YASKAWA E Series Product Manual page 204

Machine Configuration
-1
Load Speed, N (min )
Speed Calculated at
-1
Motor Shaft, N (min )
M
2
GD Cal-
culated at
Linear
Load Shaft
Motion
Section, 2
GD Cal-
L
GD
culated at
2
2
(kgm )
Motor
Shaft
T Calcu-
lated at
Load Shaft
Load
Torque
T Calcu-
L
(kgm)
lated at
Motor
Shaft
Load Moving Power,
P (kW)
O
Load Acceleration
Power
Starting Torque, T
P
(kgm)
Deceleration Torque,
T (kgm)
S
Effective Torque Value,
Trms (kgm)
• Positioning of conveyors
• Chain looseness, movement, and
System Remarks
• Radial load for overtightened belt
11.2 Reference Information for Servomotor Capacity Selection
Chains and Timing Belts
F (kg)
V
W(kg)
F (kg)
H
φ
1/R
dp(mm)
Number of teeth, Z
Pitch, L (mm)
P
Load speed (m/min)
1000 ×
V
P
B
= π
However, P
d
B
P
OR = Z L
P
P P
B
R × N
d
2
( )
P
W
1000
2
1
( )
×
2
GD
L
R
V
2
( )
OR W
π
N
M
d
P
{μ ( W+ F )+ F }
V H 2000
Mechanical
1 1
T × ×
η
efficiency
R
{ μ (W+
} V
F )+ F
V H
OR
η
N
2π
M
{μ ( W + F )+ F } V
V H
6120 × η
GD 2 N 2
365 × 10 ×
t
3
a
Acceleration time (s)
T
P
V (m/min)
T
L
t t t
a c d
T
pitch error are problems (not suitable
for frequent use).
chains
11.2.4 Application Examples by Type of Application
Continued from previous page.
Dollies
W(kg)
C: Resistance to travel (kg/t) dp(mm)
P
Load speed (m/min)
1000 ×
V
P
B
[However, P =π
B
R × N
(
W
×
2
GD
L
W
OR
C W
1 1
T × ×
η
R
OR
2 × 10
C W V
6120 × 10
GD 2 N 2
365 × 10 ×
3
Acceleration time (s)
( GD 2 + GD 2 ) N
M L M
= +
T T
t
P 375 L
a
2 2
( GD + GD ) N
M L M
= -
T T
t
375
S L
d
T 2 t + T 2 t + T 2
P a L c S
T =
rms
T
When a load torque is applied while stopped for a vertical ball screw:
T 2 t + T 2 ( T - t -
P a L a
=
T
rms
T
• Dolly slipping
1/R
φ
d ]
P
d
2
)
P
1000
2
1
( )
R
V
2
( )
π
N
M
d
P
2 × 10
6
Mechanical
efficiency
C W V
η
× π ×
3
N
M
× η
3
t
a
t
d
t )+ T 2 t
d S d
11-9
11