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Servo Motors
Performance Differences
Some performance differences between Stepper and Servos are the result of their respective motor design. Stepper
motors have many more poles than servo motors. One rotation of a stepper motor requires many more current
exchanges through the windings than a servo motor. The stepper motor's design results in torque degradation at
higher speeds when compared to a servo. Using a higher driving bus voltage reduces this effect by mitigating the
electrical time constant of the windings. Conversely, a high pole count has a beneficial effect at lower speeds giving
the stepper motor a torque advantage over the same size servo motor.
Another difference is the way each motor type is controlled. Traditional steppers operate in the open loop constant
current mode. This is a cost savings, since no encoder is necessary for most positioning applications. However,
stepper systems operating in a constant current mode creates a significant amount of heat in both the motor and
drive, which is a consideration for some applications. Servo control solves this by only supplying the motor current
required to move or hold the load. It can also provide a peak torque that is several times higher than the maximum
continous motor torque for acceleration. However, a stepper motor can also be controlled in this full servo closed loop
mode with the addition of an encoder.
Steppers are simpler to commission and maintain than servos. They are less expensive, especially in small motor
applications. They don't lose steps or require encoders if operated within their design limits. Steppers are stable at
rest and hold their position without any fluctuation, especially with dynamic loads.
Servos are excellent in applications requiring speeds greater than 2,000 RPM and for high torque at high speeds or
requiring high dynamic response. Steppers are excellent at speeds less than 2,000 RPM and for low to medium