Servo Drive is an electronic amplifier used to power servo motors. The servo drive monitors the feedback signals from a servo motor and continually adjusts for deviations in speed, position, and torque from its expected behavior. There are two different ways that a servo drive achieves its desired motion. First, a "PID" (Proportional, Integral, and derivative position loop) and a "PIV" (Proportional position loop, Integral and proportional Velocity loop) is used to detect and correct any disturbance on the servo drive speed, position, or torque. Second, "Feed forward control," which is used to track how well the actual motion follows what is being commanded on the servo drive. A Servo drive will incorporate both types of control to achieve the best performance.

Servo drive PID loop consists of the proportional, the integral, and the derivative values. The proportional value checks for the reaction to the current error, the integral value determines the reaction based on the sum of recent errors, and the derivative value determines the reaction based on the rate at which the error has been changing.

Servo Drive Proportional gain - For a quicker response time, increase the servo drives proportional gain. Excessively large value of proportional gain will lead to instability and oscillation.

Servo Drive Integral gain - The larger the servo drive integral gain value, the quicker the steady state errors are eliminated, which also creates a larger overshoot.

Servo Drive Derivative gain - The larger the value of the servo drive derivative gain decreases overshoot, but slows down transient response and may lead to instability due to signal noise amplification in the differentiation of error.

Anaheim Automation was established in 1966 as a manufacturer of "turnkey" motion control systems. Its' emphasis on R&D has insured the continued introduction of advanced motor drive/controller, such as the servo drive product line. Today, Anaheim Automation ranks among the leading manufacturers and distributor of motion control products, a position enhanced by its excellent reputation for quality products at competitive prices. The servo drive product line is no exception to the Company's goal.

Anaheim Automation offers a wide variety of standard servo drive products. Occasionally, OEM customers with mid to large quantity requirements prefer to have servo drive that is custom or modified to meet their exact design requirements. Sometimes the customization is as simple as a packaging modification, mounting dimensions, or a label. Other times, a customer might require that a servo drive meet an ideal specification such as, speed, torque, and/or voltage.

Engineers appreciate that Anaheim Automation's servo drive product line can answer their desire for creativity, flexibility and system efficiency. Buyers appreciate the simplicity of the "one-stop shop," and the cost savings of a custom servo drive design, while engineers are pleased with Anaheim Automation's dedicated involvement in their specific servo drive and motor system.

Anaheim Automation's standard servo drive product line is a cost-effective solution, in that they are known for their rugged construction and excellent performance. A considerable size of its sales growth has resulted from dedicated engineering, friendly customer service and professional application assistance, often surpassing the customer's expectations for fulfilling their custom requirements. While a good portion of Anaheim Automation's servo drive sales involves special, custom, or private-labeling requirements, the company takes pride in its standard stock base located in Anaheim, California, USA. To make customization of a servo drive affordable, a minimum quantity and/or a Non-Recurring Engineering (NRE) fee is required. Contact the factory for details, should you require a custom servo drive in your design.

All Sales for a customized or modified servo drive are Non-Cancelable-Non-Returnable, and a NCNR Agreement must be signed by the customer, per each request. All Sales, including a customized servo drive, are made pursuant to Anaheim Automation's standard Terms and Conditions, and are in lieu of any other expressed or implied terms, including but not limited to any implied warranties. Anaheim Automation's customers for the servo drive product line is diverse: companies operating or designing automated machinery or processes that involve food, cosmetics or medical packaging, labeling or tamper-evident requirements, cut-to-length applications, assembly, conveyor, material handling, robotics, special filming and projection effects, medical diagnostics, inspection and security devices, pump flow control, metal fabrication (CNC machinery), and equipment upgrades. Many OEM customers request that we "private-label" the servo drive used in their system or machinery, so that their customers stay loyal to them for servicing, replacements and repairs.

PLEASE NOTE: Technical assistance regarding its servo drive product line, as well as all the products manufactured or distributed by Anaheim Automation, is available at no charge. This assistance is offered to help the customer in choosing Anaheim Automation products for a specific application. However, any selection, quotation, or application suggestion for a servo drive, or any other product, offered from Anaheim Automation's staff, its' representatives or distributors, are only to assist the customer. In all cases, determination of fitness of the custom servo drive in a specific system design, is solely the customers' responsibility. While every effort is made to offer solid advice regarding the servo drive product line, as well as other motion control products, and to produce technical data and illustrations accurately, such advice and documents are for reference only, and subject to change without notice.

The following information is intended as a general guideline for the installation and mounting of the servo drive. WARNING - Dangerous voltages capable of causing injury or death may be present in the servo drive system. Use extreme caution when handling, testing, and adjusting during installation, set-up, tuning, and operation. It is very important that the wiring of the servo drive be taken into consideration upon installation and mounting.

Subpanels installed inside the enclosure for mounting servo drive and motor system components, must be a flat, rigid surface that will be free from shock, vibration, moisture, oil, vapors, or dust. Remember that the servo drive and motor will produce heat during work, therefore, heat dissipation should be considered in designing the system layout. Size the enclosure so as not to exceed the maximum ambient temperature rating. It is recommended that the servo drive be mounted in an upright position, providing adequate airflow. The servo drive and motor should be mounted in a stable fashion, secured tightly. NOTE: There should be a minimum of 10mm between the servo drive and any other devices mounted in the system/electric panel or cabinet. There should be at least 10mm space in the lateral direction and 50mm space in the longitudinal direction, between the servo drive and other electronic/electrical devices. For multi-axis systems, mount in the panel left to right according to power utilization (highest to lowest). If power utilization is unknown, mount from left to right based on Amp rating.

NOTE: In order to comply with UL and CE requirements, the servo drive must be grounded in a grounded conducive enclosure offering protection as defined in standard EN 60529 (IEC 529) to IP55 such that they are not accessible to the operator or unskilled person. As with any moving part in a system, the servo motor should be kept out of the reach of the operator. A NEMA 4X enclosure exceeds those requirements providing protection to IP66. To improve the bond between the power rail and the subpanel, construct your subpanel out of a zinc-plated (paint-free) steel. Additionally, it is strongly recommended that the servo drive be protected against electrical noise interferences. Noise from signal wires can cause mechanical vibration and malfunctions.

The following environmental and safety considerations must be observed during all phases of operation, service and repair of a servo drive and motor system. Failure to comply with these precautions violates safety standards of design, manufacture and intended use of the drive and motor. Please note that even a well-built servo drive and motor products operated and installed improperly, can be hazardous. Precaution must be observed by the user with respect to the load and operating environment. The customer is ultimately responsible for the proper selection, installation, and operation of the servo drive and motor system.

The atmosphere in which a servo drive and motor is used must be conducive to good general practices of electrical/electronic equipment. Do not operate the servo drive and motor in the presence of flammable gases, dust, oil, vapor or moisture. For outdoor use, the servo drive and motor must be protected from the elements by an adequate cover, while still providing adequate air flow and cooling. Moisture may cause an electrical shock hazard and/or induce system breakdown. Due consideration should be given to the avoidance of liquids and vapors of any kind. Contact the factory should your application require specific IP ratings. It is wise to install the servo drive and motor in an environment which is free from condensation, electrical noise, vibration and shock.

Additionally, it is preferable to work with the servo drive in a non-static protective environment. Exposed circuitry should always be properly guarded and/or enclosed to prevent unauthorized human contact with live circuitry. No work should be performed while power is applied. Don't plug in or unplug the connectors when power is ON. Wait for at least 5 minutes before doing inspection work on the servo drive and motor system after turning power OFF, because even after the power is turned off, there will still be some electrical energy remaining in the capacitors of the internal circuit of the servo drive.

Plan the installation of the servo drive and motor in a system design that is free from debris, such as metal debris from cutting, drilling, tapping, and welding, or any other foreign material that could come in contact with circuitry. Failure to prevent debris from entering the servo drive and motor system can result in damage and/or shock.

NOTE: Meeting CE Requirements requires a ground system, and the method of grounding the ac line filter and the servo drive must match. Failure to do this renders the filter ineffective and may damage.

The following information is intended as a general guideline for wiring of the Anaheim Automation servo drive and motor product lines. See the individual product specification sheets for each model. Be aware that when you route power and signal wiring on a machine or system, radiated noise from the nearby relays, transformers, and other electronic devices can be induced into the servo motor and encoder signals, input/output communications, and other sensitive low voltage signals. This can cause systems faults and communication errors. WARNING - Dangerous voltages capable of causing injury or death, may be present in the servo drive. Use extreme caution when handling, wiring, testing, and adjusting during installation, set-up, tuning, and operation. Don't make extreme adjustments or changes to the servo drive and motor parameters, which can cause mechanical vibration and result in failure and/or loss. Once the servo motor is wired, do not run the servo drive by switching On/Off the power supply directly. Frequent power On/Off switching will cause fast aging of the internal components in the servo drive, which will reduce the lifetime of servo drive and motor system. It's required to use reference signals to control the running of the servo motor drive.

