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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 R031808
	Relevant to Firmware Version 3.0.02

Image 63

Intelligent Motion Systems MDrive34AC manual Weight of

Contents

OPERATING INSTRUCTIONS Excellence in MotionTM34 TM 42TM Low Voltage Installation Information inaccuraciesMDriveAC Plus Microstepping Revision R031808 Important information Qualification of personnelIntended Use This page intentionally left blank 1-13 Table Of ContentsPart 1 Hardware Specifications Part 2 Interfacing and Configuration 2-21 Section 2.3: Using the IMS SPI Motor InterfaceSection 2.4: Using User-DefinedSPI 2-12 Appendices List Of FiguresPart 1: Hardware Specifications Part 2: Interfacing and Configuration Appendices List of TablesPart 1: Hardware Specifications Part 2: Interfacing and Configuration MDriveAC Plus Microstepping Connecting AC PowerConnect Opto Power and Logic Inputs GETTING STARTED Figure GS.2: MDriveAC Plus CD Connecting Parameter Setup CableInstall the IMS SPI Motor Interface Motion Settings DialogInput Settings Dialog PART HARDWARE SPECIFICATIONS Excellence in Motion TMmICROSTEPPING Relevant to Firmware Version Page Intentionally Left Blank Introduction to the MDrive34AC Plus Microstepping ConfiguringFeatures and Benefits SECTION 20 Microstep Resolutions up to I/O Specifications General SpecificationsElectrical Specifications Thermal Specifications Default Setup ParametersMDriveAC Plus Microstepping Setup Parameters Motor Specifications Control Knob Mechanical SpecificationsDimensions in Inches mm Connectors The following cordset is Pin Assignment and Descriptionavailable to interface to the 19-PinM23 Connector NEED A CABLE? Function Pin Assignment - P1 I/O, SPI and EncoderConnections Pin # Outside: Pins 1 Inside: Pins 13 -Options and Accessories Motor, Power Supply, and Drive Electronics Introduction to the MDrive42AC Plus MicrosteppingConfiguring Features and Benefits 20 Microstep Resolutions up to Communications Specifications Electrical SpecificationsThermal Specifications I/O Specifications Table 1.4.1: Setup Parameters Setup ParametersMDriveAC Plus Microstepping Setup Parameters Default P1 P3 Mechanical SpecificationsDimensions in Inches mm Connectors The following cordset is available to interface to the 19-PinM23 ConnectorPin Assignment and Description NEED A CABLE? Function Pin Assignment - P1 I/O, SPI and EncoderConnections Pin # Outside: Pins 1 Inside: Pins 13 -Pin Pin Pin Control Knob Options and AccessoriesParameter Setup Cable and Adapter Internal Encoder Section 2.4 Using User-DefinedSPI PART INTERFACING AND CONFIGURINGSection 2.2: Connecting SPI Communications Section 2.3: Using the IMS SPI Motor Interface Relevant to Firmware Version Page Intentionally Left Blank MD-CS10x-000Wire Color Reference Isolated Logic Input Pins and ConnectionsLogic Interface and Connection Optically Isolated Logic Inputs Quadrature Isolated Logic Input CharacteristicsStep Clock Direction Figure 2.1.3: Clock Input Timing Characteristics STEP/DIRECTION TIMINGQUADRATURE TIMING UP/DOWN CW/CCW TIMING Optocoupler Reference Optocoupler ReferenceMDriveACPlus Microstepping Input Connection Examples NPN Open Collector Interface SinkingMDriveACPlus Microstepping PNP Open Collector Interface Sourcing Switch Interface Example Switch Interface SinkingSwitch Interface Sourcing Fault Temperature Warning Output Minimum Required Connections Figure 2.1.7: Fault Output interfaced to an LEDFigure 2.1.8 Minimum Required Connections +5 VDC Output Connecting SPI CommunicationsConnecting the SPI Interface SPI Signal Overview 2-11 SPI Pins and ConnectionsMDriveACPlus Microstepping #1 MDriveACPlus Microstepping #2 MDriveAC Plus Microstepping Setup Parameters Using the IMS SPI Motor Interface InstallationConfiguration Parameters and Ranges Color Coded Parameter Values Perform File Operation View Settings ScreenIMS SPI Motor Interface Menu Options File 2-14 UpgradeRecall Help MSEL Microstep Resolution Selection 1.MSEL: Microstep Resolution Select HCDT Hold Current Delay Time Connected/Disconnected IndicatorFactory Exit Input Clock Type Screen 2 I/O Settings Configuration ScreenInput Clock Filter Settings Enable Active High/Low Fault 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 SECTION Using User-DefinedSPISPI Timing Notes Check Sum Calculation for SPI Relevant to Firmware Version SPI Commands and Parameters2-22 Table 2.4.1: SPI Commands and Parameters READ WriteSPI Communications Sequence Relevant to Firmware Version Page Intentionally Left Blank Appendix D: Interfacing an Encoder APPENDICESAppendix B: Gear Boxes Appendix C: Optional Cables and CordsetsPage MDrive34AC – 120VAC Motor SpecificationsMDriveAC Plus Microstepping Motor Performance MDrive34AC Plus Microstepping MDrive42AC – 120VAC Double LengthTriple Length MDrive42AC Plus Microstepping 1147 oz-in/810 N-cm Motor SpecificationsSingle Length Double Length Product Overview APPENDIX BMDrive with Planetary Gearbox Section Overview Example Calculating the Shock Load Output Torque TAB Figure B.1: MDrive23 Torque-SpeedCurve Table B.1: Planetary Gearbox Operating Factor Weight of A-11 Conveyor Belt A-12 A-13 PM81 Gearbox Ratios and Part Numbers Planetary Gearbox for MDrive34AC Plus2A-14 MDrive34AC Plus2 Planetary Gearbox Parameters Planetary Gearbox for MDrive42AC Plus2 A-15PM105 Gearbox Ratios and Part Numbers PM120 Gearbox Ratios and Part Numbers A-16 Optional Cables and Cordsets MD-CC300-000 USB to SPI Parameter Setup CableInstallation Procedure for the MX-CC300-000 APPENDIX C A-18 Determining the Virtual COM Port VCP A-19 A-20 Adapter Function MD-CS10x-000CordsetPin Assignment and Wire Colors P1 - Expanded I/O Configuration MD-CS200-000 MD-CS20x-000CordsetTable C.2: Euro AC Wire Color Chart 3-PinEuro AC Connector Factory Mounted Encoder Pin ConfigurationAPPENDIX D MDriveAC Plus Microstepping A-24 Encoder Signals MDrive34Plus Linear Slide FeaturesAPPENDIX E Linear Slide Option Screw A-26Specifications Mechanical Specifications TWENTY-FOUR24 MONTH LIMITED WARRANTY OBTAINING WARRANTY SERVICEWARRANTY Excellence in Motion intelligent motion systems, INC