Featured - Motion Control Tips

Build conveyors in real time with Dorner’s new 3D Preview

May 16, 2018 by Danielle Collins Leave a Comment

Functionality at its best! Customers can now receive real-time updates as they design and modify conveyor systems using 3D Preview in DTools, Dorner’s online conveyor configurator.

3D Preview, a fully interactive, live experience for customers that gives them more information than ever before, is now available for Dorner’s 2200 Series Precision Move Pallet System. When building their conveyors in DTools, a 3D CAD model is simultaneously developed to match their designs. As the conveyor is modified, the configuration updates to correspond with those changes — giving customers live updates and rotatable 3D views of their conveyor systems prior to submitting the systems for quotation.

The 2200 Series Precision Move Pallet System conveyor is designed to increase efficiency and reduce downtime in various assembly automation processes. The platform can carry pallet loads up to 70 pounds around 90° or 180° corners, and pallets can be accumulated in a corner; an advantage not typically seen in most corner systems. It also features a tight transfer 180°corner that creates a loop with only 135 mm between main run conveyors. This cost-effective option uses the Dorner Pin Tracking system, which eliminates the need for other transfer devices while maintaining pallet orientation through the loop.

3D Preview will be available on Dorner’s other conveyor product lines in the coming months. For more information on DTools’ 3D Preview, visit: https://tools.dornerconveyors.com.

How can a universal motor operate on either DC or AC supply?

May 15, 2018 by Danielle Collins Leave a Comment

A universal motor is a series-wound motor — meaning that the field and armature windings are connected in series — and is mechanically commutated with brushes and a commutator. Although its construction is very similar to a series-wound DC motor, a universal motor incorporates several modifications that allow it operate properly on either DC or AC power supply.

For proper operation with AC supply, a universal motor incorporates a compensation winding, in series with the armature and field winding.
Image credit: circuitglobe.com

When the motor runs on AC voltage, the alternating flux causes a reactance voltage, which limits the current to a much lower level than would be produced with DC voltage. To limit the effects of this armature reaction, the universal motor uses a compensation winding, which is installed in the slots of the stator, 90 degrees electrical from the main field winding and connected in series with the armature and field winding. (This arrangement is referred to as “conductively compensated.”) The current flowing in each coil of the compensating winding is in a direction opposite to the current in the corresponding armature loop near it. The winding of equal coils in opposite directions produces a cancelling effect that reduces inductance, and therefore, reactance.

AC supply also induces more significant eddy currents than are produced when the motor operates on DC supply. To curtail eddy current losses, universal motors use laminated cores (rather than solid iron), which increases their resistance and reduces eddy currents.

Armature reaction is the interference of the main field flux caused by the armature flux. This distortion and weakening of the main field flux changes the location of the magnetic neutral plane, which is the axis along which the brushes should be placed.

Armature reaction changes the location of the magnetic neutral plane, which is the axis along which the brushes should be mounted.
Image credit: Precision Microdrives Limited

It is because the armature and field windings are connected in series that a universal motor can operate with either DC or AC supply. Being connected in series means that both windings are supplied by the same source, so if the voltage source changes polarity, as it does with AC supply, both the armature and field currents also change polarity and the direction of torque does not change. (The direction of rotation is reversed by reversing the current in the field circuit.)

To reduce inductance in the armature, the current flowing in each coil of the compensating winding is in a direction opposite to the current in the corresponding armature loop near it.
Image credit: Festo Didactic

One of the primary benefits of a universal motor is its ability to achieve (theoretically) unlimited speed, with speeds up to 20,000 rpm in real-world applications. The speed-torque curve is essentially a straight line between stall torque (zero speed) and no-load speed (zero torque), meaning that as the load (torque) increases, the speed decreases. In fact, like a series-wound DC motor, running a universal motor with no load (zero torque) could lead to a runaway condition, where the speed increases until the motor begins to break apart. The converse of this phenomenon is that universal motors produce very good starting torque (high torque at low speeds).

A universal motor can produce extremely high speed at zero torque, but speed drops rapidly as torque increases.
Image credit: Groschopp, Inc.

This ability to run at very high speeds means that universal motors are good for applications that involve rapidly spinning components, such as fans, blow dryers, and vacuum cleaners. And their ability to produce high torque at low speeds makes them suitable for applications such as blenders and portable drills. Because they’re mechanically commutated, universal motors generally aren’t suitable for continuous-duty applications, due to brush maintenance and wear. The brushes also make them relatively noisy, so their primary areas of application are small consumer appliances.