Strictly comply with the following rules:
- Route high-voltage power cables separately from low-voltage power cables.
- Segregate input power wiring and servo drive and motor power cables from control wiring and motor feedback cables as they leave the servo drive. Maintain this separation throughout the wire run.
- Use shielded cable for power wiring and provide a grounded 360 degree clamp termination to the enclosure wall. Allow room on the sub-panel for wire bends.
- Make all cable routes as short as possible.
- Single point grounding is required when mounting the servo motor and servo drive, and grounding resistance should be lower than 100Ω.
- It's prohibited to apply power input noise filter between servo drive and servo motor.

Factory made cables are recommended for use in our high servo drive and motor systems. These cables are purchased separately, and are designed to minimize EMI. These cables are recommended over customer-built cables to optimize system performance and to provide additional safety for the servo drive and motor system and the user.

NOTE: Meeting CE Requirements for a servo drive and motor system requires a ground system, and the method of grounding the ac line filter and the servo drive must match. Failure to do this renders the filter ineffective and may cause damage to the filter. For grounding and filter suggestions, please contact the factory.

WARNING - To avoid the possibility of electrical shock, perform all mounting and wiring of the servo drive and motor system prior to applying power. Once power is applied, connection terminals may have voltage present, even when the servo drive and motor are not in use.

Anaheim Automation's cost-effective servo drive and motor product lines are the wise choice for both OEM and user accounts. Anaheim Automation's customers for the servo drive and motor product lines are diverse: industrial companies operating or designing automated machinery or processes that involve food, cosmetics or medical packaging, labeling or tamper-evident requirements, cut-to-length applications, assembly, conveyor, material handling, robotics, special filming and projection effects, medical diagnostics, inspection and security devices, pump flow control, metal fabrication (CNC machinery), and equipment upgrades. A servo drive and motor are often found in motion systems that require position, velocity and/or torque control.

Anaheim Automation also offers a servo drive and motor product line that integrates a matched servo motor, servo drive and controller in one unit. This design concept makes selection easy, thus reducing errors and wiring time. With friendly customer service and professional application assistance, Anaheim Automation often surpasses the customer's expectations for fulfilling specific servo drive and motor requirements, as well as other motion control needs.

NOTE: Technical assistance regarding the servo drive product line is available at no charge. This assistance is offered to help the customer in choosing Anaheim Automation products for a specific application. However, any selection, quotation, or application suggestion for a servo drive, or any other product, offered from Anaheim Automation's staff, its' representatives or distributors, are only to assist the customer. In all cases, determination of fitness of the servo drive in a specific system application is solely the customers' responsibility. While every effort is made to offer solid advice regarding the servo drive and motor in a specific application, and to produce technical data and illustrations accurately, such advice and documents are for reference only, and subject to change without notice. Anaheim Automation is in no event responsible or liable for indirect or consequential damages resulting from the use or application of the servo drive and motor. Improper use of a high torque servo motor in an application can result in personal injury or death, property damage, and/or economic loss.

There are two options for Servo Drive feedback controls, either a servo drive encoder or a servo drive resolver. A servo drive encoder and a servo drive resolver provides 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.

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's very robust with a high temperature range, and is inherently shock resistance due to its design. A resolver is mostly used in harsh environments.

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 photodetector, 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. 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 if environmental and longevity requires it.

The steam engine governor is considered the first powered feedback system that used a gain value so it is considered the first servo mechanism. The word servo motor comes from the French phrase "Le Servomoteur" or the "slave motor". The first known record of its use was by JJL Farcot in 1868 to describe steam engines and hydraulics for use in steering a ship.

A Motor Coupler is used in servo drive technology, machine tools, packaging machinery, automation systems, printing presses, industrial robots, control and positioning technology, and general mechanical engineering.

Stepper Motor Coupling are used in servo drive technology, machine tools, packaging machinery, automation systems, printing presses, industrial robots, control and positioning technology, and general mechanical engineering.

Anaheim Automation provides many different accessories for our Servo Motor. These accessories include a brake, encoder, connector, cable and a handheld interface unit. The Servo Motor brake is a 24vdc system. These Servo Motor brakes are perfect for any holding applications. They are available on many Anaheim Automation Servo Motor, and are already attached to the rear of Servo Motor. The Servo Motor brakes have a low voltage design for applications that are susceptible to weak batter, brown out, or long wiring runs. When electric power is applied to the Servo Motor' brake the armature is pulled by the electromagnet force in the magnet body assembly, which overcomes the spring action. This allows the friction disc to rotate freely. When electrical power is interrupted, the electromagnetic force is removed and the pressure spring mechanically forces the armature plate to clamp the friction disc between itself and the pressure plate. Anaheim Automation’s Servo Motors are designed with a 2500 counts per revolution quadrature encoder, with a resolution of 10,000 pulses per revolution. Anaheim Automation's Servo Motors come with all the necessary connectors to connect to another company's servo driver or an Anaheim Automation servo driver. These Servo Motor connectors can also be purchased separately if they are lost. Please refer to the user’s guide for a specific part number. Servo Motor cables can be made with the supplied Servo Motor connector, or can be purchased from Anaheim Automation. The Servo Motor cable comes with a standard length of 5M but can be adjusted to any length required.

A bipolar step motor in open-loop systems can provide accurate, dependable speed and positioning that can equal the best servo performance if installed correctly. Their simplicity allows them to function without tachometers, encoders, or other drawbacks that add to the cost of operation. Proper installation also makes it easy to pinpoint the exact effect of the operation, since they increment a precise amount with each control pulse. Likewise, the rate of control pulses determines motor speed so it too is totally predictable. Therefore, in the right mechanical environment, bipolar step motor systems can provide whatever degree of accuracy and reliability that is required. Designing a System: A bipolar step motor has several usage benefits over servos, the first being cost. In almost any application, bipolar step motor can be used at a fraction of the cost of servo. With servo drives, the problem of feedback loop phase shift and instability is common. However, the bipolar step motor is an open-loop system that completely void any potential problem that could arise in this area. The initial design phase for open-loop systems is similar to that of the servo system. Load characteristics, performance requirements, and mechanical design, including coupling techniques, must be thoroughly considered before a designer can effectively select the best appropriate bipolar step motor and driver combination for an application. Once these factors have been determined, the motor specifications and system motion controller, such as a computer or PLC, can be established. Then the design comes down to selecting the suitable driver and controller to produce the motion necessary for the application. Defining a Driver Pack: In order to obtain an optimum solution, the following factors must be considered: 1. Begin with the bipolar step motor(s) and controller you have selected for your application. 2. Make use of one driver for each motor. The driver must match the motor current (amps per phase). 3. Include a power supply that supports the driver(s) and motor(s). 4. Select an interface to handle communications between the control device and the indexer (parallel, RS422, RS232C, serial, PLC, or manual switches). 5. Configure the Driver Pack with items 2 through 4 as applicable, or see Driver Packs on our website. NOTE: When the wiring from a driver to a bipolar step motor extends beyond 25 feet, consult Anaheim Automation for additional assistance. Shielded motor cable is available and purchased separately.

