Servomotor Frequency 1 - YASKAWA USAREM-A5A Bulletin

4 . 4 SERVOMOTOR FREQUENCY
I n t h e s e r v o d r i v e c o n s i s t i n g o f S E R V O PA C K a n d
S E RV O M O TO R , m o t o r s p e e d a m p l i t u d e i s r e s t r i c t e d
b y t h e m a x i m u m a r m a t u r e c u r r e n t c o n t r o l l e d b y
S E R V O PA C K .
T h e r e l a t i o n b e t w e e n m o t o r s p e e d a m p l i t u d e
( N ) a n d f r e q u e n c y ( f ) i s s h o w n b y t h e f o r m u l a
b e l o w :
a x K t X IR
N = 1 . 5 2 X
(im + .11.) I
Fig 4 6 Ti m i n g Chart of
Motor Armature Current and Speed
(Restricted by the maximum armature current)
4. 5 MOTOR SPEED-REFERENCE INPUT
CHARACTERISTICS
F i g . 4 . 7 s h o w s m o t o r s p e e d a n d i n p u t v o l t a g e
c u r v e w h e n s p e e d r e f e r e n c e i n p u t t e r m i n a l s
1CN - 0 a n d 0 a r e u s e d . W i t h a u x i l i a r y i n -
p u t t e r m i n a l s , 1 C N - 0 a n d
can b e s e t t o t h e r a t i n g b y a d j u s t i n g
p o t e n t i o m e t e r a s l o n g a s i n p u t v o l t a g e i s w i t h i n
± 2 V t o ± 1 0 V. S e e F i g . 14.8.
T h e f o r w a r d m o t o r r o t a t i o n ( + ) m e a n s c o u n -
t e r c l o c k w i s e ( C C W ) r o t a t i o n w h e n v i e w e d f r o m
t h e d r i v e e n d .
RATED
SPEED (+1
I
1
i
I
ti I
0 2 4 6 - 1 0 - 8 - 6
INPUT
VOLTAGE (V)
RATED
SPEED I - )
Fig 4 7
Speed-Input Voltage
Characteristics
( r/mui )
MOTOR
ARMATURE
© , m o t o r s p e e d
ADJUSTABLE WITH
RATED SPEED( + )
2 4 6 8 10
i
INPUT VOLTAGE IV)
t
RATED SPEED t - I
Fig 4 8
Speed-Input Voltage
Characteristics
when Auxiliary Input
Terminals 1 C N - g
and 0 are used
4.6 MOTOR MECHANICAL CHARACTERISTICS
4 6 1 Mechanical Strength
AC S R E V O M O TO R S c a n c a r r y u p t o 300% o f t h e
r a t e d m o m e n t a r y m a x i m u m t o r q u e a t o u t p u t
s h a f t .
4 6 2 Allowable Radial Load and Thrust Load
Ta b l e 14.1 s h o w s a l l o w a b l e l o a d s a c c o r d i n g t o A C
SERVOMOTOR t y p e s .
Table 4. 1 R Series Allowable Radial
Motor Type
USAREM—
A5AE2K
01 AE2K
02AE2K
CI3AE2K
05AE2K
07AE2K
•Maximu values of the load applying to the shaft extension
4 6 3 Mechanical Specifications
Table 4 2 M e c h a n i c a l Specifications in mm
Accuracy (T I R )f R e f e r e n c e Diagram
Flange surface
perpendicular to shaft ®
I IN- B
Flange diameter
concentric to shaft 8
Shaft run out ©
TT I R (Total Indicator Reading
IN-B
Load and Thrust Load
Allowable
Radial Load
N (lb)
78 4 (18)
245
(55)
392 (88)
0 04
0 04
0 02
Allowable
Thrust Load
N (Ib)
39 2 ( 9 )
98 (22)
147 (33)