YASKAWA SGDH User Manual page 569

11 Appendix
11.1.2 Selection Example for Position Control
(8) Verification on Provisionally Selected Servomotor
• Required starting torque
2
T =
P
0.597 (N m) < Instantaneous peak torque Satisfactory
• Required braking torque
2
T =
S
0.319 (N m) < Instantaneous peak torque Satisfactory
• Effective torque
T =
r m s
0.205 (N m) < Rated torque Satisfactory
The above confirms that the provisionally selected servomotor and SERVOPACK capacities are sufficient. In the
next step, their performance in position control are checked.
(9) PG Feedback Pulse Dividing Ratio: Setting of Electronic Gear Ratio
As the electrical stop accuracy δ = ±0.01mm, take the position detection unit ∆ = 0.01mm/pulse.
P
B
×
B ( )
=
∆
A 0.01
B 2048
k = =
A
500
(10) Reference Pulse Frequency
1000V
vs =
× ∆
60
(11) Error Counter Pulses
Position loop gain Kp = 30 (1/
vs
25,000
ε = =
Kp
(12) Electrical Stop Accuracy
±∆ε = ±
(SERVOPACK
control range)
The above results confirm that the selected SERVOPACK and servomotor are applicable for the position control.
π
π
N (J + J )
2
M M L
+ T =
L
60ta
π
π
× 3000 × (0.209 + 1.25) × 10
N (J + J )
2
M M L
− T =
L
60ta
2 2 2
Τ
ta + T tc + T td
P L S
t
5 B
( )
× ×
= 2048 4
A
×
4
1000 × 15
= = 25,000 (pps)
× 0.01
60
)
S
= 833 (pulse)
30
ε
833
= ±
N
×
×
M 5000
N
R
−4
× 3000 × (0.209 + 1.25) × 10
60 × 0.1
−4
60 × 0.1
2
(0.597) × 0.1 + (0.139) × 0.9 + (0.319) × 0.1
=
1.5
± 0.17 < ± 1 (pulse) =
3000
3000
11-6
+ 0.139
− 0.139
2 2
( )
± 0.01 (pulse)
B
A