Clearpath Servo Upgrade Options

Two line ups from Clearpath

• https://teknic.com/products/clearpath-brushless-dc-servo-motors/clearpath-sd/sdsk-models/
• https://teknic.com/products/clearpath-brushless-dc-servo-motors/clearpath-sd/sdhp-models/

Reference for Existing Motor

Leadshine 573HBM20 Series EZ Servo (thunderlaserusa.com)
Nema 23 with 2.0 N-M of holding torque

Requirements

Would need: 283 oz-in of peak holding torque

They offer units up to 75V for peak torque at higher RPM

Need to find out what RPM the stock motor runs based off the belts and pulley size, as well as the jackshaft.

RPM Calculations

3m-15 HTD belt with 3mm pitch
1000mm/s equals 333 pitches in a second, 60*333 = 20000 pitches in a minute.
Motor pulley teeth = 20 teeth, 19 pitches
(may be off by removing a pitch count...so math below could be wrong)
jackshaft pulley teeth = 38 teeth, 37 pitches
jackshaft lower pulley teeth = 20 teeth, 19 pitches
1 motor RPM = 1 rotation of 20tooth, .51 rotation of 38tooth and .51 rotation of 20tooth on jackshaft = 9.75 pitches
20000 pitches/9.75 = 2050 RPM at peak 1000mms speed.

(may be off by removing a pitch count...so math below could be wrong)
jackshaft pulley teeth = 38 teeth
jackshaft lower pulley teeth = 20 teeth
1 motor RPM = 1 rotation of 20tooth, .526 rotation of 38tooth and .526 rotation of 20tooth on jackshaft = 10.5 pitches
20000 pitches/10.5 = 1900 RPM at peak 1000mms speed.

Physical Specs

Head weight in grams: 520 without tension blocks/bolts
X Axis belt = 2.48m of 3m-15 belt

Motor Selection

Can use the 36V on the smaller machines
3/8 inch shaft

We have about 125mm of clearance over the drag chain which means the Nema 23 CPM232 frame motor would fit.

75V Option

Thinking this motor: https://teknic.com/model-info/CPM-SDSK-2321S-RLN/?model_voltage=75VDC
Would need a 75VDC power supply, pulley and cabling

36V Options

• https://teknic.com/model-info/CPM-SDSK-2321P-RLN/?model_voltage=36VDC
• https://teknic.com/model-info/CPM-SDSK-2326P-RLN/?model_voltage=36VDC

IO Connections

Power Connection

Pulley Choices

Need to pick the shaft diameter. Current shaft is nearly 8mm, do not really want to do a 6.35mm shaft

Installation Notes

Installed on 2/7
18 tooth pulley (24 tooth would not fit with stock belt)
Tested up to 50k accel and 1400mm/s
Comfortable with 30k accel and 1000mm/s