Digital, 253 Four-quadrant thyristor, 145 Machine tool, 259 Servo, 248 Stepper motors, 227 Switched reluctance motors, 243 Couplings, 90 Datum position, 135 DeviceNet, 278 Digital signal processors, 257 Drift In controllers, 253 In encoders, 108 Drive assessment Earthing, 56 EMC and EMI, 53 Environmental protection, 61 Mechanical compatibility, 52 Supply considerations, 57 Wiring, 55 Drive shaft Static behaviour, 92 Transient behaviour, 93 Dynamics Linear systems, 43 Rotary systems, 35 Earth Systems, 56 Effects on utility supply, 57 Electrohydrostatic actuator, 30 Electromagnetic compatibility, see EMC Electromagnetic interference, see EMI

290 EMC, 32, 53 EMI, 53, 59 Environmental protection, 32, 61 Ethernet, 278 Example Belt drive design, 84 Continuous duty, 98 FEMA, 66 Inability to meet requirements., 103 Optimum gear ratio, 43 Polynomial profile, 51 Shaft design, 93 Static error in stepper motors, 224 Induction motor, 197 Intermittent duty, 101 Lead screw application, 80 Linear motor application, 104 Planetary gearbox, 75 PWM form factor, 154 Regeneration, 167 Triangular and trapezoidal profiles, 50 Form factor, 154 Friction In bearings, 85 In encoders, 108 Linear, 44 Torque, 37 Gear ratio Definition, 39 External gears, 72 Internal gears, 72 Loads with variable inertias, 42 Optimum value, 41 With an external load, 41 Without an external load, 40 Gears Anti-backlash, 124 Cycloid, 77 Harmonic, 75, 76

INDEX Helical, 72 Mechanical installation, 131 Planetary, 72 Spur, 72 Hazard analysis, 65 Hazards and risk, 62 Home switch, 135 Inductosyn, 125 IP ratings, see Environmental protection Laser cutting, 7 LAT, 237 Lathes, 5 Lead screw Efficiency, 80 Operation, 78 Limited-angle torque motors, see LAT Linear amplifiers, 145 Linear variable differential transformers, see LVDT Linearity In encoders, 108 LVDT, 27, 119 Machine tools, 4 Controllers, 259 Conventional, 4 Non-conventional, 7 Matrix converter, 211 Model reference adaptive control, 211 Moment of inertia, 36 Motion Profiles Polynominal, 50 Trapezoidal, 47 Triangular, 47 Motor sizing Linear, 103 Rotary Continuous duty, 98 Intermittent duty, 99

INDEX NC,2 NEMA, 62 Networks, 272 OSI model, 275 Numerical control, see NC Parallel axis theorem, 42 Piezoelectric motors, 239 PLC Combinational logic, 265 Overview, 262-265 Sequential-logic programming, 267 Power conditioning, 59 PROHBUS, 279 Programmable logic controllers, see PLC Pulse width modulation, see PWM PWM, 148 Analysis, 151 Bipolar switching, 149 Generation, 155 Quantisation error, 113 Radio-frequency interference, see RFI Redundancy in manipulators, 17 Regeneration, 162 Repeatability In encoders, 108 Resolution Digital, 113 In encoders, 108 Resolvers For motor commutation, 187 Installation, 131 Operation, 120-123 RFI, 54 Risk management, 62 Robots Biologically inspired, 23 Definition, 11 Hands, 18 Industrial, 11 Kinematics, 14 Legs, 24 Mobile, 23 RS 232, 273 RS 485, 273

291

SCADA, 279 Scalar control of induction motors, 198 Sensitivity In encoders, 108 Shape-memory alloy, 245 Stepper motors Control, 227 Half-stepping, 230 Hybrid, 218 Linear, 221 Static position accuracy, 223 Variable-reluctance Multistack,216 Single-stack, 218 Supply harmonics Definition, 57 Standards, 60 Switched reluctance motors, 240 Tachogenerators Brushed, 116 Brushless, 117 Torque motor, 141 Torque-speed characteristic Brushed d.c. motor, 138 Brushless d.c. motor, 176 Induction motor, 196 Sinewave wound brushless, 185 Stepper motor, 225 Transient behaviour Drive shafts, 93 Stepper motors, 225 Vector control Induction motors, 202 Sensorless, 211 With sensors, 207 Via points, 51

292 Voice coils, 235 Water jet machining, 10 Wiring Encoders, 133 Power, 55

INDEX