Panasonic MINAS-BL GV Series Manual page 48

6. Calculation of maximum velocity (Vmax)
1
× Acceleration time × Vmax + Constant-velocity time × Vmax +
2
1
× 1.0 × Vmax + 1.0 × Vmax +
2
2.0 × Vmax = 1
Vmax = 1 / 2.0 = 0.5 [m/s]
7. Calculation of motor velocity (N [r/min])
A single rotation of pulley :
N = 0.5 / 0.157 = 3.18 [r/s]
= 3.18 × 60 = 191 [r/min] < 200 [r/min] (rated rotation speed of GP series 50 W, gear ratio 1/15)
8. Calculation of torque
Traveling torque T
Acceleration torque T
Deceleration torque T
9. Verification of maximum torque
Acceleration torque
T = 0.092 [N∙m] < 2.2 [N∙m] (GP series 50 W, 1/15 gear, Permissible torque at output shaft of gear head )
a
10. Verification of effective torque
T 2 × t + T 2
a a f
Trms =
0.092 2 × 1.0 + 0.061
=
= 0.057 [N∙m] < 2.2 [N∙m] (GP series 50 W, 1/15 gear, Permissible torque at output shaft of gear head)
11. A GP series 50 W, 1/15 gear selected by following the above procedure will cause no problem.
1
× 1.0 × Vmax = 1
2
× P = 0.157 [m]
D
P 0.05
D
gW + F) =
f A
2 2 × 0.8
= 0.061 [N∙m]
J × 2 N [r/s]
L
= + Traveling torque
a
Acceleration time [s]
15.6 × 10 –4 × 2 × 3.18
=
1.0
= 0.031 + 0.061 = 0.092 [N∙m]
J × 2 N [r/s]
L
= – Traveling torque
d
Deceleration time [s]
15.6 × 10 –4 × 2 × 3.18
=
1.0
= 0.031 – 0.061 = –0.03 [N∙m]
× t + T 2 × t
b d d
t
c
2 × 1.0 + (–0.03) 2 × 1.0
4
1
× Deceleration time × Vmax = Travel distance
2
(0.1 × 9.8 × 2 + 0)
+ 0.061
– 0.061
6