Load Torque Equations - Mitsubishi Electric HG-MR Instruction Manual

APPENDIX
App. 5.6 Load torque equations
Typical load torque equations are indicated below.
Type
Servo motor
Z
Linear
movement
Rotary
movement Z
1
Servo motor
1/n
Vertical
movement
Guide
Mechanism
T
F
F
G
C
F in equation 5.15 is obtained with equation 5.16 when the table is moved,
2
W
for example, as shown in the left diagram.
F = F
Z
1
T
L0
T
Z
2
Servo motor
During rise
During fall
Counterweight
W
2
Load
W
1
F
V
= • =
L
3
2 • 10 • N 2 • 10
F: Force in the axial direction of the machine in linear motion [N]
+ µ • (W • g + F ) ···························································· (5.16)
c G
F : Force applied in the axial direction of the moving part [N]
c
F : Tightening force of the table guide surface [N]
G
W: Full mass of the moving part [kg]
1
1
= • • T + T ·································································· (5.17)
L L0 F
n
T : Load friction torque converted into equivalent value on servo motor
F
shaft [N•m]
T = T + T ·········································································· (5.18)
L U F
T = -T • η + T ···································································· (5.19)
2
L U F
T : Friction torque of the moving part [N•m]
F
(W - W ) • g (W
V
1 2
T = • =
U
2 • 10 3 • N
(W - W ) • g • S
1 2
T = ························································· (5.21)
F
3
2 • 10 •
W : Mass of load [kg]
1
W : Mass of counterweight [kg]
2
App. - 20
Equation
F • S
····································· (5.15)
3
•
- W ) • g • S
1 2
····························· (5.20)
2 • 10 3 •