Selection Example For Position Control - YASKAWA SGM H Series User Manual

12 Appendix

12.1.2 Selection Example for Position Control

(9) Result
The provisionally selected servomotor and SERVOPACK are confirmed to be applicable.
The torque diagram is shown below.
(N m) Torque
11
1.73
0
-7.5
0.1
12.1.2 Selection Example for Position Control
Mechanical Specifications
Servomotor
Linear motion
1
all screw
• Load speed: V = 15 m/min
• Linear motion section mass: M = 80 kg
• Ball screw length: L
• Ball screw diameter: D
• Ball screw lead: P
• Coupling mass: M
• Coupling outer diameter: D
(1) Speed Diagram
V
15
Speed
(m/min)
ta c t
1.2
(2) Rotation Speed
• Load axis rotation speed
V
N =
P
B
• Motor shaft rotation speed with direct coupling: Gear ratio 1/R = 1/1
Therefore,
N = N R = 3000
M
(3) Load Torque
9.8µ M P
T =
L
2πR η
12-4
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Speed
0.1
1.0
1.5
Coupling
• Positioning times: n = 40 times/min
• Positioning distance: = 0.25 m
= 0.8 m
• Positioning time: tm = Less than 1.2 s
B
• Electrical stop accuracy: δ = ± 0.01 mm
= 0.016 m
B
= 0.005 m • Friction coefficient: µ = 0.2
B
= 0.3 kg • Mechanical efficiency: η = 0.9 (90%)
C
=0 .03 m
C
t
Reference
pulse
Load
Where ta = td, ts = 0.1 (s)
speed
s t
d t
ta = tm − ts −
Time (s)
t
tc
15
= = 3000 (min ) -1
0.005
×
1 = 3000 (min )
-1
9.8 × 0.2 × 80 × 0.005
B
=
2π × 1 × 0.9
60 60
1.5 s ( )
= ----- - = ----- - =
n 40
60 60 × 0.25
= 1.2 − 0.1 −
V 15
× 0.9 s ( )
= 1.2 0.1 – – 0.1 2 =
= 0.139 (N m)
= 0.1 (s)