Industrial Servo Motor 200V Yaskawa Made In Japan 400W Servo Motor SGMAH-04ABA21
QUICK DETAILS
Model SGMAH-04ABA21
Product Type AC Servo Motor
Rated Output 400w
Rated Torque 1.27 Nm
Rated Speed 3000RPM
Power Supply Voltage 200vAC
Rated Current 2.8Amps
OTHER SUPERIOR PRODUCTS
| Yasakawa Motor, Driver SG- |
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Emerson VE-,KJ- |
| Honeywell TC-,TK- |
GE Modules IC - |
| Fanuc motor A0- |
Yokogawa transmitter EJA- |
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A type 1 servo has an integrator (motor) as part of the amplifier, so the A term takes the form (KI/ω)∠-
90° as discussed in previously. As the frequency (ω) increases, the gain decreases. As the frequency
decreases, the gain increases and approaches ∞ when ω approaches 0.
In the steady state condition, the error (E) must approach 0 since the gain (A) approaches ∞. The result of
a 1.00" step command would be a final output of 1.00" and an error of 0".
If the input command is a ramp in position (constant velocity), the output will be a ramp in position of
precisely the same value (velocity), but lagged in position. This is true because a motor or integrator puts
out a position ramp (or velocity) with a constant error (voltage) applied to it. In the steady state (after
acceleration is over) the actual position (F) will lag the command (C) by the error (E), but the velocities
(ramp slope) of C and F will be identical.
The excitation sequences for the above drive modes are summarized in Table 1.
In Microstepping Drive the currents in the windings are continuously varying to be able to break up one full step into many smaller discrete steps. More information on microstepping can be
found in the microstepping chapter. Torque vs, Angle Characteristics
The torque vs angle characteristics of a stepper motor are the relationship between the displacement of the rotor and the torque which applied to the rotor shaft when the stepper motor is energized at its rated voltage. An ideal stepper motor has a sinusoidal torque vs displacement characteristic as shown in figure 8.
Positions A and C represent stable equilibrium points when no external force or load is applied to the rotor
shaft. When you apply an external force Ta to the motor shaft you in essence create an angular displacement, Θa
. This angular displacement, Θa , is referred to as a lead or lag angle depending on wether the motor is actively accelerating or decelerating. When the rotor stops with an applied load it will come to rest at the position defined by this displacement angle. The motor develops a torque, Ta , in opposition to the applied external force in order to balance the load. As the load is increased the displacement angle also increases until it reaches the maximum holding torque, Th, of the motor. Once Th is exceeded the motor enters an unstable region. In this region a torque is the opposite direction is created and the rotor jumps over the unstable point to the next stable point.
MOTOR SLIP
The rotor in an induction motor can not turn at the synchronous speed. In order to
induce an EMF in the rotor, the rotor must move slower than the SS. If the rotor were to
somehow turn at SS, the EMF could not be induced in the rotor and therefore the rotor
would stop. However, if the rotor stopped or even if it slowed significantly, an EMF
would once again be induced in the rotor bars and it would begin rotating at a speed less
than the SS.
The relationship between the rotor speed and the SS is called the Slip. Typically, the
Slip is expressed as a percentage of the SS. The equation for the motor Slip is:
2 % S = (SS – RS) X100
SS
Where:
%S = Percent Slip
SS = Synchronous Speed (RPM)
RS = Rotor Speed (RPM)