Rockwell Automation CHPS-250 Linear Stage Installation - Manual (Page 50)

50 Rockwell Automation Publication CHPS-UM001D-EN-P - July 2014
Chapter 7 Operation Guidelines and Limit Configuration
Travel Limits CHPS-Series stages offer three methods for containing slide travel: software
travel limits, optional overtravel limit sensors, and standard bumpers stops. For
safest operation use all three.
Set software travel limits and overtravel limit sensors 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. Do a calculation similar to the one in
Calculating the Stopping Distance for your application.
Bumper Stop on the stage can stop the slide up to the ratings listed in the table on
page 53.
Calculating the Stopping Distance
In the following example we calculate the stopping distance for a 10 kg payload
on a CHPS-x8xE-xLMxxxx stage driven by a Kinetix 6000 drive (2094-xxxxx) by
using the specification found in
Appendix A . Substitute values for your system as
necessary.
Known Values:
Slide Moving Mass = 10.32 kg
Payload = 10 kg
Maximum Programmable Velocity
(1)
, Vmax = 2 m/s
Available Peak Force
(2)
= 600 N @ 23.2 A
o-pk
Start with:
Total Moving Mass = m = Payload + Stage Moving Mass
= 10 kg + 10.23 kg = 22.23 kg
So the maximum deceleration rate, Dmax is 26.99 m/s
2
.
IMPORTANT Bumper stops are not intended as range of motion stops, but they can stop the
moving slide up to the ratings listed in
Bumper Stops on page 53 .
(1) Velocity and kinetic energy can be much higher due to a uncontrolled worst-case motion constrained by the stroke and power
capacity of the motor drive paring only.
(2) Approximation only; actual peak force typically decreases as speed increases.