The amount, speed, and direction of rotation of a stepper motor are determined by the appropriate configurations of digital control devices. Selecting the most compatible bipolar step motor driver, motor, and/or controller, can save the user money and be a less cumbersome motion control solution. Anaheim Automation categorizes the major types of digital control devices as follows: • Bipolar Step Motor Driver – offered in full-step, half-step and micro-step • Stepper Motor Controllers (sometimes referred to as Control Links – controllers indexers, and pulse generators sold separately or in drivers packs • Stepper Motor Driver Packs – packaged units that include drivers and optional controller, with a matched power supply (most models are enclosed units that are fan-cooled) • Integrated Bipolar Step Motor Driver/Controllers – packaged at the end of a stepper motor are drivers and simple controllers (only available for high-torque stepper motors) A bipolar step motor driver provides a method to precisely control speed and positioning. With each pulse converted into digital information, the motor is able to undergo an exact incremental rotation without the need for feedback mechanisms i.e. tachometers or encoders. With an open-loop system, the problems of feedback loop phase shift and resultant instability, common with servo drives, are eliminated. Before a designer selects a suitable bipolar step motor driver and motor combination for an application, there are certain variables needed to be considered. A designer must examine several parameters such as load characteristics, performance requirements, and mechanical design including coupling techniques for an optimal solution for a bipolar step motor driver and motor combination. Failure to do so may result in poor system performance or cost more than necessary. For optimum bipolar step motor driver motion control, the following factors should be taken into consideration: 1. Parameters: a. Distance to be traversed b. Maximum time allowed for a traverse c. Desired detent (static) accuracy d. Desired dynamic accuracy (overshoot) e. Time allowed for dynamic accuracy to return to static accuracy specification (settling time) f. Required step resolution (combination of step size, gearing, and mechanical design) g. System friction: All mechanical systems exhibit some frictional force. When sizing the motor, remember that the most must provide enough torque to overcome any system friction. A small amount of friction is desired since it can reduce settling time and improve performance h. System inertia: An object’s inertia is a measure of its resistance to changes in velocity. The larger the inertial load, the longer it takes a motor to accelerate or decelerate the load. The speed at which the motor rotates is independent of inertia. For rotary motion, inertia is proportional to the mass of the object being moved times the square of its distance from the axis of rotation i. Speed/Torque characteristics of the motor: Torque is the rotational (in ounce-inches) defined as a linear force (ounces) multiplied by a radius (inches). When selecting a bipolar step motor driver and motor, the capacity of the motor must exceed the overall requirements of the load. The torque any motor can provide varies with its speed. Individual speed/torque curves should be consulted by the designed for each application j. Torque-to-Inertia Ratio: This value is defined as a motor’s rated torque divided by the rotor’s inertia. This ration (measurement) determines how quickly a motor can accelerate and decelerate its own mass. Motors with similar torque ratings can have different torque-to-inertia ratios as a result of varying construction k. Torque margin: Whenever possible, a bipolar step motor driver which can provide more torque than is necessary should be specified. This torque margin allows for mechanical wear, lubricant hardening, and other unexpected friction. Resonance effects can cause the motor’s torque to be slightly lower at some speeds. Selecting a bipolar step motor driver and motor system that provides at least 50% margin above the minimum required torque is ideal. More than 100% may prove too costly 2. Calculation: Measurement of inertia, friction and workloads reflected to motor. a. In an open-loop stepper motor drive system, the motor does not “know” if excessive inertia or friction has made the motor lose or gain one or more steps, thus affecting the position accuracy b. Load inertia should be restricted to no more than four times motor rotor inertia for high performance (relatively fast) systems. A low performance system can deliver step accuracy with very high inertia loads, sometimes up to ten times rotor inertia. System friction may enhance performance with high inertia loads Experimentation: Tailoring Experimentation for motor sizing is critical due to dynamic changes in system friction and inertia, (load anomalies) which are difficult to calculate. Motor resonance effects can also change when the motor is couple to its load

A bipolar stepper motor in open-loop systems can provide accurate, dependable speed and positioning that can equal the best servo performance if installed correctly. Their simplicity allows them to function without tachometers, encoders, or other drawbacks that add to the cost of operation. Proper installation also makes it easy to pinpoint the exact effect of the operation, since they increment a precise amount with each control pulse. Likewise, the rate of control pulses determines motor speed so it too is totally predictable. Therefore, in the right mechanical environment, bipolar stepper motor systems can provide whatever degree of accuracy and reliability that is required. Designing a System: A bipolar stepper motor has several usage benefits over servos, the first being cost. In almost any application, bipolar stepper motor can be used at a fraction of the cost of servo. With servo drives, the problem of feedback loop phase shift and instability is common. However, the bipolar stepper motor is an open-loop system that completely void any potential problem that could arise in this area. The initial design phase for open-loop systems is similar to that of the servo system. Load characteristics, performance requirements, and mechanical design, including coupling techniques, must be thoroughly considered before a designer can effectively select the best appropriate bipolar stepper motor and driver combination for an application. Once these factors have been determined, the motor specifications and system motion controller, such as a computer or PLC, can be established. Then the design comes down to selecting the suitable driver and controller to produce the motion necessary for the application. Defining a Driver Pack: In order to obtain an optimum solution, the following factors must be considered: 1. Begin with the bipolar stepper motor(s) and controller you have selected for your application. 2. Make use of one driver for each motor. The driver must match the motor current (amps per phase). 3. Include a power supply that supports the driver(s) and motor(s). 4. Select an interface to handle communications between the control device and the indexer (parallel, RS422, RS232C, serial, PLC, or manual switches). 5. Configure the Driver Pack with items 2 through 4 as applicable, or see Driver Packs on our website. NOTE: When the wiring from a driver to a bipolar stepper motor extends beyond 25 feet, consult Anaheim Automation for additional assistance. Shielded motor cable is available and purchased separately.

The amount, speed, and direction of rotation of a stepper motor are determined by the appropriate configurations of digital control devices. Selecting the most compatible bipolar stepper motor driver, motor, and/or controller, can save the user money and be a less cumbersome motion control solution. Anaheim Automation categorizes the major types of digital control devices as follows: • Bipolar Stepper Motor Driver – offered in full-step, half-step and micro-step • Stepper Motor Controllers (sometimes referred to as Control Links – controllers indexers, and pulse generators sold separately or in drivers packs • Stepper Motor Driver Packs – packaged units that include drivers and optional controller, with a matched power supply (most models are enclosed units that are fan-cooled) • Integrated Bipolar Stepper Motor Driver/Controllers – packaged at the end of a stepper motor are drivers and simple controllers (only available for high-torque stepper motors) A bipolar stepper motor driver provides a method to precisely control speed and positioning. With each pulse converted into digital information, the motor is able to undergo an exact incremental rotation without the need for feedback mechanisms i.e. tachometers or encoders. With an open-loop system, the problems of feedback loop phase shift and resultant instability, common with servo drives, are eliminated. Before a designer selects a suitable bipolar stepper motor driver and motor combination for an application, there are certain variables needed to be considered. A designer must examine several parameters such as load characteristics, performance requirements, and mechanical design including coupling techniques for an optimal solution for a bipolar stepper motor driver and motor combination. Failure to do so may result in poor system performance or cost more than necessary. For optimum bipolar stepper motor driver motion control, the following factors should be taken into consideration: 1. Parameters: a. Distance to be traversed b. Maximum time allowed for a traverse c. Desired detent (static) accuracy d. Desired dynamic accuracy (overshoot) e. Time allowed for dynamic accuracy to return to static accuracy specification (settling time) f. Required step resolution (combination of step size, gearing, and mechanical design) g. System friction: All mechanical systems exhibit some frictional force. When sizing the motor, remember that the most must provide enough torque to overcome any system friction. A small amount of friction is desired since it can reduce settling time and improve performance h. System inertia: An object’s inertia is a measure of its resistance to changes in velocity. The larger the inertial load, the longer it takes a motor to accelerate or decelerate the load. The speed at which the motor rotates is independent of inertia. For rotary motion, inertia is proportional to the mass of the object being moved times the square of its distance from the axis of rotation i. Speed/Torque characteristics of the motor: Torque is the rotational (in ounce-inches) defined as a linear force (ounces) multiplied by a radius (inches). When selecting a bipolar stepper motor driver and motor, the capacity of the motor must exceed the overall requirements of the load. The torque any motor can provide varies with its speed. Individual speed/torque curves should be consulted by the designed for each application j. Torque-to-Inertia Ratio: This value is defined as a motor’s rated torque divided by the rotor’s inertia. This ration (measurement) determines how quickly a motor can accelerate and decelerate its own mass. Motors with similar torque ratings can have different torque-to-inertia ratios as a result of varying construction k. Torque margin: Whenever possible, a bipolar stepper motor driver which can provide more torque than is necessary should be specified. This torque margin allows for mechanical wear, lubricant hardening, and other unexpected friction. Resonance effects can cause the motor’s torque to be slightly lower at some speeds. Selecting a bipolar stepper motor driver and motor system that provides at least 50% margin above the minimum required torque is ideal. More than 100% may prove too costly 2. Calculation: Measurement of inertia, friction and workloads reflected to motor. a. In an open-loop stepper motor drive system, the motor does not “know” if excessive inertia or friction has made the motor lose or gain one or more steps, thus affecting the position accuracy b. Load inertia should be restricted to no more than four times motor rotor inertia for high performance (relatively fast) systems. A low performance system can deliver step accuracy with very high inertia loads, sometimes up to ten times rotor inertia. System friction may enhance performance with high inertia loads Experimentation: Tailoring Experimentation for motor sizing is critical due to dynamic changes in system friction and inertia, (load anomalies) which are difficult to calculate. Motor resonance effects can also change when the motor is couple to its load

