ELECTRICAL

SERVO
MOTOR

Servo Motor
AServo Motoris a motor which is part
of a servomechanism. It is typically
paired with some type of encoder to
provide positioning and speed
feedback.

Servo Motor Basics

A Servo Motor is defined as an
automatic device that uses an errorcorrection routine to correct its motion.
The term servo can be applied to
systems other than a Servo Motor;
systems
that
use
a
feedback
mechanism such as an encoder or
other feedback device to control the
motion parameters.

Servo Motor Basics

Typically when the term servo is
used it applies to a 'Servo Motor' but is
also used as a general control term,
meaning that a feedback loop is used
to position an item.

Servo Motor Basics

A servomechanism may or may not use a
servo motor. For example, a household furnace
is a servomechanism that is controlled by a
thermostat. Once a set temperature is reached,
there is feedback signaling it to shut off;
making it a servo in nature. The term servo
describes more of a function or task, than it
does a specific product line. For this guide, we
will discuss servo motors specifically.

Servo Motor Basics

A servo motor can be a DC, AC, or
brushless DC motor, combined with a
position sensor; in most cases, a
digital encoder. A servo motor is
typically the motor selected when it is
essential that there is a high degree of
confidence that the servo motor and
drive system will closely track what is
asked of it.

Physical Properties of a
Servo Motor
A Servo Motor consists of three major parts:
a motor, control board, and potentiometer
(variable resistor) connected to the output
shaft. The motor utilizes a set of gears to
rotate the potentiometer and the output shaft
at the same time. The potentiometer, which
controls the angle of the servo motor, allows
the control circuitry to monitor the current
angle of the servo motor.

Physical Properties of a
Servo Motor
The motor, through a series of gears, turns
the output shaft and the potentiometer
simultaneously. The potentiometer is fed into
the servo control circuit and when the control
circuit detects that the position is correct, it
stops the servo motor. If the control circuit
detects that the angle is not correct, it will
turn the servo motor the correct direction
until the angle is correct.

Physical Properties of a
Servo Motor
Normally a servo motor is used to
control an angular motion of between
0 and 180 degrees. It is not
mechanically
capable
(unless
modified) of turning any farther due to
the mechanical stop build on to the
main output gear.

Where are Servo

Motors used?
Servos are extremely useful in robotics
and automation. Servo motors are used
across
various
automation
fields
specifically where the motor must be able
to operate at a range of speeds without
overheating, operate at zero speed while
being able to retain its load in a set
position, as well as operate at low speeds .

Where are Servo

Motors used?
The aerospace industry makes use of
servo motors in their hydraulic systems to
contain system hydraulic fluid. The servo
motor is relatively small in size, yet very
powerful. A servo motor also draws power
proportional to the mechanical load.

What Industries are

Servo Motors used in?
Servo motors are seen in applications
such as factory automation, robotics, CNC
machinery, and packaging. The feedback
lets the drive know its position, speed,
and torque to detect unwanted motion.
Pharmaceutical industries are driven be
the need to create smaller devices; ones
that are easier to operate and function
more efficiently.

Industrial Servo
Motor
The grey/green cylinder is the brushtype DC motor. The black section at the
bottom contains the planetary reduction
gear, and the black object on top of the
motor is the optical rotary encoder for
position feedback. This is the steering
actuator of a large robot vehicle .

Industrial Servo
Motor

How Does a Servo

Motor Work?
Typical servo motor mechanism is not
complex. The servo motor has control
circuits and a potentiometer that is
connected to the output shaft. The shaft,
which is the output device, links to a
potentiometer and control circuits that
are located inside the servo .

How Does a Servo

Motor Work?
The potentiometer, coupled with
signals from the control circuits, control
the angle of the shaft anywhere from 0
to 180 degrees, sometimes further. The
potentiometer allows the control circuitry
to monitor the current angle of the servo
motor.

How Does a Servo

Motor Work?
If the shaft is at the correct angle, the
servo motor idles until next positioning signal
is received. The servo motor will rotate the
correct direction until the angle is correct.
Each servo motor works off of modulation
known as Pulse Coded Modulation, or PCM.
The motor has a control wire that is given a
pulse application for a certain length of time .

