Intelligent Motion Systems MDriveAC manual System Inertia, Type of System, Lead Screw

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System Inertia

System inertia must be included in the selection of an MDrive and Planetary Gearbox. Inertia is the resistance an object has relative to changes in velocity. Inertia must be calculated and matched to the motor inertia. The Planetary Gearbox ratio plays an important role in matching system inertia to motor inertia. There are many variable factors that affect the inertia. Some of these factors are:

The type of system being driven.

Weight and frictional forces of that system.

The load the system is moving or carrying.

The ratio of the system inertia to motor inertia should be between 1:1 and 10:1. With 1:1 being ideal, a 1:1 to 5:1 ratio is good while a ratio greater than 5:1 and up to 10:1 is the maximum.

Type of System

There are many systems and drives, from simple to complex, which react differently and possess varied amounts of inertia. All of the moving components of a given system will have some inertia factor which must be included in the total inertia calculation. Some of these systems include:

Lead screw

Rack and pinion

Conveyor belt

Rotary table

Belt drive

Chain drive

Not only must the inertia of the system be calculated, but also any load that it may be moving or carrying. The examples below illustrate some of the factors that must be considered when calculating the inertia of a system.

Lead Screw

In a system with a lead screw, the following must be considered:

The weight and preload of the screw

The weight of the lead screw nut

The weight of a table or slide

The friction caused by the table guideways

The weight of any parts

Weight of	Weight of
table	parts

Weight of	Weight of
screw	nut
Friction of	Preload on
guideways	leadscrew
	Figure B.2: Lead Screw System Inertia Considerations

A-10	MDriveAC Plus Microstepping Hardware - Revision R121707
	Relevant to Firmware Version 3.0.02

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Contents 34 TM UL Application Details and Conditions of Acceptance Low Voltage Installation InformationTable Of Contents Appendices List Of Figures List of Tables Connect Opto Power and Logic Inputs Connecting AC PowerMDriveAC Plus Microstepping Before You BeginInstall the IMS SPI Motor Interface Connecting Parameter Setup CablePart Hardware Specifications Intentionally Left Blank Features and Benefits ConfiguringIntroduction to the MDrive34AC Plus Microstepping Page General Specifications MDrive34AC Plus Microstepping Detailed SpecificationsSingle Length Setup ParametersDimensions in Inches mm Mechanical SpecificationsPin Assignment and Description P1 19-Pin M23 Connector I/O and SPI CommunicationsPin Assignment P1 I/O, SPI and Encoder Connections P3 Connector AC Power Options and AccessoriesPin Introduction to the MDrive42AC Plus Microstepping Page MDrive42AC Plus Microstepping Detailed Specifications Setup Parameters 76.2 Pin Assignment and Description Pin Assignment P1 I/O, SPI and Encoder Connections Outside Pins 1 Options and Accessories Part Interfacing Configuring Intentionally Left Blank Logic Interface and Connection Isolated Logic Input Pins and ConnectionsOptically Isolated Logic Inputs Direction Step ClockQuadrature Up/DownStep DirectionChannel a Channel BOptocoupler Reference Optocoupler ReferenceOpen Collector Interface Example Input Connection ExamplesSwitch Interface Example Fault Temperature Warning OutputSwitch Minimum Required Connections 7 Fault Output interfaced to an LEDConnecting SPI Communications SPI Master with Multiple MDriveAC Plus Microstepping SPI Pins and ConnectionsSPI Clock Configuration Parameters and Ranges Using the IMS SPI Motor Interface InstallationColor Coded Parameter Values IMS SPI Motor Interface Menu Options Motion Settings Screen Read-Only Part Serial Number ScreenFile ViewRecall UpgradeHelp Msel Microstep Resolution Selection Screen 1 The Motion Settings Configuration ScreenFactory Connected/Disconnected IndicatorSet ExitEnable Active High/Low Screen 2 I/O Settings Configuration ScreenInput Clock Type Input Clock FilterIMS Part Number/Serial Number Screen Fault IndicationIMS IMS Serial Number Upgrade Instructions IMS SPI Upgrader ScreenUpgrading the Firmware in the MDriveAC Plus Microstepping Port Menu Initialization ScreenSPI Timing Notes Using User-Defined SPICheck Sum Calculation for SPI MSB SPI Commands and ParametersSPI Communications Sequence WriteIntentionally Left Blank Appendices MDriveAC Plus Microstepping Hardware Revision R121707 MDrive34AC 120VAC MDriveAC Plus Microstepping Motor PerformanceMDrive34AC 240VAC Single LengthTriple Length Double LengthMDrive42AC Plus Microstepping MDrive42AC 120VACOz-in/810 N-cm Section Overview MDrive with Planetary GearboxProduct Overview Selecting a Planetary GearboxFactors Calculating the Shock Load Output Torque TABReduction Ratio Speed in Full Steps per Second Nominal Output Torque=1.6 =1.7 =1.9 Shock Load Output TorqueType of System System InertiaLead Screw Rack and Pinion Conveyor BeltBelt Drive Rotary TableFigure B.6 Chain Drive System Inertia Considerations Chain DriveMDrive34AC Plus2 Planetary Gearbox Parameters Planetary Gearbox for MDrive34AC Plus2PM81 Gearbox Ratios and Part Numbers MDrive42AC Plus2 Planetary Gearbox Parameters PM105 Planetary Gearbox for MDrive42AC Plus2PM105 Gearbox Ratios and Part Numbers PM120 Gearbox Ratios and Part Numbers MDrive42AC Plus2 Planetary Gearbox Parameters PM120Installation Procedure for the MX-CC300-000 MD-CC300-000 USB to SPI Parameter Setup CableInstalling the Cable/VCP Drivers Optional Cables and CordsetsFigure C.4 Hardware Update Wizard Screen Determining the Virtual COM Port VCP Figure C.7 Hardware Update Wizard Finish InstallationTo Controller Interface AdapterMD-CS10x-000 Cordset Pin Assignment and Wire ColorsMD-CS201-000 MD-CS20x-000 CordsetInterfacing the Internal Differential Optical Encoder Pin ConfigurationFactory Mounted Encoder Differential Encoder Encoder SignalsLinear Slide Option FeaturesMDrive34Plus Linear Slide Speed-Force Limitations†Mechanical Specifications SpecificationsWarranty Excellence in Motion