A bipolar stepping motor in open-loop systems can provide accurate, dependable speed and positioning that can equal the best servo performance if installed correctly. Their simplicity allows them to function without tachometers, encoders, or other drawbacks that add to the cost of operation. Proper installation also makes it easy to pinpoint the exact effect of the operation, since they increment a precise amount with each control pulse. Likewise, the rate of control pulses determines motor speed so it too is totally predictable. Therefore, in the right mechanical environment, bipolar stepping motor systems can provide whatever degree of accuracy and reliability that is required. Designing a System: A bipolar stepping motor has several usage benefits over servos, the first being cost. In almost any application, bipolar stepping motor can be used at a fraction of the cost of servo. With servo drives, the problem of feedback loop phase shift and instability is common. However, the bipolar stepping motor is an open-loop system that completely void any potential problem that could arise in this area. The initial design phase for open-loop systems is similar to that of the servo system. Load characteristics, performance requirements, and mechanical design, including coupling techniques, must be thoroughly considered before a designer can effectively select the best appropriate bipolar stepping motor and driver combination for an application. Once these factors have been determined, the motor specifications and system motion controller, such as a computer or PLC, can be established. Then the design comes down to selecting the suitable driver and controller to produce the motion necessary for the application. Defining a Driver Pack: In order to obtain an optimum solution, the following factors must be considered: 1. Begin with the bipolar stepping motor(s) and controller you have selected for your application. 2. Make use of one driver for each motor. The driver must match the motor current (amps per phase). 3. Include a power supply that supports the driver(s) and motor(s). 4. Select an interface to handle communications between the control device and the indexer (parallel, RS422, RS232C, serial, PLC, or manual switches). 5. Configure the Driver Pack with items 2 through 4 as applicable, or see Driver Packs on our website. NOTE: When the wiring from a driver to a bipolar stepping motor extends beyond 25 feet, consult Anaheim Automation for additional assistance. Shielded motor cable is available and purchased separately.

A miniature stepper motor in open-loop systems can provide accurate, dependable speed and positioning that can equal the best servo performance if installed correctly. Their simplicity allows them to function without tachometers, encoders, or other drawbacks that add to the cost of operation. Proper installation also makes it easy to pinpoint the exact effect of the operation, since they increment a precise amount with each control pulse. Likewise, the rate of control pulses determines motor speed so it too is totally predictable. Therefore, in the right mechanical environment, miniature stepper motor systems can provide whatever degree of accuracy and reliability that is required. Designing a System: A miniature stepper motor has several usage benefits over servos, the first being cost. In almost any application, miniature stepper motor can be used at a fraction of the cost of servo. With servo drives, the problem of feedback loop phase shift and instability is common. However, the miniature stepper motor is an open-loop system that completely void any potential problem that could arise in this area. The initial design phase for open-loop systems is similar to that of the servo system. Load characteristics, performance requirements, and mechanical design, including coupling techniques, must be thoroughly considered before a designer can effectively select the best appropriate miniature stepper motor and driver combination for an application. Once these factors have been determined, the motor specifications and system motion controller, such as a computer or PLC, can be established. Then the design comes down to selecting the suitable driver and controller to produce the motion necessary for the application. Defining a Driver Pack: In order to obtain an optimum solution, the following factors must be considered: 1. Begin with the miniature stepper motor(s) and controller you have selected for your application. 2. Make use of one driver for each motor. The driver must match the motor current (amps per phase). 3. Include a power supply that supports the driver(s) and motor(s). 4. Select an interface to handle communications between the control device and the indexer (parallel, RS422, RS232C, serial, PLC, or manual switches). 5. Configure the Driver Pack with items 2 through 4 as applicable, or see Driver Packs on our website. NOTE: When the wiring from a driver to a miniature stepper motor extends beyond 25 feet, consult Anaheim Automation for additional assistance. Shielded motor cable is available and purchased separately.

A motor stepper in open-loop systems can provide accurate, dependable speed and positioning that can equal the best servo performance if installed correctly. Their simplicity allows them to function without tachometers, encoders, or other drawbacks that add to the cost of operation. Proper installation also makes it easy to pinpoint the exact effect of the operation, since they increment a precise amount with each control pulse. Likewise, the rate of control pulses determines motor speed so it too is totally predictable. Therefore, in the right mechanical environment, motor stepper systems can provide whatever degree of accuracy and reliability that is required. Designing a System: A motor stepper has several usage benefits over servos, the first being cost. In almost any application, motor stepper can be used at a fraction of the cost of servo. With servo drives, the problem of feedback loop phase shift and instability is common. However, the motor stepper is an open-loop system that completely void any potential problem that could arise in this area. The initial design phase for open-loop systems is similar to that of the servo system. Load characteristics, performance requirements, and mechanical design, including coupling techniques, must be thoroughly considered before a designer can effectively select the best appropriate motor stepper and driver combination for an application. Once these factors have been determined, the motor specifications and system motion controller, such as a computer or PLC, can be established. Then the design comes down to selecting the suitable driver and controller to produce the motion necessary for the application. Defining a Driver Pack: In order to obtain an optimum solution, the following factors must be considered: 1. Begin with the motor stepper(s) and controller you have selected for your application. 2. Make use of one driver for each motor. The driver must match the motor current (amps per phase). 3. Include a power supply that supports the driver(s) and motor(s). 4. Select an interface to handle communications between the control device and the indexer (parallel, RS422, RS232C, serial, PLC, or manual switches). 5. Configure the Driver Pack with items 2 through 4 as applicable, or see Driver Packs on our website. NOTE: When the wiring from a driver to a motor stepper extends beyond 25 feet, consult Anaheim Automation for additional assistance. Shielded motor cable is available and purchased separately.

A nema 23 stepper motor in open-loop systems can provide accurate, dependable speed and positioning that can equal the best servo performance if installed correctly. Their simplicity allows them to function without tachometers, encoders, or other drawbacks that add to the cost of operation. Proper installation also makes it easy to pinpoint the exact effect of the operation, since they increment a precise amount with each control pulse. Likewise, the rate of control pulses determines motor speed so it too is totally predictable. Therefore, in the right mechanical environment, nema 23 stepper motor systems can provide whatever degree of accuracy and reliability that is required. Designing a System: A nema 23 stepper motor has several usage benefits over servos, the first being cost. In almost any application, nema 23 stepper motor can be used at a fraction of the cost of servo. With servo drives, the problem of feedback loop phase shift and instability is common. However, the nema 23 stepper motor is an open-loop system that completely void any potential problem that could arise in this area. The initial design phase for open-loop systems is similar to that of the servo system. Load characteristics, performance requirements, and mechanical design, including coupling techniques, must be thoroughly considered before a designer can effectively select the best appropriate nema 23 stepper motor and driver combination for an application. Once these factors have been determined, the motor specifications and system motion controller, such as a computer or PLC, can be established. Then the design comes down to selecting the suitable driver and controller to produce the motion necessary for the application. Defining a Driver Pack: In order to obtain an optimum solution, the following factors must be considered: 1. Begin with the nema 23 stepper motor(s) and controller you have selected for your application. 2. Make use of one driver for each motor. The driver must match the motor current (amps per phase). 3. Include a power supply that supports the driver(s) and motor(s). 4. Select an interface to handle communications between the control device and the indexer (parallel, RS422, RS232C, serial, PLC, or manual switches). 5. Configure the Driver Pack with items 2 through 4 as applicable, or see Driver Packs on our website. NOTE: When the wiring from a driver to a nema 23 stepper motor extends beyond 25 feet, consult Anaheim Automation for additional assistance. Shielded motor cable is available and purchased separately.

