Table of Contents
Advertisement
1.4
SERVOMOTOR
CHARACTERISTICS
FOR
__STARTING
TIME (tr)
//p= 100%
SERVOPACK
.....
STOPPING
/
_=1
120
TI/
1.4.1
Starting
and Stopping
Time
100
The starting time and stopping time of servomotor
80
under a constant load is shown
by the formula
TIME
below•
Viscous or friction torque of the motor
(ms)60
_"
i
Ip=150%
is neglected.
40
_
_
_=15
Starting
Time:
20
"-_
100%
......
, s__o_ .......
_
IP= 300%
............
300='o-- -- --
_= 3
I
I
NR (JM
+ JL)
(ms)
0
0'2
0!4
06
0.8
110
tr=
104.7
×
Kt IR (a--#)
LOAD CURRENT COEFFICIENT _
.
Stopping
Time:
(a)
Combination of SERVOPACK Type CPCR-MR02C-M
and Servomotor
Type UGMMEM-06AA1
NR(JM
+ JL)
(ms)
tf=
104. 7
X
Kt IR
(_-}-/_)
STARTING
--rIME
(t,)
STOPPING
.....
TIME (tf)
Where,
200
/Ip=
100%
NR: Rated motor speed (r/min)
_
_=I
JM: Motor inertia (kg.m z)
150
TIME
EL : Load inertia
converted
to the
motor
(ms)100
shaft. (kg .m z)
.
_
IP=150°/0
Kt " Torque
constant of motor
(N.m/A)
5[ ___
100%__....
Ip=300%
- - "-'--22 -" - - --------- - -_
150% _= 3
IR : Motor
rated
current
(A)
300%
=Ip/In"
Acceleration/deceleration
current
0'2
014
016
0'8
110
constant
LOAD CURRENT COEFFICIENT
fl
Ip ; Acceleration/deceleration
current
(b)
Combination of SERVOPACK Type CPCR-MR15C-H
(Acceleration/deceleration
current
_ times
and Servomotor Type UGHMED-12AA
the motor
rated
current)
(A)
Fig. 1.4
Motor Starting and Stopping
Time
l_ = IL/IR
:
Load
current
constant
IL : Current
equivalent
to load torque
(Load
current
/3 times
the motor
rated
1.4.2
Allowable
Frequency
of Operation
current) (A)
The allowable frequency of operation is restricted
by
the servomotor
and
Servopack,
and
both
the
_-_
I
conditions must be considered for satisfactory
MOTOR
-
a
op eration.
ARMATURE
" TIME
CURRENT
I
tr
.lt,
I I
&t
(i) Allowable Frequency
of Operation restricted
i l
I,! I
I
by the Servopack
I
The allowable frequency of operation is restricted
_
by the heat generated in the regenerative resistor
I
MOTOR
,/"
N
I
TIME
in the Servopack
and
varies depending
on the
SPEED
motor
type,
capacity,
load
inertia,
acceleration/
Fig. 1.3
Timing Chart of
deceleration
current
values
, and motor
speed.
Motor Armature
Current and Speed
Figs.
1.5 to 1.7 show the
allowable
frequency
of operation
when
Servopack
is
combined
with
Fig.
1.4(a)
shows
the
starting
and
stopping
servomotors
such
as Cup
Motor,
Hi-Cup
Motor
or
time
when
Servopack
type
CPCR-MR02-M
is com-
Minertia
Motor.
bined
with
servomotor
type
UGMMEM-06.
Fig.l.4
The
values
in Figs.
1.5 to 1.7
are
shown
when
(b)
shows
the
starting
and
stopping
time
when
load
inertia
is 0.
When
load
inertia
is m times
of
Servopack
type CPCR-MRIEC-H
is combined
with
1
servomotor type UGHMED-12AA
motor inertia, the frequency
is __
times the
•
m+l
The
values
shown
in Fig.
1.4 are measured
value in the figure.
If load inertia exceeds
three
when
operating
motor
at no load (JL = 0).
When
times the motor inertia or
if the
combination
of
JL is equal to JM , the starting and stopping
time
Servopack
type
CPCR-MR
99C and industrial DC
is twice the value
in Fig.
1.4. When
JL is double
motor
type GEELM-K
is applied,
contact
your
JM , the starting
and
stopping
time is three
times
Yaskawa
representative.
the value
in Fig.
1.4.
9
Hide quick links:
Advertisement
Table of Contents
