Rockwell Automation MPMA Integrated Multi-Axis Linear Stages - Manual (Page 50)

50 Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Chapter 6 Configuration Guidelines
Conversion Positioning Mode Linear
Conversion Constant 200 drive counts / 1.0 mm 5080 drive counts / 1.0 in.
Hookup
(1)
Test Increment 70 mm, min for Ultra3000 drive
20 mm Kinetix 2000 drive
20 mm Kinetix 6000 drive 2.76 in. min for Ultra3000 drive
0.787 in. Kinetix 2000 drive
0.787 in. Kinetix 6000 drive
Drive Polarity Positive
Homing Mode Active
Position 0 (or programmable)
Offset 5 mm, min 0.2 in., min
Sequence Torque Level-to-Marker
Direction Reverse Bi-directional
Torque Level 80%, min
Greater if the system friction, force, or weight exceeds 80% of the Continuous Force Rating at any
point in the range of motion
Speed 50 mm/s 1.97 in./s
Return Speed 10 mm/s 0.39 in./s
Limits Hard Travel Limits Check if hardware limits are in use.
Use Motion Analyzer to determine the maximum stopping distance in your application to set
Negative and Positive Limits
Soft Travel Limits Check
Use Motion Analyzer to determine the maximum stopping distance in your application to set
Negative and Positive Limits
Position Error
Tolerance
(2)
10 mm 0.394 in.
Gains Feedforward Velocity
Gain 100%
Tune Velocity Feedforward (3) Check
(1) The Command and Feedback test, accessed from the Hookup tab, does not verify the Hall Sensor wiring to a Kinetix 2000 or a Kinetix 6000 drive. The wire colors and
continuity for the Hall signals must be manually verified.
(2) Using Auto-tune will reset this parameter to the default value.
(3) Using Velocity Feedforward will reduce position error during motion.
Axis Properties Tab Parameter Entry/Selection, with applicable distance unit settings
Metric English
(+)
(-)
Positive Direction