YASKAWA SGM H Series User Manual page 565

(4) Load Moment of Inertia
• Liner motion section
( )
P 2
B
= 80 ×
J = M
L1 2πR
• Ball screw
π
ρ L
J = D
B 32 B B
• Coupling
1
4
J = M D =
C C C
8
• Load moment of inertia at the motor shaft
= 1.25 × 10
J = J J J
L L1 B C
(5) Load Moving Power
2π × 3000 × 0.139
2πN T
M L
P = =
O
60
(6) Load Acceleration Power
( ) (
2π 2 J 2π
L
P = N =
a 60 M ta 60
(7) Provisionally Servomotor Selection
(a) Selecting Conditions
≤
•
T Motor rated torque
L
•
Pa + Po = (1 to 2)
≤
•
N Motor rated speed
M
≤
•
J SERVOPACK allowable load moment of inertia
L
The followings satisfy the conditions.
• SGMPH-02A312 servomotor
• SGDM-02AP SERVOPACK (for position control)
(b) Specifications of Servomotor and SERVOPACK
• Rated output:
200 (W)
• Rated motor speed:
• Rated torque:
0.637 (N⋅m)
• Instantaneous peak torque:
• Servomotor rotor moment of inertia:
• SERVOPACK allowable load moment of inertia:
• Number of encoder pulses:
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( )
0.005
2
= 0.507 × 10 -4
(kg m )
2π × 1
π
4 × 7.87 × 10 3 × 0.8 × (0.016)
=
32
1
× 0.3 × (0.03) 2 = 0.338 × 10 -4
(kg m
8
-4 2
(kg m )
= 43.7 (W)
60
) 1.25 × 10
2 -4
× 3000
= 123.4 (W)
0.1
×
Motor rated output
-1
3000 (min )
1.91 (N⋅m)
0.209 × 10
2048 (P/R)
12.1 Servomotor Capacity Selection Examples
2
4 = 0.405 × 10 -4 2
(kg m )
2
)
-4 2
(kg⋅m )
-4 2
3.69 × 10
(kg⋅m )
12
12-5