Mavilor Motors Company

March 2006
CONTENTS
1 Introduction
2 RoHS By Alfred Domenech
3 Mavilor Marketing material
Mavilor Motors
Company
4 Mavilor, Planning department.
5 Tachogenerator & Encoder by
prof. JC Compter
6 How to contact us by e-mail
7 Mavilor World Distributors.
INTRODUCTION
This time Mr. Alfred Domenech will
comment on the RoHS Directive. As you
know the quality system is a basis element
of our products.
We want to show you as Mavilor structure
works, one of the most important mainstay
of Mavilor is the Planning Department, it
is driven by Mr. Antoni Gregori, he will
explain us how this department works.
Our Technical article is written by Professor
JC Compter, on this ocassion he talks about
the thachogenerator and the encoder.
Communication is one of our goals, so you
can find the e-mail adress of all Mavilor
departments. You can contact us directly.
Thank you very much, Mavilor Team.
Know-How
Key products in response to market needs. Working from
their insight into market requirements and customer needs,
our technical sales and engineering companies determine
market requirements and trends. On that basis, we develop
and build modular core products in servo-motors.
Our broad experience and comprehensive technological
expertise in this area is the basis for our highly innovative
product development.
MAVILOR MOTORS, S.A.
Polígono Industrial URVASA,
E- 08130 Santa Perpètua de Mogoda (Barcelona) Spain
Tel. +34 93 574 36 90 - Fax: +34 93 574 35 70
website: www.mavilor.es - e-mail: mavilor@mavilor.es

RoHS Certificate of Compilance
Restriction of the use of certain Hazardous Substances (RoHS)
by Alfred Domenech, Quality Manager Mavilor Motors.
Mavilor Motors SA is RoHS compliant since 1st
of January 2006, according to the directive
2002/95/EC of European Union regarding the
restriction of the use of certain hazardous
substances in electrical and electronic equipment
and components. The application of the defined
substances has been eliminated from our products
and process as of 1 st of January 2006.
All supplied products and components are RoHS
conform. We have been working with respect to
the environment protection since two years ago
and we are ready to be ISO 14001, we expect to
be certified during this year.
RoHS stands for Restriction of Certain Hazardous
Substances. It is an European legislation that bans
six hazardous substances from manufacturing
processes: cadmium (Cd), mercury (Hg), hexavalent
chromium (Cr (VI)), polybrominated biphenyls (PBBs),
polybrominated diphenyl ethers (PBDEs) and lead
(Pb).
This legislation will be effective from July 1st, 2006
and from this date on products using these substances
cannot be sold in Europe anymore. Together with
RoHS, another directive dealing with electrical and
electronic equipment recycling, called WEEE (Waste
from Electrical and Electronic Equipment), will take
place.
RoHS and WEEE will affect each and every electronics
or electrotecnics manufacturer directly or indirectly,
regardless geographical location the product
produced.
Mavilor Motors has checked all products used in
manufacturing, and has achieved together with our
suppliers, that every component goes with such a
Directive.
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2

Mavilor Express - Núm. 32 - March 2006
Catalogues, Brochures and Marketing material
We would like to remind you that
Mavilor has at your disposition
different catalogues on different
supports; paper, Cd ,pdf. They will
provide you the best information
required about our products.
At the same time, if you need any
additional publication for Trade Fair,
magazines, etc., please do not
hesitate to contact us, we have all
material that you need.
Thanks and best regards,
Silvia Romero.
Motors and drivers
Motors
Innovative Impulse
Washdown
BL 190
BLS/BLT 48VDC.
ML no Cogging
MLL no Cogging
Actuator
3
3

