YASKAWA VS-626M5 Instruction Manual page 120

Trial Operation
6.4.14 Orientation Speed (S
6.4.14 Orientation Speed (S
6
: C2-11 and C3-11)
ORT
ORT
Make sure the Motor has stopped before setting the orientation speed.
The orientation speed settings are determined by the moment of inertia (including the Motor shaft), and
the torque. Consequently, calculate the load shaft moment of inertia and the load shaft torque when using
the H gear for each machine separately, and then determine the orientation speed by referring to the dia-
gram below. This speed is the upper limit, so the orientation speed can be set to a lower value than this one.
2 2
(kgf S m ) (kg S m )
10
40
Formula
60
J =
×
2π
11
2
GD
4 1
2
1
0.4 0.1
0.2
0.1
0.04 0.01
10
Fig 6.10 Orientation Speed Settings
: C2-11 and C3-11)
T
(Kp: Position loop gain 10)
Kp−N
Note: Convert the load shaft torque us-
ing the gear ratio (load shaft/Motor
shaft) of the Motor continuous rated
torque.
100
Load torque (Ts)
6 -14
−1 −1
30 min
60 min
−1
100 min
−1
150 min
−1
200 min
−1
300 min
−1
400 min
−1
600 min
1000 (N S m)