Page 239 - Demo

V012024 • © 2024 Portescap. Specifications subject to change without notice.At a step rate of 250 steps/s (safely over 200 steps/s) the 42M048C1U is capable of providing 20 mNm.(2) Make a first an estimate of a working rate (a running rate less than the maximum) and determine the torque available to accelerate the inertia (excess over τF) τA = torque available. τA − τF = 20 mNm −15 mNm = 5 mNm(3) Using a 60% safety margin 5 mNm × 0.6 = 3 mNmCalculate ∆t to accelerate.From the equation: τJ = JT × ∆f/∆t steps/s2 × 2π rad/rev × 1/(λ steps/rev) λ = 48 steps/rev (from 7.5° per step)We rearrange to solve for ∆t. ∆t = (25 × 10-4 kgm2 × 250 steps/s × 2π rad/rev × 1/(48 steps/rev)) / 3 mNm = 0.027 sec Note: The same amount of time is allowed to decelerate the load.(4) Determine the number of steps used to accelerate and decelerate. NA + ND = f/2 × ∆t × 2 < OR > NA + ND = f × ∆t = 250 steps/s × 0.027 sec = 6.75 steps  7 steps needed to complete the move(5) Calculate the time to move at the run rate. NT = total steps/revolution – steps required to make the desired move NT = 100 steps – 7 steps = 93 steps ∆trun = NT/ (NA + ND) = 93 steps / (125 steps + 125 steps) = 0.37 sec0.005.0010.0015.0020.0025.0030.0035.0040.00012345650 100 150 200 250 300 350 40062.5 125 187.5 250 312.5 375 437.5 500 rpmpps42M048C1U Torque vs Speed5 vdc, full step, unipolar voltage drive 42M048C1U 42M048C1U Pull-Out Torque Pull-In Torqueoz in mNm239