OE Max Controls CSDJ Plus User Manual page 211

Mechanical
Configuration
Speed Diagram
Motion per Cycle
Motor Shaft
Rotation Speed
Load Torque
(Motor shaft)
D-12
Round Plate Load
M
: Load Mass of Round Plate(kg)
ω
: Rotation Speed of Round Plate (rpm)
l
η
: Mechanical Efficiency
: Thickness of Round Plate
t
ω
- -
2 t t t
l
= ×
s
s
60
= ,
(rad)
if t t
a d
ω
=
N R
M
l
(r/min)
T
=
l
T
L
R
(Nm)
D
M
T
l
MOTOR
ω
l
s
t
a
t
s
t
c
a d
2
ω
θ
= ( - )
l
t t
s s a
60
t
1/R
R
1/ : Reduction Ratio
T
: Load torque
l
: Diameter of Round Plate
D
t
d