Feature image credit: Groschopp, Inc.

How an IDE reduces development time in PACs

May 10, 2018 by Danielle Collins Leave a Comment

Applications that require complex process or motion control also require elaborate and complicated programming — often across multiple components, functions, and parameters. But thanks to the integrated develop environment found in programmable automation controllers (PACs), the programming task for these complex applications is faster, less burdensome, and more reliable.

The Parker Automation Manager (PAM) software is an integrated development environment that allows users to program robotics applications in a user-friendly, graphical environment.
Image credit: Parker Hannifin Corporation

When ARC Advisory Group introduced the term “programmable automation controller,” they specified five characteristics that signify a PAC, including that it:

Employs a single development platform using common tagging and a single database for development tasks across a range of disciplines. The same software is used for all development; this IDE (integrated development environment) reduces development time.

Note that ARC’s definition specifically states that the purpose of the integrated development environment (IDE) in a PAC is to reduce development time. One of ways it does this is by managing all the tasks related to programming, including editing, compiling, and debugging. And because all programming is done in one software package — rather than requiring multiple software packages from different vendors — the IDE makes programming less tedious and easier to scale.

Also key to a PAC’s ability to simplify and reduce programming time are the two specific features of the IDE mentioned in ARC’s characteristics — common tagging and a single database. Common tagging means that each variable, or tag, the programmer defines (name and definition) can be used in every software application, whether it’s for control, human-machine interface, vision, or plant-wide ERP systems. And if a tag is changed at a later time, it’s easy to propagate the change throughout the system.

This common tagging is enabled by the use of a single database. In other words, the tag definitions are kept in one database that is available to all the applications in the IDE. This means that programmers don’t have to define and synchronize tags across different applications.

The integrated development environment that underpins PAC software simplifies programming for all the applications related to the control system.
Image credit: Opto 22

Integrated development environments aren’t exclusive to programmable automation controllers. While the idea of an IDE goes back to TurboPascal in the early 1980’s, Microsoft’s Visual Basic, launched in the early 1990’s, is commonly recognized among programmers as the first IDE. (Note that Wikipedia identifies Maestro I, from Softlab Munich, as the first IDE, but does not specify the characteristics that made it recognizable as such.)

Probably the most recognized benefit of IDEs during their initial development and adoption was their ability to write, modify, compile, and debug code within a single program, simplifying the iterative process of writing, testing, debugging, and re-testing that programmers were accustomed to.

New igus robolink Apiro is modular kinematics system for automation

May 9, 2018 by Lisa Eitel Leave a Comment

igus now sells components as part of a modular motion system called robolink Apiro. The systems could soon make designing and using individual automation setups more cost effective and much easier.

With robolink Apiro, design engineers can choose from three lubrication-free worm gears for standard, inverted and linear movement. For users, the device offers setups ranging from the simple linear robot to complex humanoid and animatronic robots. The manufacturer introduced the robolink concept at Hannover Messe in Germany in April.

New igus robolink Apiro is modular kinematics system for automation of robotic design

The Apiro system allows for motion designs capable of movements like those of a spider … with only three new worm gears for standard, linear and inverted motion. Image courtesy igus GmbH

Apiro, which derives from the Greek word unlimited, was developed with a focus on decoupling the motor and gearbox while also introducing new kinds of worm gears that can be installed in up to six axes, such as an articulated robot. A gearbox with linear motion, inverted and conventional robolink worm gears in four sizes come in Apiro. They can also be combined.

The new modular system will allow even complicated movements to be implemented. For example, designers needing parts for individual SCARA robots and linear robots as well as sprue pickers used in removing products from injection molding machines will see benefit in Apiro. Designers of transport and handling systems, as well as humanoid and animatronic robots which can perform movements like those of a spider, will also recognize the benefits of the new modular motion system.

The new robolink series is also suitable for training, development and research as different kinematics can be set easily and quickly.

Modular motion system leads to flexible kinematics design

The multi-functional profile enables users to connect the different gearboxes of the robolink Apiro series. Placing several Apiro joints side by side also allows for the possibility of parallel joint connections, which creates endless possibilities for many different automation applications.