The amount, speed, and direction of rotation of a stepper motor are determined by the appropriate configurations of digital control devices. Selecting the most compatible step driver, motor, and/or controller, can save the user money and be a less cumbersome motion control solution. Anaheim Automation categorizes the major types of digital control devices as follows: • Step Driver – offered in full-step, half-step and micro-step • Stepper Motor Controllers (sometimes referred to as Control Links – controllers indexers, and pulse generators sold separately or in drivers packs • Stepper Motor Driver Packs – packaged units that include drivers and optional controller, with a matched power supply (most models are enclosed units that are fan-cooled) • Integrated Step Driver/Controllers – packaged at the end of a stepper motor are drivers and simple controllers (only available for high-torque stepper motors) A step driver provides a method to precisely control speed and positioning. With each pulse converted into digital information, the motor is able to undergo an exact incremental rotation without the need for feedback mechanisms i.e. tachometers or encoders. With an open-loop system, the problems of feedback loop phase shift and resultant instability, common with servo drives, are eliminated. Before a designer selects a suitable step driver and motor combination for an application, there are certain variables needed to be considered. A designer must examine several parameters such as load characteristics, performance requirements, and mechanical design including coupling techniques for an optimal solution for a step driver and motor combination. Failure to do so may result in poor system performance or cost more than necessary. For optimum step driver motion control, the following factors should be taken into consideration: 1. Parameters: a. Distance to be traversed b. Maximum time allowed for a traverse c. Desired detent (static) accuracy d. Desired dynamic accuracy (overshoot) e. Time allowed for dynamic accuracy to return to static accuracy specification (settling time) f. Required step resolution (combination of step size, gearing, and mechanical design) g. System friction: All mechanical systems exhibit some frictional force. When sizing the motor, remember that the most must provide enough torque to overcome any system friction. A small amount of friction is desired since it can reduce settling time and improve performance h. System inertia: An object’s inertia is a measure of its resistance to changes in velocity. The larger the inertial load, the longer it takes a motor to accelerate or decelerate the load. The speed at which the motor rotates is independent of inertia. For rotary motion, inertia is proportional to the mass of the object being moved times the square of its distance from the axis of rotation i. Speed/Torque characteristics of the motor: Torque is the rotational (in ounce-inches) defined as a linear force (ounces) multiplied by a radius (inches). When selecting a step driver and motor, the capacity of the motor must exceed the overall requirements of the load. The torque any motor can provide varies with its speed. Individual speed/torque curves should be consulted by the designed for each application j. Torque-to-Inertia Ratio: This value is defined as a motor’s rated torque divided by the rotor’s inertia. This ration (measurement) determines how quickly a motor can accelerate and decelerate its own mass. Motors with similar torque ratings can have different torque-to-inertia ratios as a result of varying construction k. Torque margin: Whenever possible, a step driver which can provide more torque than is necessary should be specified. This torque margin allows for mechanical wear, lubricant hardening, and other unexpected friction. Resonance effects can cause the motor’s torque to be slightly lower at some speeds. Selecting a step driver and motor system that provides at least 50% margin above the minimum required torque is ideal. More than 100% may prove too costly 2. Calculation: Measurement of inertia, friction and workloads reflected to motor. a. In an open-loop stepper motor drive system, the motor does not “know” if excessive inertia or friction has made the motor lose or gain one or more steps, thus affecting the position accuracy b. Load inertia should be restricted to no more than four times motor rotor inertia for high performance (relatively fast) systems. A low performance system can deliver step accuracy with very high inertia loads, sometimes up to ten times rotor inertia. System friction may enhance performance with high inertia loads Experimentation: Tailoring Experimentation for motor sizing is critical due to dynamic changes in system friction and inertia, (load anomalies) which are difficult to calculate. Motor resonance effects can also change when the motor is couple to its load

The amount, speed, and direction of rotation of a stepper motor are determined by the appropriate configurations of digital control devices. Selecting the most compatible step drivers, motors, and/or controllers, can save the user money and be a less cumbersome motion control solution. Anaheim Automation categorizes the major types of digital control devices as follows: • Step Drivers – offered in full-step, half-step and micro-step • Stepper Motor Controllers (sometimes referred to as Control Links – controllers indexers, and pulse generators sold separately or in drivers packs • Stepper Motor Driver Packs – packaged units that include drivers and optional controller, with a matched power supply (most models are enclosed units that are fan-cooled) • Integrated Step Drivers/Controllers – packaged at the end of a stepper motor are drivers and simple controllers (only available for high-torque stepper motors) Stepper drivers provide a method to precisely control speed and positioning. With each pulse converted into digital information, the motor is able to undergo an exact incremental rotation without the need for feedback mechanisms i.e. tachometers or encoders. With an open-loop system, the problems of feedback loop phase shift and resultant instability, common with servo drives, are eliminated. Before a designer selects a suitable step drivers and motor combination for an application, there are certain variables needed to be considered. A designer must examine several parameters such as load characteristics, performance requirements, and mechanical design including coupling techniques for an optimal solution for a step drivers and motor combination. Failure to do so may result in poor system performance or cost more than necessary. For optimum step drivers motion control, the following factors should be taken into consideration: 1. Parameters: a. Distance to be traversed b. Maximum time allowed for a traverse c. Desired detent (static) accuracy d. Desired dynamic accuracy (overshoot) e. Time allowed for dynamic accuracy to return to static accuracy specification (settling time) f. Required step resolution (combination of step size, gearing, and mechanical design) g. System friction: All mechanical systems exhibit some frictional force. When sizing the motor, remember that the most must provide enough torque to overcome any system friction. A small amount of friction is desired since it can reduce settling time and improve performance h. System inertia: An object’s inertia is a measure of its resistance to changes in velocity. The larger the inertial load, the longer it takes a motor to accelerate or decelerate the load. The speed at which the motor rotates is independent of inertia. For rotary motion, inertia is proportional to the mass of the object being moved times the square of its distance from the axis of rotation i. Speed/Torque characteristics of the motor: Torque is the rotational (in ounce-inches) defined as a linear force (ounces) multiplied by a radius (inches). When selecting a step drivers and motor, the capacity of the motor must exceed the overall requirements of the load. The torque any motor can provide varies with its speed. Individual speed/torque curves should be consulted by the designed for each application j. Torque-to-Inertia Ratio: This value is defined as a motor’s rated torque divided by the rotor’s inertia. This ration (measurement) determines how quickly a motor can accelerate and decelerate its own mass. Motors with similar torque ratings can have different torque-to-inertia ratios as a result of varying construction k. Torque margin: Whenever possible, step drivers which can provide more torque than is necessary should be specified. This torque margin allows for mechanical wear, lubricant hardening, and other unexpected friction. Resonance effects can cause the motor’s torque to be slightly lower at some speeds. Selecting step drivers and motors system that provides at least 50% margin above the minimum required torque is ideal. More than 100% may prove too costly 2. Calculation: Measurement of inertia, friction and workloads reflected to motor. a. In an open-loop step drivers system, the motor does not “know” if excessive inertia or friction has made the motor lose or gain one or more steps, thus affecting the position accuracy b. Load inertia should be restricted to no more than four times motor rotor inertia for high performance (relatively fast) systems. A low performance system can deliver step accuracy with very high inertia loads, sometimes up to ten times rotor inertia. System friction may enhance performance with high inertia loads Experimentation: Tailoring Experimentation for motor sizing is critical due to dynamic changes in system friction and inertia, (load anomalies) which are difficult to calculate. Motor resonance effects can also change when the motor is couple to its load

A step motor in open-loop systems can provide accurate, dependable speed and positioning that can equal the best servo performance if installed correctly. Their simplicity allows them to function without tachometers, encoders, or other drawbacks that add to the cost of operation. Proper installation also makes it easy to pinpoint the exact effect of the operation, since they increment a precise amount with each control pulse. Likewise, the rate of control pulses determines motor speed so it too is totally predictable. Therefore, in the right mechanical environment, step motor systems can provide whatever degree of accuracy and reliability that is required. Designing a System: A step motor has several usage benefits over servos, the first being cost. In almost any application, step motor can be used at a fraction of the cost of servo. With servo drives, the problem of feedback loop phase shift and instability is common. However, the step motor is an open-loop system that completely void any potential problem that could arise in this area. The initial design phase for open-loop systems is similar to that of the servo system. Load characteristics, performance requirements, and mechanical design, including coupling techniques, must be thoroughly considered before a designer can effectively select the best appropriate step motor and driver combination for an application. Once these factors have been determined, the motor specifications and system motion controller, such as a computer or PLC, can be established. Then the design comes down to selecting the suitable driver and controller to produce the motion necessary for the application. Defining a Driver Pack: In order to obtain an optimum solution, the following factors must be considered: 1. Begin with the step motor(s) and controller you have selected for your application. 2. Make use of one driver for each motor. The driver must match the motor current (amps per phase). 3. Include a power supply that supports the driver(s) and motor(s). 4. Select an interface to handle communications between the control device and the indexer (parallel, RS422, RS232C, serial, PLC, or manual switches). 5. Configure the Driver Pack with items 2 through 4 as applicable, or see Driver Packs on our website. NOTE: When the wiring from a driver to a step motor extends beyond 25 feet, consult Anaheim Automation for additional assistance. Shielded motor cable is available and purchased separately.

