Mitsubishi Electric MELDAS MDS-R Series Specifications And Instruction Manual page 273

(1) Horizontal axis load torque
When operations <1> to <8> are for a horizontal axis, calculate so that the following torques are
required in each period.
Period
<1>
<2>
<3>
<4>
<5>
<6>
<7>
<8>
(2) Unbalance axis load torque
When operations <1> to <8> are for an unbalance axis, calculate so that the following torques are
required in each period. Note that the forward speed shall be an upward movement.
Period
<1>
<2>
<3>
<4>
<5>
<6>
<7>
<8>
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Table 2-1 Load torques of horizontal axes
Load torque calculation method
(Amount of acceleration torque) +
(Kinetic friction torque)
(Kinetic friction torque)
(Amount of deceleration torque) +
(Kinetic friction torque)
(Static friction torque)
 (Amount of acceleration torque) 
(Kinetic friction torque)
 (Kinetic friction torque)
 (Amount of deceleration torque) 
(Kinetic friction torque)
 (Static friction torque)
Table 2-2 Load torques of unbalance axes
Load torque calculation method
(Amount of acceleration torque) + (Kinetic
friction torque) + (Unbalance torque)
(Kinetic friction torque) + (Unbalance torque)
(Amount of deceleration torque) + (Kinetic
friction torque) + (Unbalance torque)
(Static friction torque) + (Unbalance torque)
 (Amount of acceleration torque)  (Kinetic
friction torque) + (Unbalance torque)
 (Kinetic friction torque) + (Unbalance torque)
 (Amount of deceleration torque)  (Kinetic
friction torque) + (Unbalance torque)
 (Static friction torque) + (Unbalance torque)
During a stop, the static friction torque may constantly be applied. The static
friction torque and unbalance torque may be applied during an unbalance axis
POINT
upward stop, and the torque during a stop may become extremely large.
Therefore, caution is advised.
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Appendix 2. Selection
Normally the acceleration/deceleration time constant is
calculated so that this torque is 80% of the maximum torque of
the motor.
The absolute value of the acceleration torque amount is same
as that of the deceleration torque amount. The signs for the
amount of acceleration torque and amount of deceleration
torque are reversed.
Calculate so that the static friction torque is always required
during a stop.
The signs are reversed with period <1> when the kinetic friction
does not change according to movement direction.
The signs are reversed with period <2> when the kinetic friction
does not change according to movement direction.
The signs are reversed with period <3> when the kinetic friction
does not change according to movement direction.
Calculate so that the static friction torque is always required
during a stop.
Normally the acceleration/deceleration time constant is
calculated so that this torque is 80% of the maximum
torque of the motor.
The absolute value of the acceleration torque amount
is same as that of the deceleration torque amount. The
signs for the amount of acceleration torque and
amount of deceleration torque are reversed.
The holding torque during a stop becomes fairly large.
(Upward stop)
The generated torque may be in the reverse of the
movement direction, depending on the size of the
unbalance torque.
The holding torque becomes smaller than the upward
stop. (Downward stop)
A2 - 4
Explanation
Explanation