YASKAWA SGDH User Manual page 566

• Load moment of inertia at motor shaft
J = J + J + J = 44.9 × 10 (kg m )
L B
L1 C
(5) Load Moving Power
2π × 1500 × 1.73
2πN T
M L
P = =
O
60
(6) Load Acceleration Power
2
2π J 2π
( ) (
L
P = N =
a M
60 ta 60
(7) Servomotor Provisional Selection
(a) Selecting Conditions
≤ Motor rated torque
• T
L
• Pa + Po = (1 to 2) × Motor rated output
≤ Motor rated speed
• N
M
≤ SERVOPACK allowable load moment of inertia
• J
L
The followings satisfy the conditions.
• SGMGH-09A2A servomotor
• SGDH-10ADG SERVOPACK
(b) Specifications of the Provisionally Selected Servomotor and SERVOPACK
• Rated output: 850 (W)
• Rated motor speed: 1500 (min
• Rated torque: 5.39 (N⋅m)
• Instantaneous peak torque: 13.8 (N⋅m)
• Servomotor moment of inertia: 13.9 × 10
• SERVOPACK allowable load moment of inertia: 69.58 × 10
(8) Verification on the Provisionally Selected Servomotor
• Required starting torque
π
2 N (J + J )
M M
T =
P
60ta
11 (N m) < Instantaneous peak torque Satisfactory
• Required braking torque
π
2 N (J + J )
M M
T =
S
60td
7.5 (N m) < Instantaneous peak torque Satisfactory
• Torque efficiency
2
Τ
ta + T
P
T =
r m s
3.72 (N m) < Rated torque Satisfactory
-4 2
= 272 (W)
60
44.9 × 10
-4
2
)
× 1500
= 1108 (W)
0.1
-1
)
-4
(kg⋅m
π
× 1500 × (13.9 + 44.9) × 10
2
L
+ T =
60 × 0.1
L
π
× 1500 × (13.9 + 44.9) × 10
2
− T =
L
60 × 0.1
L
2 2 2
(11) × 0.1 + (1.73) × 1.0 + (7.5) × 0.1
tc + T td
L S
=
t
11-3
11.1 Servomotor Capacity Selection Examples
2
)
-4 2
(kg⋅m )
−4
+ 1.73
−4
− 1.73
2 2
1.5
11