Panasonic MINAS-BL GV Series Manual page 44

Description on the items related to motor selection
1. Torque
(1) Peak torque
Indicate the maximum torque that the motor requires during operation (mainly in acceleration and deceleration
steps). The reference value is 80 % or less of the maximum motor torque. If the torque is a negative value, a
regenerative discharge resistor may be required.
(2) Traveling torque, Stop holding torque
Indicates the torque that the motor requires for a long time. The reference value is 80 % or less of the rated
motor torque. If the torque is a negative value, a regenerative discharge resistor may be required.
Traveling torque calculation formula for each mechanism
Ball screw mechanism
P
Belt mechanism
D
(3) Effective torque
Indicates a root-mean-square value of the total torque required for running and stopping the motor per unit time.
The reference value is approx. 80 % or less of the rated motor torque.
T 2
a
Trms =
T : Acceleration torque [N m]
a
T : Traveling torque [N m]
f
T : Deceleration torque [N m]
d
2. Motor velocity
Maximum velocity
Maximum velocity of motor in operation: The reference value is the rated velocity or lower value.
When the motor runs at the maximum velocity, you must pay attention to the motor torque and temperature rise.
For actual calculation of motor velocity, see "Example of motor selection" described later.
Traveling torque
F
W
W : Weight [kg]
P : Lead [m]
F : External force [N]
Traveling torque
F
W : Weight [kg]
W
P : Pulley diameter [m]
F : External force [N]
× t + T 2 × t + T 2 × t
a f b d d
t
c
t : Acceleration time [s ]
a
t : Constant-velocity time [s ]
b
t : Deceleration time [s ]
d
P
T = ( W +F )
f
2
: Mechanical efficiency
: Coefficient of friction
g : Acceleration of gravity 9.8 [m/s
D
T = ( W +F )
f
2
: Mechanical efficiency
: Coefficient of friction
g : Acceleration of gravity 9.8 [m/s
t : Cycle time [s ]
c
(Run time + Stop time)
2 ]
2 ]