Mitsubishi Electric HG-AK, Instruction Manual

Page: 365 / 392

APPENDIX
App. - 18
(3) Torques required for operation
POINT
For the gain adjustment, check that the machine operates below the maximum
torque of the servo motor. It is recommended that generated torque during
operation is under 90% of the maximum torque of the servo motor.
Torques required for the servo motor are the highest during acceleration. If the servo motor torque found
with equation 5.11 to 5.13 exceed the maximum torque, the motor will not accelerate as commands. Set
the calculated value within the servo motor's maximum torque. Since a friction load is normally applied
during deceleration, only the acceleration torque needs to be considered. In the regenerative mode, the
value found by equation 5.13 is negative.
t
psd
t
psa
0
Servo motor
speed
Command
Time
Command pulse frequency f [pulse/s]
Servo motor speed [r/min]
N
0
f
0
0
T
L
T
Md
T
Ma
Time
Serv
o motor torque
T
a
T
d
T
1
T
2
T
1
= T
Ma
= T
a
+ T
L
········································································································· (5.11)
T
2
= T
L
······················································································································· (5.12)
T
3
= T
Md
= -T
d
+ T
L
········································································································ (5.13)