Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 64 / 514

2. Specifications
2-17
■
When the motor repeats continuous speed status and stop status
In operating status (shown below) the motor should be used at a frequency in which its
effective torque is less than the rated torque TR.
 If the operating cycle is considered as “t”, the usable range can be determined as
follows:
Ta: Acceleration torque
Tb: Deceleration torque
TL: Load torque
Trms: Effective torque
TR: Rated torque
ts: constant speed time(s)
 When the cycle time (t) is predetermined Ta, Tb, ta, and tb appropriate in the above
formula are required.
* When actually determining the system drive mode, it is recommended to calculate the load
margin and suppress it to Trms< 0.8T
R
.
■
When the motor repeats acceleration, deceleration and stop status
In operating status (shown below) the value of permitted repetitions n (times/minutes) is found
with the following equation:
T
P
: Peak Torque at stall (N
・
m)
T
R
: Rated torque
N: Motor rotation speed (min
-1
)
J
M
: Servo motor inertia moment (kg
・
m 2 )
J
L
: Load inertia moment (kg ・ m
2
)
Servo motor
torque
Time
t
a
t
s
t
b
T
L
T
a
t
T
b
t
≧
[s]
T
R
2
T
a
2 t
a
＋
T
L
2 t
s
＋
T
b
2 t
b
N
Servo motor
rotation velocity
Servo motor
torque
Time
T
L
T
p
t
-T
p
Time
1
T
P
2 -T
L
2
n =2.86 x 10
2
x
N(J
M
+J
L
)
x T
R
2
[times/ min]
T
P
3
x