YASKAWA E Series Product Manual page 40

3.
Motor Speed
• Load shaft
n L =
speed
• Motor shaft Direct coupling gear ratio 1/R = 1/1
speed
Therefore, n
4.
Load Torque
μ
(9.8 m + F ) P B
T L =
η
2πR
5.
Load Moment of Inertia
• Linear motion section
J L1 = m
π
J B =
• Ball screw
32
1
• Coupling
Jc =
8
• Load moment of inertia at motor shaft
J = J
L L1
6.
Load Moving Power
2πn M T L
2π × 3,000 × 0.139
P O = =
60
7.
Load Acceleration Power
2
J L
2π
n M
Pa = =
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-01A 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
Encoder Resolution
2.1.2 Capacity Selection Example for a Rotary Servomotor: For Position Control
υ
15
L
-1
= = 3,000 (min
P B 0.005
⋅ R = 3,000 × 1 = 3,000 (min
= n
M L
(9.8 × 0.2 × 80 + 0) × 0.005
=
2π × 1 × 0.9
2 2
P B
0.005
= 80 × = 0.507 × 10
2π × 1
2πR
π
× 7.87 × 10
B d B 4 =
32
1
× 0.3 × (0.03)
m C d C 2 =
8
+ Jc = 1.25 × 10
-4
+ J (kgm
B
= 43.7 (W)
60
2
1.25 × 10
2π
× ×
3,000
60 0.1
100 (W)
3,000 (min
0.318 (Nm)
1.11 (Nm)
0.0659 × 10
0.0659 × 10
16,777,216 (pulses/rev) (24 bits)
2.1 Selecting the Servomotor Capacity
)
-1
)
= 0.139 (N m)
-4 2
(kg m )
× 0.8 × (0.016) = 0.405 × 10
3 4
= 0.338 × 10
2 -4 (kg m 2 )
2
)
-4
= 123.4 (W)
Value
-1
)
-4 2
(kgm )
-4 × 35 = 2.31 × 10 -4
(kgm
-4 (kg m 2 )
2
)
2-5
2