PLANNING DEPARTMENT MAVILOR MOTORS
by Mr. Antoni Gregori
One of the most important, the Planning Department is run by Antoni Gregori,
where your orders are processed and planned looking for the shortest delivery
time.
The Production Planning
Department operates under the
Factory Management and is directly
related to Manufacture and
Shipping. It is also related to
Engineering, Technical Office and
Purchasing.
The Planning Department receives
customer orders, identifies the
products requested, and includes
them in production plans.
Contact with the customer begins
with the offer request (if necessary).
If the customer already knows the
product code, it is verified that the
product is appropriate to be
included in production. Otherwise,
either because it is a new product
or it is an article in which a
component must be changed, or if
there is no product code, it is sent
to the Technical Dept so that
appropriate verifications or
changes can be made.
Once the product and price have
been identified, the delivery date
is planned based on the data
requested by the customer, the
production load, and availability of
the materials that make up the
product. All items are completely
analysed through a process similar
to the MRP. If any material is
missing, the Purchase Order and
Manufacturing Order are generated
in the appropriate departments.
With the information on materials
and, hours available and the delivery
periods for the materials requested,
the decision can be made on the
manufacturing and delivery date
closest to that requested by the
customer.
Although manufacturing of motors
and components is customeroriented
(i.e., it is done based on
each specific order), after the article
has been sent to the Manufacturing
Dept, different groups are
established and production is
optimised in batches of the
appropriate size.
Needed components for motor
assembly are prepared 10 days
before the planned date of shipment
so that significant time is available
in order to ensure that nothing is
missing for motor manufacturing.
While manufacture is being
performed, important work is
conducted by the Shipping
Department in preparation for
shipment, including forms of
payment, management of letters of
credit, shipping addresses or forms
of transport.
All orders with suitable
documentation are duly filed in
computerised format and hard copy.
Finally, the Planning Department
prepares the self-control statistics
that list delays in delivery based on
data requested by the customers,
as well as confirmation of orders
after being received from the
customer.
According to the objective
established, the order should be
confirmed within 2 days of reception.
This can be done if it is a standard
or known article. Otherwise, Mavilor
Motors needs a reasonable period
of time in order to be able to confirm
with certainty that the product is the
same as that requested by the
customer.
The other objective is that the
confirmation date and the date on
which the merchandise is actually
sent should not be more than 3 days
apart. We are working on this in all
departments of Mavilor.
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Mavilor Express - Núm. 32 - March 2006
TACHOGENERATOR &
ENCODERS
by J.C Compter member of Eindhoven
University
Introduction to Electromechanics
The word tacho is used for many sensors that
give an indication of speed. We shall describe
some common principles.
First of all the "clasic tacho". It
is in fact a moving-coil motor
with brush, with high
requirements being made of the
homogeneity of the magnetic
field, the winding and the
brushless, with a view to the
voltage (the EMF) at the
connections being directly
proportional to the speed over
a wide range, the appeal of this
tacho is that the signal can be
sent straight to the controller
without further processing.
Three aspects are worth
mentioning, and they are the
brushles, the tacho ripple and
the load.
In a motor one of the functions
of the brush is to help reduce
the commutation current. To this
end a deliberate choice is made
regarding the resistivity of the
brush. But in a tacho this does
not come into play, since there
is no current worth mentioning
flowing in the windings. As a
yardstick in a tacho the choice
of brush/collector transition,
this leads to a brush with a high
metal content. Metal springs are
also used as brushes.
The EMF of a tacho, like the EMF
of a motor, has a ripple, wich is
associated to the number of
laminations. For the peak-peak
value of an ideal tacho with n
laminations we have:
Utt= K.ωmech.(1-sin(2. /n))
The lowest interfering frequency
occurring, peculiar to the
number of laminations, is equal
to:
f min = ωmech/n
Apart from the irregularities
associated to the collector, we
must also be prepared for
disturbances whose frequency
is proportional to the speed of
rotation. Inequalities in coils and
the magnet are the cause of
this.
For the speed imbalance in a
speed controlled system to
meet a particular specification
(such as >3%), it is not the case
beforehand that the minimum
number of laminations is fixed
by the above formula. If the
frecuency f is greater than the
bandwidth of the control loop,
it is too slow to correct the
apparent speed fluctuations.
So the conclusion is that the
minimum mechanical angular
velocity and the bandwidth of
the control set the relation
between the maximum
permisible speed imbalance as
a consequence of the tacho
fluctuations and the number of
laminations to be used.
In addition, we shall have to see
whether or not the (apparent)
speed variations give rise to a
large ripple in the motor
current. If this were to be
accepted, then the motor will
experience more dissipation
than necessary and disturbing
noise generation and higher
mechanical wear in the driver
may be expected.
Regarding the (electrical) load
of a tacho, the tacho must be
seen as a voltage source with
an internal resistance (the
Tacho resistance R tacho). When
loading a tacho with a circuit
with resistance Ri, The tacho
voltage detected is:
U=Ri.(EMF/Ri+Rtacho)=EMF.(Ri/Ri+Rtacho)
Mavilor provides tachogenerator,
included in our product range.