The amount, speed, and direction of rotation of a stepper motor are determined by the appropriate configurations of digital control devices. Selecting the most compatible step motor driver, motor, and/or controller, can save the user money and be a less cumbersome motion control solution. Anaheim Automation categorizes the major types of digital control devices as follows: • Step Motor Driver – offered in full-step, half-step and micro-step • Stepper Motor Controllers (sometimes referred to as Control Links – controllers indexers, and pulse generators sold separately or in drivers packs • Stepper Motor Driver Packs – packaged units that include drivers and optional controller, with a matched power supply (most models are enclosed units that are fan-cooled) • Integrated Step Motor Driver/Controllers – packaged at the end of a stepper motor are drivers and simple controllers (only available for high-torque stepper motors) A step motor driver provides a method to precisely control speed and positioning. With each pulse converted into digital information, the motor is able to undergo an exact incremental rotation without the need for feedback mechanisms i.e. tachometers or encoders. With an open-loop system, the problems of feedback loop phase shift and resultant instability, common with servo drives, are eliminated. Before a designer selects a suitable step motor driver and motor combination for an application, there are certain variables needed to be considered. A designer must examine several parameters such as load characteristics, performance requirements, and mechanical design including coupling techniques for an optimal solution for a step motor driver and motor combination. Failure to do so may result in poor system performance or cost more than necessary. For optimum step motor driver motion control, the following factors should be taken into consideration: 1. Parameters: a. Distance to be traversed b. Maximum time allowed for a traverse c. Desired detent (static) accuracy d. Desired dynamic accuracy (overshoot) e. Time allowed for dynamic accuracy to return to static accuracy specification (settling time) f. Required step resolution (combination of step size, gearing, and mechanical design) g. System friction: All mechanical systems exhibit some frictional force. When sizing the motor, remember that the most must provide enough torque to overcome any system friction. A small amount of friction is desired since it can reduce settling time and improve performance h. System inertia: An object’s inertia is a measure of its resistance to changes in velocity. The larger the inertial load, the longer it takes a motor to accelerate or decelerate the load. The speed at which the motor rotates is independent of inertia. For rotary motion, inertia is proportional to the mass of the object being moved times the square of its distance from the axis of rotation i. Speed/Torque characteristics of the motor: Torque is the rotational (in ounce-inches) defined as a linear force (ounces) multiplied by a radius (inches). When selecting a step motor driver and motor, the capacity of the motor must exceed the overall requirements of the load. The torque any motor can provide varies with its speed. Individual speed/torque curves should be consulted by the designed for each application j. Torque-to-Inertia Ratio: This value is defined as a motor’s rated torque divided by the rotor’s inertia. This ration (measurement) determines how quickly a motor can accelerate and decelerate its own mass. Motors with similar torque ratings can have different torque-to-inertia ratios as a result of varying construction k. Torque margin: Whenever possible, a step motor driver which can provide more torque than is necessary should be specified. This torque margin allows for mechanical wear, lubricant hardening, and other unexpected friction. Resonance effects can cause the motor’s torque to be slightly lower at some speeds. Selecting a step motor driver and motor system that provides at least 50% margin above the minimum required torque is ideal. More than 100% may prove too costly 2. Calculation: Measurement of inertia, friction and workloads reflected to motor. a. In an open-loop stepper motor drive system, the motor does not “know” if excessive inertia or friction has made the motor lose or gain one or more steps, thus affecting the position accuracy b. Load inertia should be restricted to no more than four times motor rotor inertia for high performance (relatively fast) systems. A low performance system can deliver step accuracy with very high inertia loads, sometimes up to ten times rotor inertia. System friction may enhance performance with high inertia loads Experimentation: Tailoring Experimentation for motor sizing is critical due to dynamic changes in system friction and inertia, (load anomalies) which are difficult to calculate. Motor resonance effects can also change when the motor is couple to its load

The amount, speed, and direction of rotation of a stepper motor are determined by the appropriate configurations of digital control devices. Selecting the most compatible step motor drivers, motors, and/or controllers, can save the user money and be a less cumbersome motion control solution. Anaheim Automation categorizes the major types of digital control devices as follows: • Step Motor Drivers – offered in full-step, half-step and micro-step • Stepper Motor Controllers (sometimes referred to as Control Links – controllers indexers, and pulse generators sold separately or in drivers packs • Stepper Motor Driver Packs – packaged units that include drivers and optional controller, with a matched power supply (most models are enclosed units that are fan-cooled) • Integrated Step Motor Drivers/Controllers – packaged at the end of a stepper motor are drivers and simple controllers (only available for high-torque stepper motors) Stepper drivers provide a method to precisely control speed and positioning. With each pulse converted into digital information, the motor is able to undergo an exact incremental rotation without the need for feedback mechanisms i.e. tachometers or encoders. With an open-loop system, the problems of feedback loop phase shift and resultant instability, common with servo drives, are eliminated. Before a designer selects a suitable step motor drivers and motor combination for an application, there are certain variables needed to be considered. A designer must examine several parameters such as load characteristics, performance requirements, and mechanical design including coupling techniques for an optimal solution for a step motor drivers and motor combination. Failure to do so may result in poor system performance or cost more than necessary. For optimum step motor drivers motion control, the following factors should be taken into consideration: 1. Parameters: a. Distance to be traversed b. Maximum time allowed for a traverse c. Desired detent (static) accuracy d. Desired dynamic accuracy (overshoot) e. Time allowed for dynamic accuracy to return to static accuracy specification (settling time) f. Required step resolution (combination of step size, gearing, and mechanical design) g. System friction: All mechanical systems exhibit some frictional force. When sizing the motor, remember that the most must provide enough torque to overcome any system friction. A small amount of friction is desired since it can reduce settling time and improve performance h. System inertia: An object’s inertia is a measure of its resistance to changes in velocity. The larger the inertial load, the longer it takes a motor to accelerate or decelerate the load. The speed at which the motor rotates is independent of inertia. For rotary motion, inertia is proportional to the mass of the object being moved times the square of its distance from the axis of rotation i. Speed/Torque characteristics of the motor: Torque is the rotational (in ounce-inches) defined as a linear force (ounces) multiplied by a radius (inches). When selecting a step motor drivers and motor, the capacity of the motor must exceed the overall requirements of the load. The torque any motor can provide varies with its speed. Individual speed/torque curves should be consulted by the designed for each application j. Torque-to-Inertia Ratio: This value is defined as a motor’s rated torque divided by the rotor’s inertia. This ration (measurement) determines how quickly a motor can accelerate and decelerate its own mass. Motors with similar torque ratings can have different torque-to-inertia ratios as a result of varying construction k. Torque margin: Whenever possible, step motor drivers which can provide more torque than is necessary should be specified. This torque margin allows for mechanical wear, lubricant hardening, and other unexpected friction. Resonance effects can cause the motor’s torque to be slightly lower at some speeds. Selecting step motor drivers and motors system that provides at least 50% margin above the minimum required torque is ideal. More than 100% may prove too costly 2. Calculation: Measurement of inertia, friction and workloads reflected to motor. a. In an open-loop step motor drivers system, the motor does not “know” if excessive inertia or friction has made the motor lose or gain one or more steps, thus affecting the position accuracy b. Load inertia should be restricted to no more than four times motor rotor inertia for high performance (relatively fast) systems. A low performance system can deliver step accuracy with very high inertia loads, sometimes up to ten times rotor inertia. System friction may enhance performance with high inertia loads Experimentation: Tailoring Experimentation for motor sizing is critical due to dynamic changes in system friction and inertia, (load anomalies) which are difficult to calculate. Motor resonance effects can also change when the motor is couple to its load

Stepper motors in open-loop systems can provide accurate, dependable speed and positioning that can equal the best servo performance if installed correctly. Their simplicity allows them to function without tachometers, encoders, or other drawbacks that add to the cost of operation. Proper installation also makes it easy to pinpoint the exact effect of the operation, since they increment a precise amount with each control pulse. Likewise, the rate of control pulses determines motor speed so it too is totally predictable. Therefore, in the right mechanical environment, stepper motor systems can provide whatever degree of accuracy and reliability that is required. Designing a System: Stepper motors have several usage benefits over servos, the first being cost. In almost any application, step motors can be used at a fraction of the cost of servo. With servo drives, the problem of feedback loop phase shift and instability is common. However, step motors are open-loop systems that completely void any potential problem that could arise in this area. The initial design phase for open-loop systems is similar to that of the servo system. Load characteristics, performance requirements, and mechanical design, including coupling techniques, must be thoroughly considered before a designer can effectively select the best appropriate stepper motor and driver combination for an application. Once these factors have been determined, the motor specifications and system motion controller, such as a computer or PLC, can be established. Then the design comes down to selecting the suitable driver and controller to produce the motion necessary for the application. Defining a Driver Pack: In order to obtain an optimum solution, the following factors must be considered: 1. Begin with the stepper motor(s) and controller you have selected for your application. 2. Make use of one driver for each motor. The driver must match the motor current (amps per phase). 3. Include a power supply that supports the driver(s) and motor(s). 4. Select an interface to handle communications between the control device and the indexer (parallel, RS422, RS232C, serial, PLC, or manual switches). 5. Configure the Driver Pack with items 2 through 4 as applicable, or see Driver Packs on our website. NOTE: When the wiring from a driver to a stepper motor extends beyond 25 feet, consult Anaheim Automation for additional assistance. Shielded motor cable is available and purchased separately.

