Rockwell Automation MPAS Integrated Linear Stages - Manual (Page 55)

Rockwell Automation Publication MP-UM001D-EN-P - September 2013 55
Configuration Guidelines Chapter 6
Setting Travel Limits MP-Series Integrated Linear Stages are designed to use the software overtravel
limits available in the Logix Designer application and Ultraware software.
Overtravel limits must be set according to the maximum speed of the servo drive
system and the payload of the application. The Deceleration Distance before the
slide contacts the end-of-travel bumpers can be determined based on the
Deceleration Rate of the load, and the available peak force from the stage-drive
combination. Then use Motion Analyzer software to calculate the minimum
deceleration distance at the maximum speed of your application.
(1)
Software overtravel limits are preferred for these reasons.
• Hard-wired overtravel limit switches are typically in a position that does
not let the linear stage decelerate before mechanical damage occurs.
• Software overtravel limit switches can be precisely set, based on maximum
speed and load inertia. The stage comes to a complete stop before physical
damage occurs.
In addition to software overtravel limits, the end of travel bumpers for the linear
stage stops the carriage up to the ratings listed in the table.
Table 8 - 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
)
IMPORTANT These Travel Limit procedures apply to both direct drive or ball screw linear
stages.
(1) Velocity and kinetic energy can be much higher due to uncontrolled, worst-case motion that is constrained by the length of stroke
and the power capacity of the motor-drive pairing.
Catalog Number Energy Limit Catalog Number Energy Limit Catalog Number Energy Limit
MPAS-x6xxx1-V05xxA 37.3 J (330 in-lb) MPAS-x8xxx1-V05xxA 22.7 J (201 lb-in) MPAS-x9xxx1-V05xxA 16.5 J (146 lb-in)
MPAS-x6xxx1-V20xxA MPAS-x8xxx1-V20xxA MPAS-x9xxx1-V20xxA
MPAS-x6xxx1-ALMx2C MPAS-x8xxx1-ALMx2C 45.5 J (403 lb-in) MPAS-x9xxx1-ALMx2C 35.2 J (312 lb-in)
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 Ч =
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