6
incremental encoder
LEDs
Encoders
Figure 1.
sensor SO S90
Time
4 sensors
absolute encoder
There are many measuring systems
available, which are characterised
by an output frequency that is
directly proportional to the speed
to be detected. The simplest is a
small wheel with cogs mounted on
the turning shaft. Holding a magnet
and a coil in the proximity generates
an alternating voltage in the coil,
whose frequency is directly
proportional to the mechanical
speed. Many other forms of
construction are feasible and
commercially available.
If we want to convert this frequency
into an analogue voltage for the
controller, a frequency-to-voltage
converter is required. Analog
Devices are one of the companies
supplying ICs for this purpose. But
many circuits of this kind are
characterised by an electrical time
constant that is the lowest pulse
return time that we want to use.
This establishes a clear relationship
between the choice of the minimum
number of pulses the sensor must
emit per rotation, the desired
bandwidth and the lowest operating
speed. For guidance: minimum
pulse frequency 10* the desired
bandwidth.
For Drives with high specifications
as regards speed or position,
encoders are used. There are two
types of encoder, the absolute and
the incremental encoder. Absolute
encoders contain electronics that
transmit the actual position at every
point in time. Incremental encoders
transmit the change in position; if
present, an index pulse is also
emitted once every rotation. If the
incremental encoder is used in a
position loop, the actual position
can be determined following receipt
of the index pulse. Absolute
encoders have a larger moment of
inertia than incremental encoders.
They are also bigger and more
expensive.
Fi . 1 Shows an incremental
encoder disc with index. The disc
itself is made of a transparent
material. Two light sources and light
sensors, wich are offset from one
another by a quarter space of the
grid, emit two signals in
combination with the grid, which
are 90º offset from one another.
Electronic processing produces two
square wave signals, the S0 and
the S90 signal respectively. The
direction of rotation can easily be
detected by looking at the signal
value of the other signal at the time
of an edge.
If the disc has 1000 lines,
combining the S0 and S90 signals,
gives us 4000 pulses/rotation.
there are incremental encoders
available commercially with a few
hundred to thousands of lines.
The unprocessed encoder signal
can also be fed to an interpolar;
this is an electronic circuit that
retrieves the information from the
amplitude of these two sensor
signals in order to determine the
position in more detail. using
these electronics 1,000,000
pulses/rotation are attainable.
As we have previously said,
absolute encoders transmit the
absolute position at any given
time. To determine this absolute
position the disc is equipped with
a large number of tracks, which
are read out and transmitted to
the output simultaneously.
The strength of the absolute
encoder is that the rotor position
is known immediately after
starting a drive, enabling a
position control to compare the
desired and the actual position
straightaway. In addition, an
interference pulse at one of the
outputs will only lead to an
incorrect position indication for
the duration of the interference
pulse.
Where the incremental encoder
is concerned, in a positional loop
we will always have to search
carefully for a reference (such as
a stop) after starting up. At the
same time an interference pulse
produces a permanent error until
the indexpulse has passed.
Encoders are available in both
rotary and linear form.
Remember that when using linear
optical encoders (with a length
of 1 meter for example) the
temperature can be an interfering
factor where the accuracy of the
position measured is concerned.
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Mavilor Express - Núm. 32 - March 2006
How to contact us by e-mail
Francesc Cruellas General Manager fcruellas@mavilor.es
Jordi Mayolas Financial Manager jmayolas@mavilor.es
Joan Galceran Factory Manager jgalceran@mavilor.es
Enric Solsona Sales Manager esolsona@mavilor.es
Miquel Angel Rodriguez Sales Manager marodriguez@mavilor.es
Alfred Domenech Quality Manager adomenech@mavilor.es
Ivan Flotats I+D Engineering iflotats@mavilor.es
Albert Bel Technical Office bel@mavilor.es
Antoni Gregori Planning Department agregori@mavilor.es
Antonio Garcia Purchasing Manager agarcia@mavilor.es
Karin verdaguer Purchasing Department kverdaguer@mavilor.es
Silvia Romero Communication Department sromero@mavilor.es
7

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