The amount, speed, and direction of rotation of a stepper motor are determined by the appropriate configurations of digital control devices. Selecting the most compatible stepper driver, motor, and/or controller, can save the user money and be a less cumbersome motion control solution. Anaheim Automation categorizes the major types of digital control devices as follows: • Stepper Motor Drivers – offered in full-step, half-step and micro-step • Stepper Motor Controllers (sometimes referred to as Control Links – controllers indexers, and pulse generators sold separately or in drivers packs • Stepper Motor Driver Packs – packaged units that include drivers and optional controller, with a matched power supply (most models are enclosed units that are fan-cooled) • Integrated Stepper Motor/Driver/Controllers – packaged at the end of a stepper motor are drivers and simple controllers (only available for high-torque stepper motors) A stepper driver provides a method to precisely control speed and positioning. With each pulse converted into digital information, the motor is able to undergo an exact incremental rotation without the need for feedback mechanisms i.e. tachometers or encoders. With an open-loop system, the problems of feedback loop phase shift and resultant instability, common with servo drives, are eliminated. Before a designer selects a suitable stepper driver and motor combination for an application, there are certain variables needed to be considered. A designer must examine several parameters such as load characteristics, performance requirements, and mechanical design including coupling techniques for an optimal solution for a stepper driver and motor combination. Failure to do so may result in poor system performance or cost more than necessary. For optimum stepper driver motion control, the following factors should be taken into consideration: 1. Parameters: a. Distance to be traversed b. Maximum time allowed for a traverse c. Desired detent (static) accuracy d. Desired dynamic accuracy (overshoot) e. Time allowed for dynamic accuracy to return to static accuracy specification (settling time) f. Required step resolution (combination of step size, gearing, and mechanical design) g. System friction: All mechanical systems exhibit some frictional force. When sizing the motor, remember that the most must provide enough torque to overcome any system friction. A small amount of friction is desired since it can reduce settling time and improve performance h. System inertia: An object’s inertia is a measure of its resistance to changes in velocity. The larger the inertial load, the longer it takes a motor to accelerate or decelerate the load. The speed at which the motor rotates is independent of inertia. For rotary motion, inertia is proportional to the mass of the object being moved times the square of its distance from the axis of rotation i. Speed/Torque characteristics of the motor: Torque is the rotational (in ounce-inches) defined as a linear force (ounces) multiplied by a radius (inches). When selecting a stepper driver and motor, the capacity of the motor must exceed the overall requirements of the load. The torque any motor can provide varies with its speed. Individual speed/torque curves should be consulted by the designed for each application j. Torque-to-Inertia Ratio: This value is defined as a motor’s rated torque divided by the rotor’s inertia. This ration (measurement) determines how quickly a motor can accelerate and decelerate its own mass. Motors with similar torque ratings can have different torque-to-inertia ratios as a result of varying construction k. Torque margin: Whenever possible, a stepper driver which can provide more torque than is necessary should be specified. This torque margin allows for mechanical wear, lubricant hardening, and other unexpected friction. Resonance effects can cause the motor’s torque to be slightly lower at some speeds. Selecting a stepper driver and motor system that provides at least 50% margin above the minimum required torque is ideal. More than 100% may prove too costly 2. Calculation: Measurement of inertia, friction and workloads reflected to motor. a. In an open-loop stepper motor drive system, the motor does not “know” if excessive inertia or friction has made the motor lose or gain one or more steps, thus affecting the position accuracy b. Load inertia should be restricted to no more than four times motor rotor inertia for high performance (relatively fast) systems. A low performance system can deliver step accuracy with very high inertia loads, sometimes up to ten times rotor inertia. System friction may enhance performance with high inertia loads Experimentation: Tailoring Experimentation for motor sizing is critical due to dynamic changes in system friction and inertia, (load anomalies) which are difficult to calculate. Motor resonance effects can also change when the motor is couple to its load

The amount, speed, and direction of rotation of a stepper motor are determined by the appropriate configurations of digital control devices. Selecting the most compatible stepper drivers, motors, and/or controllers, can save the user money and be a less cumbersome motion control solution. Anaheim Automation categorizes the major types of digital control devices as follows: • Stepper Drivers – offered in full-step, half-step and micro-step • Stepper Motor Controllers (sometimes referred to as Control Links – controllers indexers, and pulse generators sold separately or in drivers packs • Stepper Motor Driver Packs – packaged units that include drivers and optional controller, with a matched power supply (most models are enclosed units that are fan-cooled) • Integrated Stepper Drivers/Controllers – packaged at the end of a stepper motor are drivers and simple controllers (only available for high-torque stepper motors) Stepper drivers provide a method to precisely control speed and positioning. With each pulse converted into digital information, the motor is able to undergo an exact incremental rotation without the need for feedback mechanisms i.e. tachometers or encoders. With an open-loop system, the problems of feedback loop phase shift and resultant instability, common with servo drives, are eliminated. Before a designer selects a suitable stepper drivers and motor combination for an application, there are certain variables needed to be considered. A designer must examine several parameters such as load characteristics, performance requirements, and mechanical design including coupling techniques for an optimal solution for a stepper drivers and motor combination. Failure to do so may result in poor system performance or cost more than necessary. For optimum stepper drivers motion control, the following factors should be taken into consideration: 1. Parameters: a. Distance to be traversed b. Maximum time allowed for a traverse c. Desired detent (static) accuracy d. Desired dynamic accuracy (overshoot) e. Time allowed for dynamic accuracy to return to static accuracy specification (settling time) f. Required step resolution (combination of step size, gearing, and mechanical design) g. System friction: All mechanical systems exhibit some frictional force. When sizing the motor, remember that the most must provide enough torque to overcome any system friction. A small amount of friction is desired since it can reduce settling time and improve performance h. System inertia: An object’s inertia is a measure of its resistance to changes in velocity. The larger the inertial load, the longer it takes a motor to accelerate or decelerate the load. The speed at which the motor rotates is independent of inertia. For rotary motion, inertia is proportional to the mass of the object being moved times the square of its distance from the axis of rotation i. Speed/Torque characteristics of the motor: Torque is the rotational (in ounce-inches) defined as a linear force (ounces) multiplied by a radius (inches). When selecting a stepper drivers and motor, the capacity of the motor must exceed the overall requirements of the load. The torque any motor can provide varies with its speed. Individual speed/torque curves should be consulted by the designed for each application j. Torque-to-Inertia Ratio: This value is defined as a motor’s rated torque divided by the rotor’s inertia. This ration (measurement) determines how quickly a motor can accelerate and decelerate its own mass. Motors with similar torque ratings can have different torque-to-inertia ratios as a result of varying construction k. Torque margin: Whenever possible, stepper drivers which can provide more torque than is necessary should be specified. This torque margin allows for mechanical wear, lubricant hardening, and other unexpected friction. Resonance effects can cause the motor’s torque to be slightly lower at some speeds. Selecting stepper drivers and motors system that provides at least 50% margin above the minimum required torque is ideal. More than 100% may prove too costly 2. Calculation: Measurement of inertia, friction and workloads reflected to motor. a. In an open-loop stepper drivers system, the motor does not “know” if excessive inertia or friction has made the motor lose or gain one or more steps, thus affecting the position accuracy b. Load inertia should be restricted to no more than four times motor rotor inertia for high performance (relatively fast) systems. A low performance system can deliver step accuracy with very high inertia loads, sometimes up to ten times rotor inertia. System friction may enhance performance with high inertia loads Experimentation: Tailoring Experimentation for motor sizing is critical due to dynamic changes in system friction and inertia, (load anomalies) which are difficult to calculate. Motor resonance effects can also change when the motor is couple to its load

