A-1-1: Motor Effective Torque - Mitsubishi MELSEC-F Training Manual

Positioning Control
A-1-1: Motor effective torque
When the motor effective torque obtained by the calculation below does not exceed the rated
torque (100%) of the servo motor specifications, it is suitable.
If the obtained effective torque exceeds 100%, increase the motor capacity and perform the
calculation again.
Effective torque
(Trms)
In the effective torque calculation equation, the torque during acceleration, constant speed,
deceleration, the cycle time and the machine load are as follows.
1) The torque during acceleration is the torque required to reach the constant speed after
startup and acceleration.
Torque during acceleration = Torque to accelerate load inertia moment + Load torque
(Torque during acceleration)
(Torque during constant speed)
(Torque during deceleration)
=
(T a)
M
× Acceleration time +
2
× Constant speed time ×
2
× Deceleration time
2
Cycle time (including rest time)
(T )
a
(T )
L
A-2