Trainee Guide TR-L2-M2000
Level 2 Maintenance Training – M2000 Dispensing Systems 2-2-4 P/N 73-0018-00 (Revision B)
Information Sheet 2-1-3
Power Distribution (Continued)
G. Servo Motor
1. A servo motor is a torque device that requires feedback in the form of a
rotary/linear encoder to control position.
2. A servo motor is a closed-loop system since it is constantly updated as to its
position in the dispensing process.
 The XYZ Axis Servo Motor Assembly turns the cable pulley for each axis to move
the dispensing head.
 The XYZ Axis Servo Control Amplifier supplies power to the Servo Motor
Assembly to move the dispensing head. The PMAC card determines the amount
of power supplied to the motors.
H. Stepper Motor
1. A stepper motor is an on/off device. An application engineer will calculate the
position at which to turn the motor off and on during a dispensing application.
2. Stepper motors do not provide positional feedback to the system; therefore they
operate on an open-loop principle.
 The Conveyor Stepper Motor activates to turn the Conveyor Belt Drive Wheel.
 Its power is supplied by the Conveyor Controller Module.
I. Rotary Encoder
1. The Rotary Encoders are built into the Servo Motors.
2. They supply velocity and acceleration to the PMAC by way of the Servo Interconnect
PCA and interpret velocity and acceleration information coming from the PMAC.
J. Linear Encoder
1. A Linear Encoder is mounted on each of the three axes on the dispensing head.
They keep track of the actual dispensing head position.
2. This information is supplied on a constant basis to the PMAC by way of the Servo
Interconnect PCA.
K. Hall Sensor
1. The Hall Sensors monitor the position of the Servo Motors.
2. They determine the number of revolutions and the direction the motor must travel
in order to move to the commanded position.
L. XYZ Axis Home Limit Sensors
1. As each axis reaches the home position, it triggers the Home Sensor for that axis.
2. The Home Sensor sends the information back to Servo Interconnect PCA.
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