High-quality tribo-polymers are used in the worm gears of the new Apiro series. The corrosion-free and chemical-resistant high-performance plastics ensure a high degree of stability, low weight, long service life and maintenance freedom.

The joints are combined by a multi-functional profile made of aluminum that makes it possible to insert drive shafts through a hollow space in the middle of the unit. The inverted worm gear makes use of that hollow space.

The gearbox allows the aluminum piece to rotate, which makes it applicable for use in robotics and rotating applications. In the case of the new worm gear with linear movement, the aluminum profile can travel linearly through the worm gear, and vice versa. Worm gears also have very little clearance.

What is an inching drive?

May 2, 2018 by Danielle Collins Leave a Comment

When you hear the term “inching drive,” you might think of a small actuator, possibly driven by a piezo or voice coil, suitable for short, precise movements in applications such as optical inspection. (At least, that’s what I envisioned when I first heard of an inching drive!) But inching drives are so named because of their ability to move very large, high-inertia loads at very slow speeds.

The two most commonly used terms are “inching drive” and “auxiliary drive,” but other terms for these low-power, high-torque drives include “barring drive,” “creeping drive,” “jack drive,” “turning gear,” and — my favorite — “Sunday drive.”

Shown here is a gear drive with an integrated inching drive (front left).
Image credit: Rexnord Corporation

An inching drive is used as an auxiliary system to the main drive for a large machine such as a ball mill, industrial kiln, conveyor, or elevator. Its purpose is to turn the equipment at a speed slower than the normal operating speed — typically 1 to 2 rpm, although fractional rpms are also common — and to do so at high torque — typically 120 percent of the normal drive torque.

Three main components make up the inching drive — an electric motor or internal combustion engine, a gear reducer, and a connecting element to automatically or manually engage with the equipment being driven. The use of either an electric motor or an internal combustion engine depends both on the type of equipment being driven and the conditions under which the inching drive will be used. For example, a kiln needs to be rotated constantly. If the main power supply fails, an inching drive with an internal combustion engine can rotate the kiln in the absence of power. But for most other types of equipment, the inching drive is used primarily during maintenance and repair operations. In these cases, electric motors are the more common choice because they can provide positioning accuracy and good holding capabilities.

One of the uses for an inching drive is to slowly rotate a ball mill, as shown here, for inspection or replacement of the inner lining.
Image credit: Mauricio Neves, Arnaldo Andrade, and D.N. Silva

The mounting configuration of an inching drive can be parallel shaft, concentric shaft, or right angle. The mounting configuration is important for space considerations, but it also determines the type of gear reducer used in the inching drive. Parallel shaft configurations primarily use a helical gear or double-worm gear, although worm gears have low efficiency and are typically chosen only when self-locking is desirable. Concentric shaft designs also use helical gears, while right-angle designs most often use a combination of spiral bevel and helical gears.

In addition to the motor, gearbox, and coupling, most inching drive systems incorporate safety features, such as a brake or backstop, to prevent the drive from rotating when power is removed and to keep the equipment from rotating if it’s stopped in an unbalanced position.

Inching drives can use either electric motors or internal combustion engines. For driving a kiln, as shown here, an internal combustion engines is used for its ability to provide continuous rotation, even if power is lost. Kiln applications also incorporate a backstop to prevent rotation in the reverse direction.
Image credit: IEEE Standards Association

A variable speed drive can generally provide inching or creeping capabilities — which eliminates the need for a separate inching drive — as long as the motor is capable of operating within the speed range required for inching.

Single-chip brushless dc (BLDC) driver extends runtime off batteries

April 26, 2018 by Lisa Eitel Leave a Comment

STSPIN233 low-voltage motor drivers from STMicroelectronics excel in single-shunt and three-shunt brushless-motor driving. They include a 200mΩ 1.3A_rms power stage, in a slim and compact 3mm x 3mm package.

The STSPIN233 also has the industry’s lowest standby current, at less than 80nA. What’s more, it can be put into standby mode under logic control, making it suitable for extending operation from batteries in equipment like drone-camera gimbals, educational robots, toothbrushes, shavers, medical syringe pumps, or small drives in Internet-of-Things (IoT) devices.

Powering the STSPIN233 is easy and uncomplicated. Its input-voltage range of 1.8V-10V allows use with a power source as basic as a single Li-ion cell. Built-in safety features more simplify system design, including over-current, short-circuit, and over-temperature protection, UVLO, and interlocking.

