Once commissioned, the servos provided very fast, very accurate position and velocity control of the actuators. Airshafts could be inserted to accuracy of parts of a millimeter. Motion was very smooth with no sticking or jumping as sometimes seen with pneumatic cylinders.
Some of the motions were very easy such as cross cutting the web. Positioning in this case was not very critical. Inserting an airshaft through a new core and precisely into a chuck was more difficult. We considered stop to torque and other controls available to servo drives to make this happen. The results were excellent.
The transition to servos was not as smooth as expected. The servo drives showed us just how many faults they are capable of. We learned that they require frequent homing when programs are uploaded to the controller or motors are replaced.
We expect the costs of the learning curve are behind us and we will immediately reap the benefits of servos on future machines. Unfortunately the servo actuators, dries and motors still cost more than pneumatic cylinders, regulators and solenoids.