Emerson P/N 400518-02 manual Ramp Units Conversion, Conversion Formula

Epsilon EP-I Indexing Drive and FM-2 Indexing Module Reference Manual

3.Use the appropriate formula below to calculate the inertia.

For horizontal loads or counterbalanced vertical loads use the following formula:

IR =	(R • Vm (Ta+ Td))	−1
	2000

Where:

IR = Inertia Ratio

R = ramp in ms/kRPM

Ta = (unsigned) percent continuous torque required during acceleration ramping (0 - 300)

Td = (unsigned) percent continuous torque required during deceleration ramping (0 - 300)

Vm = motor constant value from Table 18 below

For un-counter balanced vertical loads use the following formula:

IR =	(R • Vm (Tau + Tud + Tad + Tdd))	− 1
	4000

Where:

IR = Inertia Ratio

R = ramp in ms/kRPM

Vm = motor constant value from the table below

Tau = (unsigned) percent continuous torque required during acceleration ramping while moving up (against the constant force)

Tdu = (unsigned) percent continuous torque required during deceleration ramping while moving up (against the constant force)

Tad = (unsigned) percent continuous torque required during acceleration ramping while moving down (aided by the constant force)

Tdd = (unsigned) percent continuous torque required during deceleration ramping while moving down (aided by the constant force)

Ramp Units Conversion

If you are using an external position controller to generate motion you may need to connect the ramp units as desired below.

Many position controllers define acceleration in units per sec2. The formulas above use ms/kRPM. Make sure you make this conversion when entering the information into the formula.

Conversion Formula:

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		MPK =
				(RPSS • 60)
Where:
MPK = accel ramp in ms/kRPM
RPSS = accel ramp in revolutions per second2
	Motor		Drive		Vm	Percent Continuous/volt	RPM /volt (default scaled
						(default scaled Torque
							Actual Velocity)
						Command)
	MG-205				4.77	30	600
	MG-208		EN-204		5.11	30	600
	MG-316				3.17	30	600
	NT-320				4.3	30	600

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