YASKAWA E Series Product Manual page 203

11.2 Reference Information for Servomotor Capacity Selection
11.2.4 Application Examples by Type of Application
Machine Configuration
Load Speed, N (min
Speed Calculated at
Motor Shaft, N
Linear
Motion
Section,
GD
2
2
(kgm
Load
Torque
(kgm)
Load Moving Power, P
(kW)
Load Acceleration
Power
Starting Torque, T
(kgm)
Deceleration Torque, T
(kgm)
Effective Torque Value,
Trms (kgm)
System Remarks
11-8
Applied pressure, N (kg)
Tension, F
-1
)
[However,
-1
(min )
M
2
GD Cal-
culated at
Load Shaft
2
GD Cal-
L
culated at
)
Motor
Shaft
T Calcu-
lated at
Load Shaft
T Calcu-
L
lated at
Motor
Shaft
O
T
P
P
S
t
a
• Feeding of coiled and sheet materials
• Roller slipping affects accuracy.
• A measuring roller pulse generator
may also be installed separately.
Roll Feeder
Bearing friction
μ2
coefficient
(kg)
W(kg)
1
μ1
φ
dp(mm)
1/R
Load speed (m/min)
1000 ×
V
P
B
P =π d ]
P
B
R × N
d
2
( )
W P
1000
1 2
( )
×
2
GD
L R
V 2
( )
W
OR
π
N
M
d
P
( F +μ W +μ N )
2000
1 1 2
Mechanical
1 1
T × ×
η
R efficiency
( F +μ W +μ N ) V
1 1 2
OR
η
2π N
M
+ μ
( F +μ ) V
W N
1 1 2
6120 × η
2 2
GD N
365 × 10 ×
3 t
a
Acceleration time (s)
T
V (m/min)
T
T
L
t t
c d
T
Continued from previous page.
Rack and Pinion
F (kg)
V
W(kg)
μ
1/R
Load speed (m/min)
1000 ×
V
P
B
= π
However, P d
B
OR P = Z
B P
R × N
(
W
1000
( )
×
2
GD
L
(
OR W
{μ (W+ F )+
V
1 1
T × ×
η
R
{μ (W+
OR
2π
{μ ( W F +
V
6120 × η
2 2
GD N
365 × 10 ×
3 t
Acceleration time (s)
GD 2 GD 2 N
( + )
M L M
= + T
375 t
P L
a
2 2
( GD + GD ) N
M L M
= - T
t
375
S L
d
2 + 2 + T 2
T t T t t
P a L c S d
T =
rms
T
When a load torque is applied while stopped for a vertical ball screw:
T 2 t + T 2 ( T - - t t
P a L a d
T =
rms
T
• Can be used for positioning with long
travel distances.
• A separate pulse generator is often
installed.
Continued on next page.
F (kg)
H
φ
dp(mm)
Number of teeth, Z
P
Pitch, L (mm)
P
P
L
P
d
2
)
P
2
1
R
V 2
)
π
N
M
d
P
F }
H 2000
Mechanical
efficiency
F F V
)+ }
V H
η
N
M
)+ F } V
H
a
)+ T 2 t
S d