A development ecosystem comprising a Nucleo expansion board (X-NUCLEO-IHM17M1) and related software tools (X-CUBE-SPN17 for STM32Cube) is available for the STSPIN233, to jump-start evaluation and prototyping leveraging the easy-to-use STM32Cube software environment that includes tools, middleware, and application-code examples.

With the arrival of the STSPIN233, ST now offers a complete portfolio of miniature monolithic low-voltage drivers for stepping, brush, or brushless motors in small battery-powered devices. The complete family, comprising STSPIN220, STSPIN230, STSPIN233, STSPIN240, and STSPIN250, each with a dedicated Nucleo evaluation board and X-CUBE software package, offers flexible choices including single, dual, or high-current (2.6A_rms) brush motor control, and sensed or sensorless BLDC control.

The STSPIN233 is available now as a compact 3mm x 3mm QFN, priced from $0.95 for orders of 1,000 pieces. For more information, visit www.st.com/stspin.

Selecting a servo drive: 9 things you need to know

April 25, 2018 by Danielle Collins Leave a Comment

Sizing a motor for a servo application requires evaluating the move profile and torque requirements to determine the mechanical demands of the system, such as maximum velocity and acceleration, RMS and peak torque values, and load-to-motor inertia match. Once the motor is chosen, the next step is to select a drive.

On the surface, selecting a servo drive (also referred to as a “servo amplifier”) may seem to be a matter of simply matching the drive’s voltage and current output to the motor’s requirements. But there are many factors that need to be considered to ensure the drive operates satisfactorily within the complete servo system. While some applications may require other, more specialized functions from the drive, here are nine factors that guide the selection of a servo drive for most applications.

1. Motor type

A servo drive can be used with any motor that operates in a closed-loop system — including stepper, induction, and asynchronous — but the two most common types of motors that are paired with servo drives are brushless DC motors and synchronous AC motors. Of these, synchronous AC motors are more common in motion control applications.

2. Commutation

The type of commutation required by the drive depends on the type of motor being driven and the application’s sensitivity to torque ripple. Brushless DC motors can operate with either trapezoidal or sinusoidal commutation, while AC synchronous motors use sinusoidal commutation. Trapezoidal (also referred to as “six-step”) commutation is the simpler method, using three Hall sensors to determine the commutation sequence. But it produces high torque ripple. Sinusoidal commutation virtually eliminates torque ripple and provides more precise control by continuously varying the current supplied to the motor windings. But it requires a high resolution feedback device to determine the rotor position.

Sinusoidal (left) and trapezoidal (right) current waveforms for synchronous AC and BLDC motors, respectively.
Image credit: STMicroelectronics

3. Feedback

Servo systems require feedback in order to provide closed-loop operation and detect and correct any errors in the motor’s actual position, torque, or velocity. This feedback can be provided by Hall sensors, resolvers, or encoders, although most high-end systems use a resolver or an encoder. Regardless of the feedback mechanism, the drive must be compatible with its signal to process it and communicate it to the controller.

4. Voltage and current

The most basic requirement of the motor-drive relationship is that the power from the drive — maximum voltage, continuous current, and peak current — must be sufficient to produce the mechanical output required by the motor — torque, speed, and position. Because the operation of the motor and the drive are co-dependent, manufacturers provide torque-speed curves that define the performance of specific motor-drive combinations.

5. Operating mode

Servo control loops within the drive are used for controlling torque, velocity, or position (or a combination of the three). While all servo drives incorporate a torque control loop and a velocity control loop, only digital drives can provide position control.

Servo drives often have a multi-loop structure, with the current loop nested inside the velocity loop, which is nested inside the position loop. Analog drives can provide current and velocity control, but only digital drives incorporate position loops.
Image credit: nctu.edu

6. Analog or digital

Traditional servo drives were analog and converted ± 10 volt signals from the controller to current commands for the motor to control torque or velocity. In order to tune an analog drive, gain values and other parameters are set via potentiometers. With newer digital drives, the command can be executed by either digital or analog inputs, and tuning is done via software. Along with torque, velocity, and position loops, digital drives can also manage higher-level functionality, such as path generation. Digital drives are also capable of monitoring internal functions of the drive (such as following error) and providing more detailed fault diagnostics.

