06.2005
Engineering Information
Siemens AG
6SE7087-6QX70 (Version AE)
SIMOVERT MASTERDRIVES
Compendium Motion Control
11-9
♦
Acceleration force
[
N
]
F
m a
b
b
,v
,v
= ⋅
♦
Acceleration and deceleration torque for spindle
[
Nm
]
M
J
b v Sp
Sp
b v Sp
,
,
=
⋅ α
J
Sp
Inertia of spindle
[
kgm
2
]
♦
Load torque at the spindle
[
Nm
]
M
M
F
F
sign F
F
D
Sp
b v Sp
b v
W
SW
b v
W
Sp
=
+
+
⋅
+ ⋅
+
⋅
,
,
,
(
) tan(
(
))
α
ρ
2
M
F
b
Sp
b
,v
,v
,
has to be applied with the correct sign
(accelerate = +, decelerate = - )
If the deceleration is equal to the acceleration, the load torque is at a
maximum during the acceleration phase.
