Sanyo Denki SANMOTION 3E S, Instruction Manual, Page: 390 / 488

11
．
Selection
11-5
11.1.5 Calculate acceleration torque (T
a
)
N
2
: Servo motor rotation velocity after acceleration [min -1 ]
N
1:
Servo motor rotation velocity before acceleration [min -1 ]
J
L
: Load inertia moment [kg
･
m
2
]
J
M
: Rotor inertia moment of servo motor [kg
･
m 2 ]
11.1.6 Calculate deceleration torque (T
b
)
N
2
: Servo motor rotation velocity before deceleration [min -1 ]
N
1
: Servo motor rotation velocity after deceleration [min
-1
]
J
L
: Load inertia moment [kg
･
m 2 ]
J
M
: Rotor inertia moment of servo motor [kg ･ m
2
]
11.1.7 Calculate effective torque (Trms)
11.1.8 Judgment condition
■
We consider the followings as the standard of the judgment.
 Load torque load ratio T
L
≦
T
R
× 0.8 (Load torque is 80% or less of rated torque)
 Acceleration torque load ratio T
a
≦ T
P
× 0.8 (Acceleration torque is 80% or less of peak
torque at stall )
* T
P
: peak torque at stall
 Deceleration torque load ratio T
b
≦
T
P
× 0.8 (Deceleration torque is 80% or less of
peak torque at stall)
* T
P
: peak torque at stall
 Effective torque load ratio Trms
≦
T
R
× 0.8 (The effective torque is 80% or less of rated
torque)
 Inertia moment ratio J
L
≦
J
M
× 10(Load moment of inertia is 10 times or less of the motor
rotor moment of inertia)
In addition, the rise in heat of motor can be suppressed by taking the large degree of margin at
torque load ratio. Moreover, when rotating a table mechanism slowly depending on inertia
moment ratio, it may be able to control 10 or more times. We recommend you the check by the
real machine.
T
b
=
2
π
(N
2
-N
1
) × (J
L
+J
M
)
60 × tb
T
L
[N ・ m]
-
Trms= (T
a
2 × ta) + (T
L
2 × tr) + (T
b
2 × tb)
t
[N ・ m]
T
a
=
2
π
(N
2
-N
1
) × (J
L
+J
M
)
60 × ta
T
L
[N ・ m] +