YASKAWA E Series Product Manual page 38

5.
Load Moment of Inertia
• Linear motion section
J L1 = m
• Ball screw
π
J B = B d B
32
= 0.40 × 10
• Coupling J
G
• Load moment of inertia at motor shaft
J = J + J
L L1 B
6.
Load Moving Power
2π × 3,000 × 0.43
2πn M T L
P O = =
60
7.
Load Acceleration Power
2
J L
2π
Pa = n M =
60 ta
8.
Servomotor Provisional Selection

Selection Conditions
≤ Motor rated torque
• T
L
(Po + Pa)
•
< Provisionally selected Servomotor rated output < (Po + Pa)
2
≤ Rated motor speed
• n
M
≤ Allowable load moment of inertia
• J
L
The following Servomotor meets the selection conditions.
• SGM7J-02A Servomotor

Specifications of the Provisionally Selected Servomotor
Item
Rated Output
Rated Motor Speed
Rated Torque
Instantaneous Maximum Torque
Motor Moment of Inertia
Allowable Load Moment of Inertia
9.
Verification of the Provisionally Selected Servomotor
• Verifica-
2πn M (J M + J L )
tion of
T P =
required
60ta
acceler-
ation
≈ 1.23 (N m) < Maximum instantaneous torque...Satisfactory
torque:
• Verifica-
2πn M (J M + J L )
tion of
T S =
required
deceler-
ation
≈ 0.37 (N m) < Maximum instantaneous torque...Satisfactory
torque:
2.1.1 Capacity Selection Example for a Rotary Servomotor: For Speed Control
2 2
P B
0.01
= 250 × = 1.58 × 10
2π × 2
2πR
π
1
4 = × 7.87 × 10
2
R 32
-4 2
(kg⋅m )
= (1.58 + 0.31 + 0.40) × 10
+ J
G
= 135 (W)
60
2
2.29 × 10
2π -4
× ×
3,000
60
0.1
200 (W)
3,000 (min
0.637 (Nm)
2.23 (Nm)
0.263 × 10
0.263 × 10
2π × 3,000 × (0.263 + 2.29) × 10
+ T L =
2π × 3,000 × (0.263 + 2.29) × 10
− T L =
60td
2.1 Selecting the Servomotor Capacity
-4 2
(kg m )
1
3 × 1.0 × (0.02) 4 = 0.31 × 10
2 2
= 2.29 × 10
-4 -4
(kgm
= 226 (W)
Value
-1
)
-4 2
(kgm )
-4 × 15 = 3.94 × 10 -4 2
(kgm
-4
60 × 0.1
-4
60 × 0.1
-4 (kg m 2 )
2
)
)
+ 0.43
− 0.43
2
2-3