Acceleration And Deceleration Torques - Mitsubishi Electric HG-MR Instruction Manual

APPENDIX

(2) Acceleration and deceleration torques

The following equations are used to calculate the acceleration and deceleration torques in the following
operation pattern.
Acceleration torque T
Deceleration torque T
Command
N f
0 0
0
t
psa
T
a
0
T
d
(J + J ) • N
1
L M 0
= • ··································································· (5.9)
a
t
4
9.55 • 10
psa
(J + J ) • N
1
L M 0
= • ··································································· (5.10)
d
t
9.55 • 10 4
psd
App. - 17
Servo motor
speed
t
psd
Time
Time