Omron XTRADRIVE User Manual page 180

XtraDrive User Manual
The following wizard will help you to calculate your load inertia.
Estimation of Equivalent Load ( J
Case 1_ Load is a cylinder directly mounted or coupled to motor axis:
ρ is the density of the load material [kg/m^3]
L is the length
D is the diameter of the load [m]
Case 2_ Load is driven through a gear with ratio N:
Estimation of equivalent load (
Equivalent load on motor is:
To tune your system, you should have an approximate estimation of the
Inertia (
If a cylinder load is mountain directly on motor axis you should use
the following formula to calculate load inertia:
Case 3: Load is a mass driven by a ball screw having pitch:
Where ρ is the characteristic weight of the load [kg/m^3].
J
, Kg.m
load
L is the length and d is the diameter of the load [m].
Other Cases: Make your own rough load inertia evaluations.
π ×
J
=
load
J
) of the load attached to the motor.
load
J
load =
×
M
J
=
load
J
=
load
, M Pitch
2
Kg,
6-13
Chapter 6: Servo Adjustment
4
ρ × ×
l d
32
J
)
load
J
2
N
4
π × ρ × ×
2
l d
Pitch
+ Jscrew+Jcoupling
32
meter/radian
)
load