SmartMotor™ Control Solutions for Winding

SmartMotor™ Control Solutions for Winding
Control Solutions for Winding & Spooling
SPOOLING is the most effective way to conveniently package materials of exceptionally long length such as thread,
film, wire and thermoplastics. Moog Animatics has been a long-time solution provider for winding and spooling
applications, and has recently developed new commands specifically for the winding industry.
The integrity of the spool is often based on precise patterns and proper tension control throughout the winding
process. Typically, the spooling material is fed at a certain rate while a guide traverses the material back and forth
corresponding to a desired pattern. The position accuracy of a traversing guide is best maintained when it’s linked
to the rotational velocity of the winding spool. Selection of the proper traverse type for different materials is crucial,
especially for profile materials that can’t twist or tolerate excessive stress.
• Material tension control
• Setting proper dwell points
• Overtravel and undertravel (“dog-bone” spools)
• Inadequate or excess stress on the spooling material
• Tapered patterns with low friction material
• Tapered patterns wound onto cylindrical cores
- Fiber optic material
- Thread and yarn
- Paper, film and foil
• Specialized commands for winding applications
• Reduced total cabling costs
• Easily add additional axes
• Auto-reversing electronic gearing
• Closed-loop system control
- Medical catheters
- Microphone coils
- Copper and other wire
- Guitar strings
- Edge-wound voice coils
Servo Motor
- Tape
Advanced Motion Cotroller
- Filter media for sub-micron sized
filter elements
Define absolute or relative position control settings for
• Traverse points
• Dwell points
• Spool widths
• Slew
All integrated motor products made by Moog Animatics are covered by patent number 5,912,541.
In winding towards one end of the spool, the traversing mechanism decelerates as it nears the flange to prevent
collision. This deceleration causes material to build up faster on either end than across the middle, creating a dog
bone shape that’s wider at the two ends of the spool than it is in the middle.
SmartMotor Solution
To avoid a dog bone spool, use SmartMotor MFLTP and MFHTP commands to set traverse points slightly less
than the length of the spool between the flanges. Dwell distance can also be set to cause the traverse mechanism
to wait a certain amount of time at each end before changing direction. This allows material to fill into the gap between
the flange and the set spool length.
With the SmartMotor you can...
Set gear ratios to change angle of wind using MFMUL and MFDIV commands
Set high and low traverse points to change spool width and position using MFLTP and MFHTP commands
Tapered wind patterns prevent the material from getting hung
up while unwinding when it can only be pulled from the spool
in a direction parallel to the spool’s core. However, tapered
steel cores cost more than cylindrical cores and complicate the
winding process due to material slip. When using a tapered core
for winding low-friction material, the material tends to slip to the
smallest end of the core regardless of the tension level.
In addition, when creating a wind pattern where the core is
straight but the exterior shape of the finished spool is tapered,
traverse points are often difficult to program and control, resulting
in poor wind quality.
SmartMotor Solution
A program must be written that first builds a taper pattern onto the straight spool. As material is added, the wind width
is then decremented in from one end to create the base taper layer. After the taper pattern is created, the material is
traversed the full length of the spool. Because each wire revolution sits between the grooves of the previously wound
layer, the tapered pattern remains intact without material slip.
A tapered wind pattern on a cylindrical core can be accomplished with an encoder to track angular
position of the main spool, a screw-driven actuator to traverse the wire guide, and Moog Animatics Class 5
SmartMotors enhanced with the latest firmware. The Moog Animatics motion control system can be programmed
to calculate the traverse speed by electronically gearing the spool encoder to the traverse axis.
Level Wind
The turnaround ends of
each layer are at the same
Tapered Wind On
Cylindrical Core
(See previous page)
Index Wind
Programmed stacked lanes
with precise programmed
index to the adjacent lane
also called step wind
Taper Wind
Each traverse layers a
programmed amount from
the edge to form a partial
pyramidal shape
Reverse Taper Wind (Inverse of taper)
Requires specially flanged
Virtual Flange Wind
Index wind pattern on
the ends with level wind
between ends
• Step winding • Lap winding
• Tapered winding on straight cores
• Variable pitch winding
• Auto-adjusted winding for variable width product
Encoder Count Shift, Master Feed Rate Override
The ECS(value) command automatically and immediately adds the value to incoming master counts as if the master
counts had an instantaneous change in value. When issued, it’s dynamic and immediate, not buffered, and no G
command is required.
This command works on top of any gearing or camming mode. It has an intended, specific purpose and isn’t suggested unless absolutely required. It is designed to account for changes in material width in a traverse and
take-up winding application to allow for full packing
of material onto spools.
This can be accomplished with hardware that
dynamically detects material width as close as
possible to where it is being wound onto the master
spool, as shown in the adjacent figure.
The sensor reads material width and, through
proper programming, the user can scale that
material width input to encoder counts to
dynamically shift the traversing slave (gearing)
motor forward or backward in real time. Proper use
of the ESC command along with Absolute Traverse
Mode allows the user to maintain proper traverse
points at each end of the spool while adjusting for
variation in material width.
MFCTP (arg 1, arg 2)
MFL (dist, arg)
MFH (dist, arg) ECS (value)
Mode Follow, Low Traverse Point, sets low traverse point <=MFHTP
Mode Follow, High Traverse Point, sets high traverse point >=MFLTP
Sets control information for traverse mode
Sets ramp distance at low travel end in traverse mode, arg 0=master, arg 1=slave
Sets ramp distance at high travel end in traverse mode, arg 0=master, arg 1=slave
Adds a one-time value of encoder counts to incoming master encoder counts
The following sample code demonstrates the use of the MFSDC (Mode Follow Slew Dwell Control) command. This
example shows how the MFSDC command can be applied to a spool winding program to automatically perform a
traverse profile across a spool with a user-defined dwell at the end for a specific input distance. This continues as
long as the master encoder signal from the main spool is moving or until the motor is commanded to stop.
MFL (1000, 1)
MFH (1000, 1)
MFSDC (4000, 2)
‘ Lower-end ramp
‘ Higher-end ramp
‘ Lower traverse point (low end of spool)
‘ Higher traverse point (high end of spool)
‘ Ratio, multiplier for wind angle
‘ Ratio, divisor for wind angle
‘ Dwell=4000, 2=active traverse mode
‘ Enable follow mode
‘ Begins move
After it’s set up, the firmware controls the winding operation in the background, which allows user programs to run
separately from the motion profiles. This is SmartMotor multitasking at its best! Because gearing can be run in the
second trajectory move generator, you can also make position or velocity moves on top of traversing to allow for lap
and step winding.
Semiconductor/Photonics Sound Engineering/Music Medical Industrial
Filter Production
Fiber optic cable and wire manufacturing
Edge wound voice coils
Microphone coils
Catheter manufacturing
Copper wire
Thread and yarn production
Cable winding
Filter media for submicron sized filter elements
Contact us today for assistance with your motion control application.
Moog Animatics
1421 McCarthy Boulevard, Milpitas, CA 95035
Tel: +1 408 965 3320 Fax: +1 408 965 3319 E-mail:
Copyright © 2012–2015, Moog Inc., Animatics.
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