Intelligent Motion Systems MDrive34Plus Calculating the Shock Load Output Torque TAB, Factors

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Calculating the Shock Load Output Torque (TAB)

Note: The following examples are based on picking “temporary variables” which may be adjusted.

The shock load output torque (TAB) is not the actual torque generated by the MDrive and Planetary Gearbox combination, but is a calculated value that includes an operating factor (CB) to compensate for any shock loads applied to the Planetary Gearbox due to starting and stopping with no acceleration ramps, payloads and directional changes. The main reason the shock load output torque (TAB) is calculated is to ensure that it does not exceed the maximum specified torque for a Planetary Gearbox.

Note: There are many variables that affect the calculation of the shock load output torque. Motor speed, motor voltage, motor torque and reduction ratio play an important role in determining shock load output torque. Some variables must be approximated to perform the calculations for the first time. If the result does not meet your requirements, change the variables and re-calculate the shock load output torque. Use the equation com- pendium below to calculate the shock load output torque.

Factors

 

 

i

=

Reduction Ratio - The ratio of the Planetary Gearbox.

nM

=

Motor Speed - In Revolutions Per Minute (Full Steps/Second).

nAB

=

Output Speed - The speed at the output shaft of the Planetary Gearbox.

TN

=

Nominal Output Torque - The output torque at the output shaft of the Planetary

 

Gearbox.

TM

=

Motor Torque - The base MDrive torque. Refer to MDrive Speed Torque Tables.

η= Gear Efficiency - A value factored into the calculation to allow for any friction in the gears.

TAB

=

Shock Load Output Torque - A torque value calculated to allow for short term loads

 

 

greater than the nominal output torque.

CB

=

Operating Factor - A value that is used to factor the shock load output torque.

sf

=

Safety Factor - A 0.5 to 0.7 factor used to create a margin for the MDrive torque

 

 

requirement.

Reduction Ratio

Reduction ratio (i) is used to reduce a relatively high motor speed (nM) to a lower output speed (nAB).

With: i = nM ⎟ nAB or: motor speed ⎟ output speed = reduction ratio

Example:

The required speed at the output shaft of the Planetary Gearbox is 90 RPM.

You would divide motor speed (nM) by output speed (nAB) to calculate the proper gearbox ratio. The MDrive speed you would like to run is approximately 2000 full steps/second or 600 RPM.

NOTE: In reference to the MDrive speed values, they are given in full steps/second on the Speed/Torque Tables. Most speed specifications for the Planetary Gearbox will be given in RPM (revolutions per min- ute). To convert full steps/second to RPM, divide by 200 and multiply by 60.

Where: 200 is the full steps per revolution of a 1.8° stepping motor.

2000 full steps/second ⎟ 200 = 10 RPS (revolutions per second) ⋅ 60 Seconds = 600 RPM

For the Reduction Ratio (i), divide the MDrive speed by the required Planetary Gearbox output speed. 600 RPM ⎟ 90 = 6.67:1 Reduction Ratio

Referring to the Available Ratio Table at the end of this section, the reduction ratio (i) of the Planetary Gearbox will be 7:1. The numbers in the left column are the rounded ratios while the numbers in the right column are the actual ratios. The closest actual ratio is 6.75:1 which is the rounded ratio of 7:1. The slight difference can be made up in MDrive speed.

A-6

MDrive 34Plus Microstepping Hardware - Revision R071108

 

