Hiwin EM1 Series, User Manual

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User Manual Appendix
EM1 Series AC Servo Motors EM1-01-0-EN-2110-MA Page 67 of 72

Motor calculation speed should be under motor continuous work range.
Ex: As bellowing T-N curve, 3.000 rpm is the continuous work range of motor speed.
13.1.5 Motor Torque Calculation
Transmission mechanism Travelling torque calculation
Ball Screw
T
t
=
B
P
2π B
eff
× ( μ gW + F)
B
eff
∶ Ball screw efficiency (%)
g ∶ gravity (m/s
2
)
μ ∶ friction coefficient
Pulley & Belt
T
t
=
D
2P
eff
× ( μ gW + μ gW
b
+ 2F
t
)
P
eff
∶ Pulley efficiency (%)
F
t
∶ Belt tension force (N)
W
b
∶ Belt weight (kg)
Rotary Table
T
t
= μ gW
T
+ n × μ gW
W
T
∶ Rotary table weight (kg)
 Acceleration torque
T
a
=
π N
30t
a
× (J
L
+ J
r
) + T
f
 Deceleration torque
T
a
=
π N
30t
d
× (J
L
+ J
r
)
− T
f
 Equivalent torque
T
e
=
�
T
a
2
× t
a
+ T
f
2
× t
f
+ T
d
2
× t
d
tc
tc = ta + tf + td + ts ts ∶ stop time (sec)
0
5
10
15
20
0 1000 2000 3000
T (
Nm)
v (ms)
Peak work range
Continuous work range