7. Communication

In order for the drive and controller to “talk” to each other, they must have a common language. To accomplish this, servo drives are offered with a variety of communication protocols, from basic serial links, such as RS485, to more advanced protocols, such as traditional fieldbus networks (DeviceNet, for example) or Ethernet protocols. The choice of communication protocol will largely depend on the required communication speed, whether there is a master-slave arrangement between multiple drives, and in some cases, the type of controller being used.

8. Integrated safety

Functional safety is now mandated on many types of machines and is governed by the EN/IEC 62061 and EN/ISO 13849-1 safety standards. To comply with these standards, safety functions, such as Safe Torque Off (STO) and Safe Stop 1 (SS1), are integrated into many higher-level drives.

When the STO function is activated, the drive stops supplying power to the motor, and the motor coasts to a stop.
Image credit: Siemens AG

9. Mounting

For industrial applications, servo drives are, for the most part, either panel-mounted or PCB-mounted. Panel-mounted drives are often installed in a control cabinet where they are protected from environmental hazards and can be externally cooled. PCB-mounted drives (also referred to as “plug-in” drives) provide a compact solution for direct integration onto a PCB and are commonly used in high-volume OEM applications.

Panel-mounted drives are typically mounted in a control cabinet.
Image credit: ABB

Miniature brakes, clutches, and torque limiters from Mach III for shaft sizes to a half-inch

April 24, 2018 by Lisa Eitel Leave a Comment

Brakes, clutches and torque limiters are now available from Mach III for shaft sizes of half-inch and smaller. The ten new products include:

• A spring-engaged brake for power off applications

• An air-engaged brake for stopping and holding applications

• Five air-engaged clutch configurations for connect and disconnect applications

• Three mechanical torque limiters for overload protection applications.

These products are currently used in MRI scanners, a variety of food packaging and labeling systems, remotely operated inspection cameras, quality control equipment, and machinery that produces faux eyelashes.

Development of these smaller sized products was driven by client demand.

“Over the past couple of years, we have experienced a high volume of inquiries from machine designers looking for products for half inch and smaller shafts,” said said Mach III application and design director Ron Ashbrook. “In some cases, these were new machine designs. In others, the engineers were seeking replacements for products that performed poorly, became too costly, or had inordinately long lead times.”

After developing a number of custom designs for these clients, it made sense to expand the Mach III catalog line to encompass these smaller sizes.

The outside diameters of the miniature units are between 2.58 and 3.28 in., and the lengths of most are less than 3 in. Torque capacities are to 200 lb-in. at 80 psi. All are available bored and keyed to spec for imperial and metric shafting and have an average two-week lead time. All can be customized with enclosures and special finishes to suit application requirements. Get full specifications and 3D models at the machiii.com page detailing the miniature clutches and torque limiters.

Mach III is an application-focused designer and manufacturer of air and spring engaged friction brakes, clutches, combination clutch-brakes, and mechanical torque limiters. Mach III products are used in machinery to connect and disconnect, stop, hold, control tension, and protect machine components from overload. Torque requirements up to 60,000 lb-in. can be accommodated. Engineering, sales, production, customer service, and product support are all located under one roof in Walton, Ky.

Stepper drives: What’s the difference between an L/R drive and a chopper drive?

April 19, 2018 by Danielle Collins Leave a Comment

There are two fundamental types of stepper drives: L/R drives and chopper drives.

L/R stepper drives are also referred to as “constant voltage” drives, because they supply constant voltage to the motor windings. The current produced in the windings depends on the motor’s time constant, which is the relationship between its inductance and resistance (L/R). The time constant causes current to increase slowly with each voltage pulse. So for very high pulse rates (i.e. high motor speeds), full current, and thus full rated torque, may not be reached. This limits the use of L/R drives to primarily low-speed applications.

Torque vs. pulse rate for a typical unipolar L/R drive with a 15 degree step angle.
Image credit: AMETEK Inc.

Current in the windings can be increased by using higher supply voltage, but motor temperature rise then becomes a problem. When the applied voltage is high, the “off” time (when no power is applied) must be long enough to prevent the motor from overheating. Another option is to add resistors in series to improve the time constant (L/2R or L/4R, for example) and increase the voltage. But resistors waste power through heat generation, so efficiency is reduced.

