Mitsubishi Electric HG-MR Instruction Manual page 373

APPENDIX
(8) Acceleration/deceleration torque
Torque necessary for acceleration
(J / + J ) • N
L M
T =
Ma
9.55 • 10 4 • t
psa
J : Moment of inertia of the servo motor
M
Torque necessary for deceleration
-(J • + J ) • N
L M
T =
Md
4
9.55 • 10 • t
The torque required for the servo motor during acceleration/deceleration must be lower than the servo
motor's maximum torque.
(9) Continuous effective load torque
T 2 • t + T
Ma psa
T =
rms
The continuous effective load torque must be lower than the servo motor rated torque.
(10) Torque pattern
(11) Selection results
The following servo motor and servo amplifier are selected as a result of the calculation.
Servo motor: HG-KR23
Servo amplifier: MR-J4-20A
(a) Electronic gear setting
CMX = 262144
CDV = 625
(b) During rapid feed
Servo motor speed N
(c) Acceleration/deceleration time constant
t = t = 0.05 [s]
psa psd
0
+ T = 1.84 [N•m]
L
0
+ T = -0.85 [N•m]
L
psd
2 • t + T 2 • t
L c Md psd
= 0.40 [N•m]
t
f
1.84
0.23
0
0.05
-0.85
= 3000 [r/min]
0
0.75 0.05
1.5
App. - 26
0.15
Time [s]