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− | This page guides through matching the Granite Devices drive and various kinds of servo and stepping motors | + | This page guides through matching the Granite Devices drive and various kinds of servo and stepping motors. |
==Overview== | ==Overview== | ||
− | {{picturebox|drive_selection_by_motor.png | + | {{picturebox|drive_selection_by_motor.png|caption=Refer to notes A-D below the image}} |
==Note A (position feedback device)== | ==Note A (position feedback device)== | ||
Servo motor requires a position feedback device to operate with servo drive. It is recommended to have a position sensor that has resolution of at least 1000 increments (a.k.a. counts) per revolution. The higher the resolution, the better [[servo stiffness]] can be achieved. | Servo motor requires a position feedback device to operate with servo drive. It is recommended to have a position sensor that has resolution of at least 1000 increments (a.k.a. counts) per revolution. The higher the resolution, the better [[servo stiffness]] can be achieved. | ||
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*Incremental quadrature encoder | *Incremental quadrature encoder | ||
*SinCos encoder | *SinCos encoder | ||
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*More than 99% of encoders are directly compatible, for technical details of compatible types see [[IONI & IONICUBE user guide/Motor compatibility|IONI motor compatibility page]]. | *More than 99% of encoders are directly compatible, for technical details of compatible types see [[IONI & IONICUBE user guide/Motor compatibility|IONI motor compatibility page]]. | ||
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Feedback devices that are not listed as supported, can be assumed to be unsupported and unsuitable. Examples of such types are: | Feedback devices that are not listed as supported, can be assumed to be unsupported and unsuitable. Examples of such types are: | ||
*Tachogenerator/tachometer | *Tachogenerator/tachometer | ||
+ | *Serial data encoders (BiSS, SSI, EnDat etc) | ||
In case of unsupported type, motor can be usually made compatibly by installing a compatible encoder in it. Compatible encoders are widely available in may sizes and fit most motors in the market. See [[list of compatible feedback devices]]. | In case of unsupported type, motor can be usually made compatibly by installing a compatible encoder in it. Compatible encoders are widely available in may sizes and fit most motors in the market. See [[list of compatible feedback devices]]. | ||
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If drive is unable to drive (or is set deliberately to limit current) below motor ratings, it will cause the obtainable peak torque to be reduced. The reduction is proportional to the current reduction. For example, if motor is rated for 30A and drive can supply 20A, then torque is reduced by ratio 20/30 thus maximum obtainable torque is 67% of motor maximum rating. | If drive is unable to drive (or is set deliberately to limit current) below motor ratings, it will cause the obtainable peak torque to be reduced. The reduction is proportional to the current reduction. For example, if motor is rated for 30A and drive can supply 20A, then torque is reduced by ratio 20/30 thus maximum obtainable torque is 67% of motor maximum rating. | ||
− | {{picturebox|motorcurves_rated.png|600px|caption=Example of motor torque vs speed | + | {{picturebox|motorcurves_rated.png|600px|caption=Example of motor torque vs speed ratings at their specified currents and voltages}} |
− | {{picturebox|motorcurves_currentlimited.png|600px|caption=Example of motor torque vs speed | + | {{picturebox|motorcurves_currentlimited.png|600px|caption=Example of motor torque vs speed ratings with drive that limits the torque output below motor spec}} |
{{tip|In many practical machines, maximum torque is not required which makes even undersized drive suitable. Drive or motor will not have any reliability issues by that mismatch.}} | {{tip|In many practical machines, maximum torque is not required which makes even undersized drive suitable. Drive or motor will not have any reliability issues by that mismatch.}} | ||
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==Note C (voltage rating)== | ==Note C (voltage rating)== | ||
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==Note D (stepping motor feedback)== | ==Note D (stepping motor feedback)== | ||
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