Gd For Simple Diagrams - YASKAWA E Series Product Manual

Type of Motion
Minimum Braking
Time (s)
Load Moving Power
(W)
Load Acceleration
Power (W)
Required Starting
Torque (Nm)
Required Braking
Torque (Nm)
Effective Torque
Value (Nm)
2
11.2.2 GD for Simple Diagrams
When Rotary Shaft Is
Aligned with Center Line
of Cylinder
When Rotary Shaft Runs
Through Gravitational
Center
When Rotary Shaft Is on
One End
When Rotary Shaft Is
Outside Rotating Body
11.2 Reference Information for Servomotor Capacity Selection
Rotary Motion
t
dm
2π
P =
60
a
2π N
M
T
=
60 ×
P
2π
N
M
T
=
60 ×
S
2 2
T t + T t
P a L
T
=
rms t
Solid cylinder
2 2
( D = D /2 )
D
0
0
OR
2 4
=125π LD
GD
: Density (g/cm 3 )...Copper: 7.866
L : Length (m)
: Diameter (m)
D
Rectangular solid
b
2 2 2
= ( + )/3
D b c
Sphere D
0
2
2 2
D =
D
5
0
Cone
3
2 2
=
D D
10
0
Rectangular solid
2 2 2
= (4 + )/3 b
D b C
Rectangular solid
2 2
4 b + C
2
D = b
3
2
+4( bd + d )
d
11.2.2 GD
Continued from previous page.
Linear Motion
Horizontal Axis
2π
N ( J + J )
M M L
=
60 ( T + T )
PM L
2π N T
M L
P
=
0 60
J
2
L
N ( t ≥ t )
t
a am
M
a
J J
M L
t t
+ T ( ≥ )
a am
L
t
a
J J
M L
( t ≥ t
- T
d dm
L
t
d
2
+ T t
c S d T
rms
Hollow cylinder
2 2 2
( + )
D = D D /2
0 1
OR
2
=125π
GD L
:Density (g/cm
: Length (m)
L
:Diameter (m)
D , D
0 1
c
Cylindrical body
2 2
=
D L /3 + D
0
Hollow sphere
5
D
-
2
2
0
D =
5 3
D
-
0
Wheel
D
3
2 2
0 = +
D D D
4
0
c
Cylindrical body
D
4
2 2
D = +
L
3 4
c
Cylindrical body
D
4
2 2
0
D =
L +
3 4
+4( dL d +
Continued on next page.
2
for Simple Diagrams
Vertical Axis
)
2 2 2
T t + T ( + ) t t + T t
P a L c e S d
=
t
D
0
D
1
4 4
( D + D )
0 1
3
)
D
0
2
/4 L
D
0
3
D
D
1
1
3
D
1
D
0
2
D
1
1
D
0
2
0
L
D
0
2
L
2
)
d
11-5
11