Resistance (R) affects the maximum current in the windings, according to Ohm’s law, I = V/R.

Inductance (L) affects the rate of change of current in the windings, according to the relationship, dI/dt = V/L.

Because of the torque and speed limitations of L/R stepper drives, an increasing number of stepper motor applications now use chopper drives. These drives are also referred to as “constant current” drives because they supply constant current to the motor windings, by “chopping” the output voltage (i.e. turning the output voltage on-and-off very rapidly).

With each motor step, a very high voltage (typically eight times the motor’s nominal voltage) is supplied to the motor windings. This high voltage gives a very short current rise time, according to the relationship for an inductor (dI/dt = V/L), and it causes higher current to be produced, according to Ohm’s law (I = V/R).

Torque vs. pulse rate for a typical bipolar chopper drive with a 15 degree step angle.
Image credit: AMETEK Inc.

Voltage chopping also modulates the width of the output pulses (pulse width modulation) and is typically done at a frequency of 20 kHz or higher — above the audible range. The impedance in the windings varies with the motor speed, so it plays a role in determining the voltage on-time.

At slow motor speeds — and low impedance — the chopper drive provides a short on-time for the voltage, producing a small pulse width. Alternatively, at high speeds —and high winding impedance — the chopper drive provides a long on-time for the voltage, producing a large pulse width and allowing time for the current to rise sufficiently to produce the rated torque.

Relationship between voltage and current in a (chopper) drive.
Image credit: Oriental Motor USA Corp.

A current-sensing resistor placed in series with each winding regulates the current and ensures the shortest time possible for current to build up and decline. As the current increases, voltage develops across the resistor. This voltage is monitored by a comparator, and at a predetermined reference voltage, the output voltage from the drive is turned off (chopped) until the next pulse occurs. This allows current to build and decline as the voltage is switched on and off.

By controlling the duty cycle of the drive through chopping, the average voltage and current are kept equal to the motor’s nominal voltage and current ratings. The result is precise torque control, and more importantly, higher torque production at high motor speeds.

Microstepping drives are common versions of chopper drives.

Feature image credit: AMETEK Inc.

Conveyor manufacturer Dorner now includes FlexMove and Geppert-Band companies to transform automation

April 18, 2018 by Lisa Eitel Leave a Comment

In a move that combines more than 100 years of conveyance expertise, Dorner Holding Co. (the parent company of Dorner Mfg. Corp.) FlexMove and Geppert-Band GmbH is merging the three entities into one consolidated brand of Dorner.

The new Dorner boasts a global workforce of more than 400 and brings a diverse conveyor automation product line and extensive application knowledge to industries around the world. The headquarters will remain in the United States, with manufacturing facilities in Germany, Malaysia and Mexico, and a sales and engineering office in Canada.

“Dorner has been integrating the various locations over the last few years, and the new Dorner is the next step in that process,” said Terry Schadeberg, president and CEO, Dorner. “Consolidating the brands allows us to focus marketing efforts, streamline customer support, and provide a unified product line around the world. We’re excited to move forward as one unified global company that’s transforming conveyor automation.”

Dorner was founded in 1966 by brothers Wolfgang, Horst and Werner Dorner. Initially, the company was a tool and die shop, but adjusted its business to focus on conveyors in the early 1970s. In 2012, the brothers sold the business to a private equity firm; Dorner was again sold last year to EQT Mid-Market US fund.

Penang, Malaysia-based FlexMove is a flexible chain conveyor system and components manufacturer for food, beverage, automotive, electronics, and other industries. FlexMove joined Dorner Holding Company in December 2015 and has since began manufacturing and selling Dorner conveyor lines, as well as supplying product to Dorner’s other locations. The FlexMove product line will continue to be offered globally with assembly in Malaysia, The United States, Germany and Mexico.

Jülich, Germany-based Geppert-Band GmbH is a belt and modular belt conveyor manufacturer founded in 1967. Geppert-Band is known throughout Europe for its engineering expertise, industry leading deliveries, and an established sales and support structure. The company joined Dorner Holding Company in 2016.

Dorner also has a sales office in Burlington, Canada, and recently began manufacturing operations in Guadalajara, Mexico, following an acquisition of Sautem in 2017. Brand merger of the three companies is in its initial stages and will take several months to complete. All products are now available at www.dornerconveyors.com.