57 _ encoder type stepping motor design precision stepper motor
the stepping motor speed is in commonly 600 - 1000 r/min
3000 - servo motor 5000 r/min
as the stepper motor speed increase torque in reducing, and servo planetary gear motor is constant torque, unless more than rated speed servo motor torque will reduce gradually.
we know that the precision of the stepper motor to step away from the Angle of measure, shangbu motor step away from the Angle of general market have 0. 36 degrees / 0. 72 degrees, zero. 9 degrees / 1. 8 degrees, 1. 5/3 degrees.
0. 360/10000 = 036
assume that brought after the step motor and encoder, then the formula is equivalent to one revolution of the motor issue 10000 pulse encoder, the encoder resolution is 10000.
the precision of the servo motor is measured by the backend encoder resolution, machine servo encoder resolution now reach the 23 power of 2, the precision of servo motor than high precision stepper motor.
as for between the stepper motor or servo motor, the motor can be selected on the basis of the above we choose conditions, if choose servo motor, so how do we determine the servo motor selection and parameters?
selected servo motor, we according to these three factors:
N: motor speed
V: object movement speed
PB: screw lead ( mm)
speed selection criteria: N is less than the rated rotary speed of the motor is 0. Eight times
T r: drive torque always
T load, load torque
T inertia, moment of inertia torque
F: gravity that is multiplied by the friction coefficient load load reasoning
PB: screw lead
J r: the system total inertia
& beta; : angular acceleration
J load: load moment of inertia of the
J coupling, coupling the moment of inertia of the
J screw, screw the moment of inertia of the
M: load weight
torque selection criteria: T always less than 0 of the motor rated torque. Eight times
we common screw, for example, to see the servo motor and screw matching
in precision grade for C6 screw, for example, now don't consider the load size, speed and reduction ratio to add and subtract. C6 repeat positioning accuracy is 0. Lead is 5 mm, 023 mm, the servo motor encoder resolution than theory can meet the demand of positioning. But in reality, whether it's speed, torque, or accuracy of the choice is to leave some leeway.
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