Delta Tau GEO MACRO DRIVE User Manual Page 40
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Geo MACRO Drive User Manual
28 Connections
2
mv
2
1
K
E =
where:
E
K
is the kinetic energy in joules (J)
m is the mass in kilograms (kg)
v is the linear velocity of the mass in meters/second (m/s)
Here also, to get energy in Joules from English mechanical units, additional conversion factors are
required. To calculate the kinetic energy of a mass having a weight of W pounds, the following equation
can be used:
2
Wv0211.0
2
v
g
W
678.0
K
E ==
where:
E
K
is the kinetic energy in joules (J)
W is the weight of the moving mass in pounds (lb)
g is the acceleration of gravity (32.2 ft/sec
2
)
v is the linear velocity of the mass in feet per second (ft/sec)
Energy Lost in Transformation
Some energy will be lost in the transformation from mechanical kinetic energy to electrical energy. The
losses will be both mechanical due to friction and electrical due to resistance. In most cases, these losses
will comprise a small percentage of the transformed energy and can be safely ignored especially because
ignoring losses leads to a conservative design. However, if the losses are significant and the system
should not be over-designed, calculate these losses.
In metric (SI) units, the mechanical energy lost due to Coulomb (dry) friction in a constant deceleration to
stop of a rotary system can be expressed as:
where:
E
LM
is the lost energy in joules (J)
T
f
is the resistive torque due to Coulomb friction in newton-meters (N-m)
ω is the starting angular velocity of the inertia in radians per second (1/s)
t
d
is the deceleration time in seconds (s)
If the frictional torque is expressed in the common English unit of pound-feet (lb-ft), the comparable
expression is:
d
t
f
T678.0
LM
E
ω
=
In metric (SI) units, the mechanical energy lost due to Coulomb (dry) friction in a constant deceleration to
stop of a linear system can be expressed as:
where:
E
LM
is the lost energy in joules (J)
T
f
is the resistive force due to Coulomb friction in newtons (N)
v is the starting linear velocity in meters/second (m/s)
t
d
is the deceleration time in seconds (s)
If the frictional force is expressed in the English unit of pounds (lb) and the velocity in feet per second
(ft/sec), the comparable expression is:
d
vt
f
F678.0
LM
E
=
The electrical resistive losses in a 3-phase motor in a constant deceleration to stop can be calculated as:
where:
d
t
pp
R
rms
i
LE
E
2
2
3
=
d
t
f
T
LM
E
ω
2
1
=
d
vt
f
F
LM
E
2
1
=
- Geo MACRO Drive 1
- Copyright Information 3
- Operating Conditions 3
- Safety Instructions 3
- WARNING 4
- INTRODUCTION 13
- MACRO Defined 14
- Feedback Devices 15
- Compatible Motors 15
- Motor Poles 16
- Motor Inductance 16
- Motor Resistance 16
- Motor Back EMF 16
- Motor Torque Constant 17
- Motor Inertia 17
- Motor Cabling 17
- 6 Introduction 18
- GL03 1 0 19
- Geo MACRO Feedback Options 20
- Package Types 20
- Electrical Specifications 21
- 480VAC Input Drives 23
- Environmental Specifications 25
- 14 Specifications 26
- RECEIVING AND UNPACKING 27
- 16 Receiving and Unpacking 28
- MOUNTING 29
- Low Profile 30
- Single Width 31
- Double Width 32
- CONNECTIONS 33
- Noise Problems 34
- Operating Temperature 34
- Single Phase Operation 34
- Wiring AC Input, J1 35
- Wiring Earth-Ground 35
- Wiring the Motors 36
- Wiring the Motor Thermostats 37
- Shunt Regulation 39
- Minimum Resistance Value 39
- Maximum Resistance Value 39
- Energy Transfer Equations 39
- Bonding 41
- Filtering 42
- Input Power Filtering 43
- Motor Line Filtering 43
- I/O Filtering 43
- Digital Quadrature Encoders 44
- SSI Encoders 45
- In_Therm_Mot 46
- Hiperface® Interface 47
- EnDat Interface 48
- Resolvers 49
- Hardware Setup 50
- Sample wiring the I/O 51
- Sample Wiring the Flags 52
- Connections 41 53
- -10VDC to 54
- Introduction 55
- 44 Software Setup 56
- Software Setup 45 57
- 46 Software Setup 58
- MACRO Node Addresses 59
- 48 Software Setup 60
- Software Setup 49 61
- 50 Software Setup 62
- Software Setup 51 63
- Software Setup 53 65
- 54 Software Setup 66
- Software Setup 55 67
- 56 Software Setup 68
- Software Setup 57 69
- 58 Software Setup 70
- • Ring Controller 70
- • MACRO Station #n 70
- Software Setup 59 71
- 60 Software Setup 72
- Software Setup 61 73
- 62 Software Setup 74
- Software Setup 63 75
- MACRO ASCII Communications 76
- Software Setup 65 77
- 66 Software Setup 78
- SETTING UP PRIMARY FEEDBACK 79
- Controller 81
- Four hardware counts per line 82
- One HW count 82
- Setting up Endat 84
- Setting up Resolvers 84
- Scaling the Feedback Units 86
- PWM/ADC Phase Match 97
- Current Loop Polarity Check 97
- Troubleshooting 98
- Purpose 98
- Preparation 99
- Signal Format 100
- Hall Sensors at 0 102
- HEZ @ +60 degrees electrical 103
- Reversed Hall Sense (1) 106
- Ixx91=$CB0000 107
- Setting I 108
- T Protection 108
- Inputs and Outputs 111
- CONNECTORS 117
- X2: Encoder Input 2 118
- X3: General Purpose I/O 119
- X4: Safety Relay (Optional) 120
- X8: S. Encoder 1 121
- X9: S. Encoder 2 121
- X13: Discrete I/O 121
- MACRO Link Connectors 123
- USB Connector 123
- TROUBLESHOOTING 125
- MACRO Network Errors 126
- Status LEDs 127
- Status Word 129
- 118 Troubleshooting 130
- WARNING: 136
- Global MI-Variables 145
- Range: 0 – 255 166
- 164 Useful Notes 176
- Appendix A 165 177
- APPENDIX A 178
- CONKIT1A 180
- CONKIT1C 180
- CONKIT2A 180
- CONKIT2C 180
- CONKIT4A 181
- Cable Drawings 182
- Appendix A 171 183
- 172 Appendix A 184
- Appendix A 173 185
- 174 Appendix A 186
- Appendix A 175 187
- Model Description 188
- , single or dual axis 188
- Appendix A 177 189
- 178 Appendix A 190
- Appendix A 179 191
- APPENDIX B 192
- General Purpose Inputs 1-4 193
- General Purpose Outputs 1-4 193
- X6 and X7: Analog Inputs 194
- ENCODER 3/4 195
- APPENDIX C 196
- Appendix C 185 197
- APPENDIX D 198
- Turbo PMAC2 Node Addresses 199
- ADC Register Table 201
- USEFUL NOTES 205
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