Relevant to Firmware Version 3.0.02

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Contents MDrive34Plus Microstepping MDrive34Plus Microstepping Hardware Reference Change Log Important information This page intentionally left blank Table Of Contents Appendices List Of Figures Appendix E Linear Slide OptionFigure C.2 10-Pin IDC List of Tables This Page Intentionally Left Blank MDrive34Plus Microstepping Install the IMS SPI Motor Interface Figure GS.2 IMS Motor Interface Showing Default SettingsPart Hardware Specifications Intentionally Left Blank Features and Benefits Configuration InterfaceIntroduction to the MDrive34Plus Microstepping Page General Specifications Electrical SpecificationsSetup Parameters Single LengthMechanical Specifications Dimensions in Inches mmLocking Wire Crimp with Internal Optical Encoder Connector OptionsWire Color With Internal Encoder Function Description Pin Assignment And Description Flying Leads VersionMDrive 34Plus Microstepping Hardware Revision R071108 P2 Connector SPI Communications MosiPin Assignment And Description Pluggable Interface Version Pin # Function DescriptionP3 Connector DC Power, 2-Pin Locking Wire Crimp PD02-3400-FL3Recommended Cable Mating Connector Kits QuickStart KitCommunication Converters Prototype Development CablesIntentionally Left Blank Part Interfacing Configuring Intentionally Left Blank Allow Top Clearance for Wiring/Cabling Mounting and Interface GuidelinesMounting Recommendations Mounting Flange or Adapter PlateRules of Wiring Layout and Interface GuidelinesRules of Shielding Recommended Mating Connectors and Pins Securing Power Leads and Logic Leads 3 Typical MDrive Shown with Leads SecuredInterfacing DC Power Choosing a Power Supply for Your MDriveDC Power Supply Recommendations ISP300-7 Unregulated Switching SupplyIP804 Unregulated Linear Supply IP806 Unregulated Linear SupplyConnecting DC Power 2 DC Power ConnectionsRecommended Power and Cable Configurations Example a Cabling Under 50 Feet, DC PowerMDrive34Plus Recommended Power Supply Cable AWG Intentionally Left Blank Isolated Logic Input Pins and Connections Isolated Input Interface and ConnectionOptically Isolated Logic Inputs Input Configuration See Input ConfigurationStep Clock DirectionQuadrature Up/DownDirection StepChannel a Channel BOptocoupler Reference Optocoupler ReferenceInput Connection Examples Open Collector Interface ExampleSwitch Interface Sourcing Switch Interface ExampleMinimum Required Connections +VDC Motor SupplyConnecting SPI Communications SPI Pins and Connections LogicLogic Level Shifting and Conditioning Circuit 2 Logic Level Shifting and Conditioning CircuitSPI Master with Multiple MDrivePlus Microstepping SPI ClockUsing the IMS SPI Motor Interface Installation Configuration Parameters and RangesColor Coded Parameter Values Motion Settings Screen Read-Only Part Serial Number Screen IMS SPI Motor Interface Menu OptionsFile ViewUpgrade RecallHelp Screen 1 The Motion Settings Configuration Screen Msel Microstep Resolution SelectionConnected/Disconnected Indicator FactorySet ExitScreen 2 I/O Settings Configuration Screen Enable Active High/LowInput Clock Type Input Clock FilterFault Indication IMS Part Number/Serial Number ScreenIMS IMS Serial Number IMS SPI Upgrader Screen Upgrade InstructionsUpgrading the Firmware in the MDrivePlus Microstepping Initialization Screen Port MenuIntentionally Left Blank Using User-Defined SPI SPI Timing NotesCheck Sum Calculation for SPI SPI Commands and Parameters MSBWrite SPI Communications SequenceIntentionally Left Blank Appendices MDrive 34Plus Microstepping Hardware Revision R071108 MDrive34Plus Microstepping Motor Performance Speed-Torque CurvesMotor Specifications Single LengthDouble Length Triple LengthPlanetary Gearboxes Section OverviewProduct Overview Selecting a Planetary GearboxCalculating the Shock Load Output Torque TAB FactorsReduction Ratio ExampleNominal Output Torque Figure B.1 MDrive34 Torque-Speed CurveShock Load Output Torque =1.6 =1.7 =1.9System Inertia Type of SystemLead Screw Conveyor Belt Rack and PinionRotary Table Belt DriveChain Drive Figure B.6 Chain Drive System Inertia ConsiderationsPlanetary Gearbox for MDrive34Plus MDrive34Plus Planetary Gearbox ParametersPM81 Gearbox Ratios and Part Numbers Intentionally Left Blank MD-CC30x-001 USB to SPI Converter and Parameter Setup Cable ConnectivityMD-CC300-001 Connector Detail and Mating Connector Kit Connector DetailsMating Connector Kit p/n CK-01 MD-CC303-001 MD-CC3Figure C.4 12-Pin Wire Crimp Mating Connector Kit p/n CK-03Installation Procedure for the MD-CC30x-000 Installing the Cable/VCP DriversFigure C.7 Hardware Update Wizard Screen Determining the Virtual COM Port VCP Figure C.10 Hardware PropertiesWire Color Code Prototype Development Cable PD12-1434-FL3Mating Connector Kit p/n CK-02 PD10-3400-FL3 Internal Differential EncoderPrototype Development Cable PD02-3400-FL3 Main Power Mating Connector Kit p/n CK-05Interfacing an Encoder Factory Mounted Internal EncoderEncoder Connections Differential encoderEncoder Signals Single-End Encoder Available with Flying Leads Version onlyDifferential Encoder Recommended Encoder Mating Connectors Encoder CableFeatures Linear Slide OptionMDrive34Plus Linear Slide †Speed/Force correlating equationsSpecifications Mechanical SpecificationsWarranty Intelligent Motion Systems, Inc

MDrive34Plus specifications

The Intelligent Motion Systems MDrive34Plus is an advanced integrated stepper motor and drive solution designed for a wide range of industrial automation applications. This compact device combines the motor, drive, and control into a single unit, simplifying installation and minimizing space requirements. This makes it an ideal choice for applications where space and efficiency are critical.

One of the standout features of the MDrive34Plus is its high torque output, which enables it to handle significant loads with ease. Rated for a variety of torque configurations, this stepper motor provides the necessary power for demanding tasks while maintaining precise control and smooth operation. The MDrive34Plus also features a high-resolution microstepping capability, which enhances performance by providing smoother motion and reducing audible noise.

The device employs advanced digital control technologies, ensuring accurate positioning and minimizing erratic performance. Integrated with onboard intelligence, the MDrive34Plus allows for programmable settings, including acceleration, deceleration, and speed control, which can be customized according to the specific requirements of the application.

In terms of connectivity, the MDrive34Plus offers a range of communication protocols including RS-232, RS-485, and USB options, allowing it to easily integrate with various control systems and enable real-time monitoring and diagnostics. This flexibility is vital for modern automation solutions where adaptability is key.

The MDrive34Plus is also designed for robust performance in challenging environments, featuring an IP65 rated enclosure that protects against dust and moisture. This makes it suitable for use in a variety of industrial settings such as packaging, assembly, and robotics.

Furthermore, the MDrive34Plus supports both open-loop and closed-loop control configurations. This versatility provides users with the ability to choose the best operational mode for their application, optimizing performance and efficiency.

In conclusion, the Intelligent Motion Systems MDrive34Plus is a powerful, flexible, and easy-to-install integrated motor and drive solution. With its high torque capabilities, advanced digital control features, diverse connectivity options, and robust design, it stands out as an excellent choice for modern automation challenges. Whether for precise positioning tasks or heavy load handling, the MDrive34Plus is equipped to meet a broad spectrum of operational demands.
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