How are Servo

Motors controlled?
Servo motors operate on negative
feedback, meaning that the control input
is closely compared to the actual position
via a transducer. If there is any variance
between physical and wanted values, an
error signal is amplified, converted, and
used to drive the system in the direction
necessary to reduce or eliminate error.

How are Servo

Motors controlled?
Servo motors are controlled by a pulse
of variable width that is sent from a microcontroller output pin to the servo motors
control wire. The shaft angle is determined
by the duration of the pulse, also known
as pulse width modulation (pwm ). This
pulse has to have specific parameters
such as; minimum pulse, a maximum
pulse, and a repetition rate.

Servo Motor Types

1 . Rotary Servo Motor
A rotary Servo Motor is what most people think
of when they think of a Servo Motor. The three
types of Rotary Servo Motors are: AC Servo
Motor, Brush DC Servo Motor, and Brushless DC
Servo Motor. The motion of a rotary Servo Motor
is often converted into linear motion by the use
of a screw thread (ball screw or lead screw), or
with the use of belts and pulleys .

Servo Motor Types

1 . Rotary Servo Motor
A Rotary AC Servo Motor is an AC type
motor that is used with a feedback device.
These are typically used in smaller
applications, because a large AC Servo
Motor
is
typically
inefficient
when
compared
to
its
DC
or
Brushless
counterparts.

Servo Motor Types

1 . Rotary Servo Motor

Servo Motor Types

2 . Linear Servo Motor
A linear Servo Motor is a flattened
out Servo Motor where the rotor is on
the inside, and the coils are on the
outside of a moveable u-channel. Both
Servo Motor types are becoming more
popular as Servo Motor prices continue
to come down.

Servo Motor Types

2 . Linear Servo Motor

Servo Motor
Feedback
There are two options for Servo Motor
feedback controls, either a servo
encoder or a servo resolver. A servo
encoder and a servo resolver provide
the same solution in many applications,
but are vastly different. They are both
used to sense speed, direction, and
position of the Servo Motor output shaft.

Servo Motor
Feedback
The resolver on the Servo Motor uses a
second set of rotor and stator coils called
the transformer to induce rotor voltages
across an air gap. The resolver does not
use any electronic components, therefore
it is very robust with a high temperature
range, and is inherently shock-resistant
due to its design. A resolver is mostly used
in harsh environments .

Servo Motor
Feedback
The optical encoder on the Servo Motor
uses a rotating shutter to interrupt a
beam of light across an air gap between a
light source and a photo detector, over
time the wear associated with the
rotating shutter reduces the longevity
and reliability of the encoder. The
application will determine whether a
resolver or an encoder is needed.

Servo Motor
Feedback
Encoders are more accurate and are
easier to implement so they should be the
first choice for any application. The only
reason
to
choose
a
resolver
is
environmental concerns and longevity
requirements.

StepperMotor VersusServoMotor
Stepper Motor Advantages
Stability:A stepper motor
can drive a wide range of
frictional and inertial loads
Does Not Require Feedback:
The stepper motor also acts
as the position transducer

Servo Motor Advantages

High output:Power in relation to
the servo motor size and weight

Encoder:Determines the
accuracy and resolution of the
servo motor
High-efficiency:The servo motor
Price:Relatively inexpensive can approach 90% efficiency at
light loads
Standardized:NEMA
High Torque to Inertia Ratio:The
standard frame size and
servo motor can rapidly
performance
accelerate loads
A servo motor has 2-3 times
Plug and Play features:Easy
continuous power for short
to set up and use
periods

StepperMotor VersusServoMotor
Stepper Motor Advantages

Servo Motor Advantages

Safety:Thesteppermotorstopsif
A servo motor has 5-10 times rated
thereisamalfunctionorinterference torque for short periods
ExcellentLowSpeedTorque:The
A servo motor stays cool because the
steppermotorhastheabilitytodrive
current draw is proportional to load
severalloadswithoutgearing
Repeatability:Accuratelyreturnsto
A servo motor maintains usable high
thesamelocation-openloopsystem speed torque of 90% of NL RPM
Overloadsafe:Amechanicaloverload A servo motor performs quietly at high
cannotdamagethesteppermotor
speeds silently
Longevity:Ifthespecificationsofthe
A servo motor has a resonance-free and
motorarenotexceeded,thestepper
vibration-free operation
isgoodfor10,000hoursofoperation

END