Mitsubishi Electric MELSERVO HF-MP Instruction Manual page 57

5. CALCULATION METHODS FOR DESIGNING
(3) Torques required for operation
Torques required for the servo motor are the highest during acceleration. If the servo motor torque found
with equation 5.11 to 5.13 exceed the maximum torque, the motor will not accelerate as commands. Set
the calculated value within the servo motor's maximum torque. Since a friction load is normally applied
during deceleration, only the acceleration torque needs to be considered. In the regenerative mode, the
value found by equation 5.13 is negative.
T T Ta T
1 Ma
T T ................................................................................................................................................... (5.12)
2 L
T T T
3 Md
POINT
Consider individual machine differences, and do not adjust gain too strictly. It is
recommended to keep the servo motor torque to 90
torque of the servo motor during the operation.
T
Ma
T
T
Md
................................................................................................................................ (5.11)
L
T ............................................................................................................................. (5.13)
d L
Command
N f
0 0
Servo motor
speed
0
t
psa
T
1
T
a
T
2
L
0
T
d
5 - 6
or less of the maximum
Time
t
psd
Time