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Integrated Easy Servo Motors
(Integrated Closed-Loop Steppers with motor + encoder + drive)
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Highlights
- Step & direction, or CW/CCW control
- Integrated design of motor, encoder, and drive
- Stepper based servo control
- Fully closed position loop
- Never stall or lose of steps
- Always 100% implementation of available torque
- Load-based output current from drive to motor
- High starting torque and quick response
- No overshooting and zero settling time
- Extra low motor heating, smooth motor movement
- No tuning for plug & play
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OverviewMain Features
At very compact size, a Leadshine iES series integrated easy servo combines a stepper motor, a 1000-line encoder, and a high performance DSP-based easy servo drive. With real-time motor shaft position updated by the encoder, the servo drive compensates lose of movement synchronization due to sudden velocity or load condition changes. Therefore, position loop between the drive and motor are fully closed, the same mechanism implemented in traditional brushless servo systems.
The iES series easy servo motors outperform open-loop stepper systems in no stall, no lose of steps, much lower motor heating, no obvious motor resonance area, much lower motor heating, 100% implementation of available torque, much smother motor movement...
The iES series easy servo motors also have advantages over brushless servo system in much higher low to middle speed torque, lower costs, quicker response, no overshooting, no hunting, zero settling time, and no tuning.
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With motor, encoder, and drive integrated together, an iES series easy servo motor minimizes cable wiring, reduces potential interference from electrical components, saves installation space, and cuts labor cost.
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In open-loop stepper systems, potential loss of motor movement synchronization limits their adoption for many applications. Engineers are forced to reserve 50% of available stepper motor torque to avoid possible loss of steps, or motor movement stall. With the adoption of high resolution encoders to feedback real time motor shaft positions, Leadshine iES series easy servo motors close the position loops between the built-in servo drives and motors. That will keep motor movement synchronized all the time, and allow 100% of available torque.
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Because of closed loop control and adoption of advanced control algorithm, iES series easy servo motors can always implement 100% torque, and do not need the huge 50% torque reservation in normal open-loop stepper systems. This feature significantly improves system high speed performance. While open-loop stepper systems are typically adopted in applications under 1,000 rpm, ES series easy servo motors are ideal for many applications up to 2,000 RPM, sometimes even for 3,000 RPM!
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In open-loop stepper systems, output current to the stepper motor from the step driver is constant. No matter what load condition is and how much current is needed, the stepper driver will always input a constant current.
With the position loop closed for an iES integrated easy servo motor, output current from the servo drive to the driven motor is load based. The servo drive will only input just-enough current to the driven motor to move the attached load. This can significantly lower the drive and motor heating.
Compared with open loop systems, motor heating for an iES series integrated easy servo motor can be reduced for 20-40°C.Thus, its life time is longer, power consumption is lower, and maintenance costs will also be reduced.
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Unlike conventional stepper systems, iES series easy servo motors adopt vector control algorithm, same as brushless servo controls. Input commands are filtered for smooth motion with minimum torque ripples. Therefore, resonance in open-loop stepper systems is significantly minimized, and motor movement noise of can be significantly reduced, up to 70%.
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In a traditional brushless servo system, there is a considerable delay for the servo motor to response ("move") to a command signal sent from a motion controller or PLC. This delay is caused by servo "settling time".
Leadshine iES series integrated easy servo motors adopt servo control for stepper motors. Motor movement is always synchronized with input pulse commands. When receiving a pulse signal, an iES servo motor will response immediately and start motor movement. When it finishes execution of the input pulses, it stops immediately without any movement fluctuation. So, there is no hunting ("shaking") or overshooting, which is commonly seen in traditional brushless servo systems.
This feature, "No Hunting, No Overshooting, and Zero Settling Time", makes iES integrated servo motors ideal for short-distance applications requiring rapid motion, such as bonding and vision type systems.
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For traditional brushless servo systems, in order to get the preferred performance, an engineer has to spend hours even days, to tune servo gains which involves tens or even hundreds of servo parameter configurations. But there is no such gain for ES series integrated easy servo motors. They are designed for simple setup, "no tuning, plug and play", with all configurations are already optimized.
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Compared with brushless servo systems, Leadshine iES series integrated servo motors offer much higher start and low speed torque, due to the natural inheritance of high stiffness at standstill and high starting torque feature from stepper systems. This allows iES integrated servo motors to perform direct drive of high inertia load, like flywheels and belt driving. But in traditional brushless servo systems, in order to get the preferred torque, expensive high power servo motors have to be chosen, or costly . While load inertia ratio normally can't exceed 10:1 in traditional brushless servo systems, that ratio can be as high as 100:1 for iES integrated servo motors.
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| | Model | Nema
Size | Control
Type | Holding
Torque
(Nm / oz-in) | Input
Voltage
(VDC) | Peak
Current
(A) | Shaft
Size
(mm / inch) | Encoder
Resolution
(Line) | Length
(in) | 1 / 5 Pc.
Price
(USD) |
| iES-1703 | 17 | Step & Direction | 0.30 / 43 | 18 - 38 | 4.2 | 5.00 / 0.197 | 1000 | 2.68 | $129.00 / $121.00 |
| iES-1706 | 17 | Step & Direction | 0.60 / 85 | 18 - 38 | 4.2 | 5.00 / 0.197 | 1000 | 3.25 | $149.00 / $139.00 |
| iES-2309 | 23 | Step & Direction | 0.90 / 128 | 20 - 50 | 6.0 | 8.00 / 0.315 | 1000 | 3.45 | $239.00 / $229.00 |
| iES-2320 | 23 | Step & Direction | 2.00 / 283 | 20 - 50 | 6.0 | 8.00 / 0.315 | 1000 | 4.40 | $259.00 / $249.00 |
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