Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 431 / 514

11.1 Servo motor sizing
11-2
1
1
Selection
11.1.2 Make an operation pattern
ta=Acceleration time
tb=Deceleration time
tr=Constant velocity time
ts=Stop time
t=1cycle
11.1.3 Calculate motor shaft conversion load moment of inertia (J
L
)
■
The inertia moment of a moving part.
G: Reduction ratio
ρ
: Moving part specific gravity [kg/m 3 ]
D: Moving part diameter [m]
L: Moving part length [m]
■
Work inertia moment
G: Reduction ratio
W: Moving part mass [kg]
P: In the case of a ball screw, is the lead of a ball screw [m]
In the case of a belt pulley, is an outside diameter of a pulley. [m]
(P=
π
D)
J
L
= ( )
1
G
×
32
[kg
・
m 2 ]
π
×
ρ
× D 4 × L
2
J
L
= ( )
1
G
×
2 π
[kg
・
m 2 ]
2
W
( ) ×
P
2
Velocity [min
-1
]
ta
tc
tb tr
ts
t
Time [s]
N
2
N
1