Rockwell Automation MPMA Integrated Multi-Axis Linear Stages - Manual (Page 60)

60 Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Chapter 6 Configuration Guidelines
Set Travel Limits
MP-Series Integrated Linear Stages are designed to use the software overtravel
limits available in RSLogix 5000 and Ultraware software.
Set Overtravel limits according to the maximum speed of the servo drive system
and the payload of the application. You can determine the Deceleration Distance
between the slide and the end-of-travel bumpers based on the combination of the
Deceleration Rate of the load, and the available peak force from the stage-drive.
Then use Motion Analyzer software to calculate the minimum deceleration
distance at the maximum speed of your application.
(1)
In addition to software overtravel limits, the end of travel bumpers for the linear
stage will stop the carriage up to the ratings listed in the table.
Table 5 - Bumper Stop Energy Limits for Linear Stage End of Travel
To calculate kinetic energy of the carriage with your payload use the formula
J = energy in Joules
M = moving mass (linear carriage + payload) [kg]
V = maximum velocity of stage in your application [m/s]
(1)
Program Home to Torque for
Kinetix Multi-axis Drives
with Linear Stages
If you are using a Kinetix 2000 or Kinetix 6000 drive, you will find it useful to
read and apply
About Home to Torque-level Homing on page 116 to your
system-level program.
This appendix provides information on using torque-level homing to reference a
known (home) position by monitoring torque while driving an axis into a
mechanical hard-stop.
IMPORTANT
Travel Limits apply to direct drive and ball screw linear stages.
(1) Velocity and kinetic energy can be much higher due to uncontrolled, worst-case motion that is only constrained
by the length of stroke and the power capacity of the motor-drive pairing.
Cat No. Energy Limit Cat No. Energy Limit Cat No. Energy Limit
MPAS-x6xxxx-V20xxx 37.3 J (330 in
•
lb) MPAS-x8xxxx-V20xxx 22.7 J (201 in
•
lb) MPAS-x9xxxx-V20xxx 16.5 J (146 in
•
lb)
MPAS-x6xxxx-ALMx2x MPAS-x8xxxx-ALMx2x 45.5 J (403 in
•
lb) MPAS-x9xxxx-ALMx2x 35.2 J (312 in
•
lb)
ATTENTION: If energy greater than the bumper capacity is
anticipated in the application, you must provide additional
mechanical means for safely stopping the carriage.
J
1
2
-- M ×
V
×
2
=
⎝ ⎠
⎛ ⎞
IMPORTANT Home to Torque Programming should be performed only after you
have tuned your drive and linear stage combination.
You should have successfully completed tuning by performing the
steps in the table on
page 53 .