Intelligent Motion Systems MDrive34AC manual Calculating the Shock Load Output Torque TAB, Example

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Calculating the Shock Load Output Torque (TAB)

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 compendium 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.

Note: The MDrive23 and the numbers and values used in these

examples have been chosen randomly for demonstration purposes. Be certain you obtain the correct data for the MDrive you have purchased.

Appendices

A-7

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Contents Excellence in MotionTM 34 TM42TM OPERATING INSTRUCTIONSLow Voltage Installation Information inaccuraciesMDriveAC Plus Microstepping Revision R031808 Important information Qualification of personnelIntended Use This page intentionally left blank Table Of Contents Part 1 Hardware SpecificationsPart 2 Interfacing and Configuration 1-13Section 2.3: Using the IMS SPI Motor Interface Section 2.4: Using User-DefinedSPI2-12 2-21List Of Figures Part 1: Hardware SpecificationsPart 2: Interfacing and Configuration AppendicesList of Tables Part 1: Hardware SpecificationsPart 2: Interfacing and Configuration AppendicesConnecting AC Power Connect Opto Power and Logic InputsGETTING STARTED MDriveAC Plus MicrosteppingConnecting Parameter Setup Cable Install the IMS SPI Motor InterfaceMotion Settings DialogInput Settings Dialog Figure GS.2: MDriveAC Plus CDPART HARDWARE SPECIFICATIONS Excellence in Motion TMmICROSTEPPING Page Intentionally Left Blank Relevant to Firmware VersionConfiguring Features and BenefitsSECTION Introduction to the MDrive34AC Plus Microstepping20 Microstep Resolutions up to General Specifications Electrical SpecificationsThermal Specifications I/O SpecificationsSetup Parameters MDriveAC Plus Microstepping Setup ParametersMotor Specifications DefaultMechanical Specifications Dimensions in Inches mmConnectors Control KnobPin Assignment and Description available to interface to the 19-PinM23 ConnectorNEED A CABLE? The following cordset isPin Assignment - P1 I/O, SPI and Encoder ConnectionsPin # FunctionOutside: Pins 1 Inside: Pins 13 -Options and Accessories Introduction to the MDrive42AC Plus Microstepping ConfiguringFeatures and Benefits Motor, Power Supply, and Drive Electronics20 Microstep Resolutions up to Electrical Specifications Thermal SpecificationsI/O Specifications Communications SpecificationsSetup Parameters MDriveAC Plus Microstepping Setup ParametersDefault Table 1.4.1: Setup ParametersMechanical Specifications Dimensions in Inches mmConnectors P1 P3available to interface to the 19-PinM23 Connector Pin Assignment and DescriptionNEED A CABLE? The following cordset isPin Assignment - P1 I/O, SPI and Encoder ConnectionsPin # FunctionOutside: Pins 1 Inside: Pins 13 -Pin Pin Pin Options and Accessories Parameter Setup Cable and AdapterInternal Encoder Control KnobPART INTERFACING AND CONFIGURING Section 2.2: Connecting SPI CommunicationsSection 2.3: Using the IMS SPI Motor Interface Section 2.4 Using User-DefinedSPIPage Intentionally Left Blank Relevant to Firmware VersionIsolated Logic Input Pins and Connections Logic Interface and ConnectionOptically Isolated Logic Inputs MD-CS10x-000Wire Color ReferenceIsolated Logic Input Characteristics Step ClockDirection QuadratureSTEP/DIRECTION TIMING QUADRATURE TIMINGUP/DOWN CW/CCW TIMING Figure 2.1.3: Clock Input Timing CharacteristicsOptocoupler Reference MDriveACPlusMicrostepping Optocoupler ReferenceNPN Open Collector Interface Sinking MDriveACPlus MicrosteppingPNP Open Collector Interface Sourcing Input Connection ExamplesSwitch Interface Sinking Switch Interface SourcingFault Temperature Warning Output Switch Interface ExampleMinimum Required Connections Figure 2.1.7: Fault Output interfaced to an LEDFigure 2.1.8 Minimum Required Connections Connecting SPI Communications Connecting the SPI InterfaceSPI Signal Overview +5 VDC OutputSPI Pins and Connections MDriveACPlus Microstepping #1 MDriveACPlusMicrostepping #2 2-11Using the IMS SPI Motor Interface Installation Configuration Parameters and RangesColor Coded Parameter Values MDriveAC Plus Microstepping Setup ParametersView Settings Screen IMS SPI Motor Interface Menu OptionsFile Perform File OperationUpgrade RecallHelp 2-141.MSEL: Microstep Resolution Select MSEL Microstep Resolution SelectionConnected/Disconnected Indicator FactoryExit HCDT Hold Current Delay TimeScreen 2 I/O Settings Configuration Screen Input Clock Filter SettingsEnable Active High/Low Input Clock TypeFault Indication IMS Part Number/Serial Number ScreenMDriveAC Plus Microstepping Fault Codes The IMS SPI Upgrader Screen Upgrade Instructions2.Serial Number: the serial number of your unit Initialization Screen Communications Port OperationsPort Menu Using User-DefinedSPI SPI Timing NotesCheck Sum Calculation for SPI SECTIONSPI Commands and Parameters 2-22Table 2.4.1: SPI Commands and Parameters Relevant to Firmware VersionREAD WriteSPI Communications Sequence Page Intentionally Left Blank Relevant to Firmware VersionAPPENDICES Appendix B: Gear BoxesAppendix C: Optional Cables and Cordsets Appendix D: Interfacing an EncoderPage Motor Specifications MDriveAC Plus Microstepping Motor PerformanceMDrive34AC Plus Microstepping MDrive34AC – 120VACDouble Length Triple LengthMDrive42AC Plus Microstepping MDrive42AC – 120VACMotor Specifications Single LengthDouble Length 1147 oz-in/810 N-cmAPPENDIX B MDrive with Planetary GearboxSection Overview Product OverviewCalculating the Shock Load Output Torque TAB ExampleFigure B.1: MDrive23 Torque-SpeedCurve Table B.1: Planetary Gearbox Operating Factor Weight of Conveyor Belt A-11A-12 A-13 Planetary Gearbox for MDrive34AC Plus2 A-14MDrive34AC Plus2 Planetary Gearbox Parameters PM81 Gearbox Ratios and Part NumbersPlanetary Gearbox for MDrive42AC Plus2 A-15PM105 Gearbox Ratios and Part Numbers A-16 PM120 Gearbox Ratios and Part NumbersMD-CC300-000 USB to SPI Parameter Setup Cable Installation Procedure for the MX-CC300-000APPENDIX C Optional Cables and CordsetsA-18 A-19 Determining the Virtual COM Port VCPAdapter A-20MD-CS10x-000Cordset Pin Assignment and Wire ColorsP1 - Expanded I/O Configuration FunctionMD-CS20x-000Cordset Table C.2: Euro AC Wire Color Chart3-PinEuro AC Connector MD-CS200-000Pin Configuration APPENDIX DMDriveAC Plus Microstepping Factory Mounted EncoderEncoder Signals A-24Features APPENDIX ELinear Slide Option MDrive34Plus Linear SlideA-26 SpecificationsMechanical Specifications ScrewTWENTY-FOUR24 MONTH LIMITED WARRANTY OBTAINING WARRANTY SERVICEWARRANTY intelligent motion systems, INC Excellence in Motion
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