Rockwell-automation MPMA Integrated Multi-Axis Linear Stages Manual de usuario descargar pdf (Pagina 50)

50 Rockwell Automation Publication MPMA-UM001B-EN-P - November 2010

Chapter 6 Configuration Guidelines

Conversion Positioning Mode Linear

Conversion Constant 200 drive counts / 1.0 mm 5080 drive counts / 1.0 in.

Hookup

(1)

Test Increment 70 mm, min for Ultra3000 drive

20 mm Kinetix 2000 drive

20 mm Kinetix 6000 drive

2.76 in. min for Ultra3000 drive

0.787 in. Kinetix 2000 drive

0.787 in. Kinetix 6000 drive

Drive Polarity Positive

Homing Mode Active

Position 0 (or programmable)

Offset 5 mm, min 0.2 in., min

Sequence Torque Level-to-Marker

Direction Reverse Bi-directional

Torque Level 80%, min

Greater if the system friction, force, or weight exceeds 80% of the Continuous Force Rating at any

point in the range of motion

Speed 50 mm/s 1.97 in./s

Return Speed 10 mm/s 0.39 in./s

Limits Hard Travel Limits Check if hardware limits are in use.

Use Motion Analyzer to determine the maximum stopping distance in your application to set

Negative and Positive Limits

Soft Travel Limits Check

Use Motion Analyzer to determine the maximum stopping distance in your application to set

Negative and Positive Limits

Position Error

Tolerance

(2)

10 mm 0.394 in.

Gains Feedforward Velocity

Gain

100%

Tune Velocity Feedforward

(3)

Check

(1) The Command and Feedback test, accessed from the Hookup tab, does not verify the Hall Sensor wiring to a Kinetix 2000 or a Kinetix 6000 drive. The wire colors and

continuity for the Hall signals must be manually verified.

(2) Using Auto-tune will reset this parameter to the default value.

(3) Using Velocity Feedforward will reduce position error during motion.

Axis Properties Tab Parameter Entry/Selection, with applicable distance unit settings

Metric English

(+)

(-)

Positive Direction

1 2 ... 45 46 47 48 49 50 51 52 53 54 55 ... 135 136

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