The amount, speed, and direction of rotation of a stepper motor are determined by the appropriate configurations of digital control devices. Selecting the most compatible stepper drives, motors, and/or controllers, can save the user money and be a less cumbersome motion control solution. Anaheim Automation categorizes the major types of digital control devices as follows: • Stepper Drives – offered in full-step, half-step and micro-step • Stepper Motor Controllers (sometimes referred to as Control Links – controllers indexers, and pulse generators sold separately or in drivers packs • Stepper Motor Driver Packs – packaged units that include drivers and optional controller, with a matched power supply (most models are enclosed units that are fan-cooled) • Integrated Stepper Drives/Controllers – packaged at the end of a stepper motor are drivers and simple controllers (only available for high-torque stepper motors) Stepper drivers provide a method to precisely control speed and positioning. With each pulse converted into digital information, the motor is able to undergo an exact incremental rotation without the need for feedback mechanisms i.e. tachometers or encoders. With an open-loop system, the problems of feedback loop phase shift and resultant instability, common with servo drives, are eliminated. Before a designer selects a suitable stepper drives and motor combination for an application, there are certain variables needed to be considered. A designer must examine several parameters such as load characteristics, performance requirements, and mechanical design including coupling techniques for an optimal solution for a stepper drives and motor combination. Failure to do so may result in poor system performance or cost more than necessary. For optimum stepper drives motion control, the following factors should be taken into consideration: 1. Parameters: a. Distance to be traversed b. Maximum time allowed for a traverse c. Desired detent (static) accuracy d. Desired dynamic accuracy (overshoot) e. Time allowed for dynamic accuracy to return to static accuracy specification (settling time) f. Required step resolution (combination of step size, gearing, and mechanical design) g. System friction: All mechanical systems exhibit some frictional force. When sizing the motor, remember that the most must provide enough torque to overcome any system friction. A small amount of friction is desired since it can reduce settling time and improve performance h. System inertia: An object’s inertia is a measure of its resistance to changes in velocity. The larger the inertial load, the longer it takes a motor to accelerate or decelerate the load. The speed at which the motor rotates is independent of inertia. For rotary motion, inertia is proportional to the mass of the object being moved times the square of its distance from the axis of rotation i. Speed/Torque characteristics of the motor: Torque is the rotational (in ounce-inches) defined as a linear force (ounces) multiplied by a radius (inches). When selecting a stepper drives and motor, the capacity of the motor must exceed the overall requirements of the load. The torque any motor can provide varies with its speed. Individual speed/torque curves should be consulted by the designed for each application j. Torque-to-Inertia Ratio: This value is defined as a motor’s rated torque divided by the rotor’s inertia. This ration (measurement) determines how quickly a motor can accelerate and decelerate its own mass. Motors with similar torque ratings can have different torque-to-inertia ratios as a result of varying construction k. Torque margin: Whenever possible, stepper drives which can provide more torque than is necessary should be specified. This torque margin allows for mechanical wear, lubricant hardening, and other unexpected friction. Resonance effects can cause the motor’s torque to be slightly lower at some speeds. Selecting stepper drives and motors system that provides at least 50% margin above the minimum required torque is ideal. More than 100% may prove too costly 2. Calculation: Measurement of inertia, friction and workloads reflected to motor. a. In an open-loop stepper drives system, the motor does not “know” if excessive inertia or friction has made the motor lose or gain one or more steps, thus affecting the position accuracy b. Load inertia should be restricted to no more than four times motor rotor inertia for high performance (relatively fast) systems. A low performance system can deliver step accuracy with very high inertia loads, sometimes up to ten times rotor inertia. System friction may enhance performance with high inertia loads Experimentation: Tailoring Experimentation for motor sizing is critical due to dynamic changes in system friction and inertia, (load anomalies) which are difficult to calculate. Motor resonance effects can also change when the motor is couple to its load

A stepper motor in open-loop systems can provide accurate, dependable speed and positioning that can equal the best servo performance if installed correctly. Their simplicity allows them to function without tachometers, encoders, or other drawbacks that add to the cost of operation. Proper installation also makes it easy to pinpoint the exact effect of the operation, since they increment a precise amount with each control pulse. Likewise, the rate of control pulses determines motor speed so it too is totally predictable. Therefore, in the right mechanical environment, stepper motor systems can provide whatever degree of accuracy and reliability that is required. Designing a System: A stepper motor has several usage benefits over servos, the first being cost. In almost any application, stepper motor can be used at a fraction of the cost of servo. With servo drives, the problem of feedback loop phase shift and instability is common. However, the stepper motor is an open-loop system that completely void any potential problem that could arise in this area. The initial design phase for open-loop systems is similar to that of the servo system. Load characteristics, performance requirements, and mechanical design, including coupling techniques, must be thoroughly considered before a designer can effectively select the best appropriate stepper motor and driver combination for an application. Once these factors have been determined, the motor specifications and system motion controller, such as a computer or PLC, can be established. Then the design comes down to selecting the suitable driver and controller to produce the motion necessary for the application. Defining a Driver Pack: In order to obtain an optimum solution, the following factors must be considered: 1. Begin with the stepper motor(s) and controller you have selected for your application. 2. Make use of one driver for each motor. The driver must match the motor current (amps per phase). 3. Include a power supply that supports the driver(s) and motor(s). 4. Select an interface to handle communications between the control device and the indexer (parallel, RS422, RS232C, serial, PLC, or manual switches). 5. Configure the Driver Pack with items 2 through 4 as applicable, or see Driver Packs on our website. NOTE: When the wiring from a driver to a stepper motor extends beyond 25 feet, consult Anaheim Automation for additional assistance. Shielded motor cable is available and purchased separately.

The amount, speed, and direction of rotation of a stepper motor are determined by the appropriate configurations of digital control devices. Selecting the most compatible stepper motor driver, motor, and/or controller, can save the user money and be a less cumbersome motion control solution. Anaheim Automation categorizes the major types of digital control devices as follows: • Stepper Motor Driver – offered in full-step, half-step and micro-step • Stepper Motor Controllers (sometimes referred to as Control Links – controllers indexers, and pulse generators sold separately or in drivers packs • Stepper Motor Driver Packs – packaged units that include drivers and optional controller, with a matched power supply (most models are enclosed units that are fan-cooled) • Integrated Stepper Motor Driver/Controllers – packaged at the end of a stepper motor are drivers and simple controllers (only available for high-torque stepper motors) A stepper motor driver provides a method to precisely control speed and positioning. With each pulse converted into digital information, the motor is able to undergo an exact incremental rotation without the need for feedback mechanisms i.e. tachometers or encoders. With an open-loop system, the problems of feedback loop phase shift and resultant instability, common with servo drives, are eliminated. Before a designer selects a suitable stepper motor driver and motor combination for an application, there are certain variables needed to be considered. A designer must examine several parameters such as load characteristics, performance requirements, and mechanical design including coupling techniques for an optimal solution for a stepper motor driver and motor combination. Failure to do so may result in poor system performance or cost more than necessary. For optimum stepper motor driver motion control, the following factors should be taken into consideration: 1. Parameters: a. Distance to be traversed b. Maximum time allowed for a traverse c. Desired detent (static) accuracy d. Desired dynamic accuracy (overshoot) e. Time allowed for dynamic accuracy to return to static accuracy specification (settling time) f. Required step resolution (combination of step size, gearing, and mechanical design) g. System friction: All mechanical systems exhibit some frictional force. When sizing the motor, remember that the most must provide enough torque to overcome any system friction. A small amount of friction is desired since it can reduce settling time and improve performance h. System inertia: An object’s inertia is a measure of its resistance to changes in velocity. The larger the inertial load, the longer it takes a motor to accelerate or decelerate the load. The speed at which the motor rotates is independent of inertia. For rotary motion, inertia is proportional to the mass of the object being moved times the square of its distance from the axis of rotation i. Speed/Torque characteristics of the motor: Torque is the rotational (in ounce-inches) defined as a linear force (ounces) multiplied by a radius (inches). When selecting a stepper motor driver and motor, the capacity of the motor must exceed the overall requirements of the load. The torque any motor can provide varies with its speed. Individual speed/torque curves should be consulted by the designed for each application j. Torque-to-Inertia Ratio: This value is defined as a motor’s rated torque divided by the rotor’s inertia. This ration (measurement) determines how quickly a motor can accelerate and decelerate its own mass. Motors with similar torque ratings can have different torque-to-inertia ratios as a result of varying construction k. Torque margin: Whenever possible, a stepper motor driver which can provide more torque than is necessary should be specified. This torque margin allows for mechanical wear, lubricant hardening, and other unexpected friction. Resonance effects can cause the motor’s torque to be slightly lower at some speeds. Selecting a stepper motor driver and motor system that provides at least 50% margin above the minimum required torque is ideal. More than 100% may prove too costly 2. Calculation: Measurement of inertia, friction and workloads reflected to motor. a. In an open-loop stepper motor drive system, the motor does not “know” if excessive inertia or friction has made the motor lose or gain one or more steps, thus affecting the position accuracy b. Load inertia should be restricted to no more than four times motor rotor inertia for high performance (relatively fast) systems. A low performance system can deliver step accuracy with very high inertia loads, sometimes up to ten times rotor inertia. System friction may enhance performance with high inertia loads Experimentation: Tailoring Experimentation for motor sizing is critical due to dynamic changes in system friction and inertia, (load anomalies) which are difficult to calculate. Motor resonance effects can also change when the motor is couple to its load