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60 Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010
Chapter 6 Configuration Guidelines
Set Travel Limits
MP-Series Integrated Linear Stages are designed to use the software overtravel
limits available in RSLogix 5000 and Ultraware software.
Set Overtravel limits according to the maximum speed of the servo drive system
and the payload of the application. You can determine the Deceleration Distance
between the slide and the end-of-travel bumpers based on the combination of the
Deceleration Rate of the load, and the available peak force from the stage-drive.
Then use Motion Analyzer software to calculate the minimum deceleration
distance at the maximum speed of your application.
(1)
In addition to software overtravel limits, the end of travel bumpers for the linear
stage will stop the carriage up to the ratings listed in the table.
Table 5 - Bumper Stop Energy Limits for Linear Stage End of Travel
To calculate kinetic energy of the carriage with your payload use the formula
J = energy in Joules
M = moving mass (linear carriage + payload) [kg]
V = maximum velocity of stage in your application [m/s]
(1)
Program Home to Torque for
Kinetix Multi-axis Drives
with Linear Stages
If you are using a Kinetix 2000 or Kinetix 6000 drive, you will find it useful to
read and apply About Home to Torque-level Homing
on page 116 to your
system-level program.
This appendix provides information on using torque-level homing to reference a
known (home) position by monitoring torque while driving an axis into a
mechanical hard-stop.
IMPORTANT
Travel Limits apply to direct drive and ball screw linear stages.
(1) Velocity and kinetic energy can be much higher due to uncontrolled, worst-case motion that is only constrained
by the length of stroke and the power capacity of the motor-drive pairing.
Cat No. Energy Limit Cat No. Energy Limit Cat No. Energy Limit
MPAS-x6xxxx-V20xxx 37.3 J (330 in•lb) MPAS-x8xxxx-V20xxx 22.7 J (201 in•lb) MPAS-x9xxxx-V20xxx 16.5 J (146 in•lb)
MPAS-x6xxxx-ALMx2x MPAS-x8xxxx-ALMx2x 45.5 J (403 in•lb) MPAS-x9xxxx-ALMx2x 35.2 J (312 in•lb)
ATTENTION: If energy greater than the bumper capacity is
anticipated in the application, you must provide additional
mechanical means for safely stopping the carriage.
J
1
2
--
M× V×
2
=
⎝⎠
⎛⎞
IMPORTANT
Home to Torque Programming should be performed only after you
have tuned your drive and linear stage combination.
You should have successfully completed tuning by performing the
steps in the table on page 53
.
- User Manual 1
- Important User Information 2
- Table of Contents 3
- About This Publication 7
- Who Should Use This 7
- Additional Resources 7
- Multi-axis Stage Safety 9
- Safety Labels 10
- LIFT HAZARD 11
- Two Person Lift 11
- PINCH POINTS 11
- ºC (167 ºF) 12
- Standards 13
- Motor Model Identification 13
- MPMA - xxxxxxxxx - xx 16
- Identifying the Components 17
- (MPMA-xBxxxxxx-SxC shown) 18
- (MPMA- xCxxxxxxx-SxC shown) 19
- Identifying the Individual 20
- Linear Stages in Your 20
- Multi-axis Stage 20
- Component Descriptions 23
- Maintenance Intervals 24
- Mounting Restrictions 27
- (MPMA-xA/Cxxxxxx-SxC) 28
- Clearance Requirements 29
- Unpacking, Handling, and 31
- Inspection 31
- Unpacking Guidelines 32
- Unpack the Multi-axis Stage 33
- Multi-axis Stage Storage 35
- Mount the Multi-axis Stage 35
- Mount Your Application 36
- Connect the Multi-axis 37
- About the Air Option for 40
- Ball Screw Linear Stages 40
- About the Brake Option for 40
- Meeting UL Installation 41
- Linear Stage Connector Data 43
- ALMx2X) 44
- Configuration Guidelines 47
- Configure Your Linear Stage 48
- Configure RSLogix 5000 49
- Software for Linear Stages 49
- 5 mm, min 0.2 in., min 50
- Ball Screw Drive Stages 51
- Tune Your Linear Stage 53
- IMPORTANT 54
- Loop Bandwidth and click OK 57
- Configure Ultraware 58
- Units (mm or in.) 59
- Set Travel Limits 60
- Program Home to Torque for 60
- Kinetix Multi-axis Drives 60
- Maintenance 61
- Lubricate the Bearing 62
- Clean the Strip Seal 63
- Clean the Cover 63
- Chapter 7 Maintenance 64
- Components 65
- Before You Begin 66
- Cable Carrier Assembly 66
- Removal Procedures 66
- Multi-axis Stages 67
- Installation 69
- Remove the Strip Seal 69
- Remove the Cover 70
- Install the Cover 70
- Replace the Strip Seal 71
- Install the Side Cover 72
- Replace the Rotary Motor 73
- Troubleshooting 75
- Troubleshooting During 76
- Commission and Startup 76
- Operational 76
- and page 79 78
- MPMA-xABxxxxxx-xxx 82
- Product Specifications and 82
- Dimensions 82
- MPMA-xACxxxxxx-xxx 84
- MPMA-xAPxxxxxx-xxx 86
- MPMA-xCBxxxxxx-xxx 89
- MPMA-xCQxxxxxx-xxx 92
- MPMA-xBExxxxxx-xxx 94
- MPMA-xBIxxxxxx-xxx 96
- MPMA-xBDxxxxxx-xxx 98
- Accessories 103
- Accessories Appendix B 105
- Installation, Maintenance 106
- Interconnect Diagrams 111
- 2000 Drives 112
- 6000 Drives 113
- Home to Torque-level Example 115
- About Home to Torque-level 116
- Drive Bipolar Torque Limit 118
- Adjustment 118
- Disable Soft Overtravel 119
- Ladder Code Example 119
- Potential for Position Error 126
- Appendix 127
- Introduction 127
- Rockwell Automation Support 136
- Documentation Feedback 136
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