11.2 Reference Information for Servomotor Capacity Selection
11.2.2 GD
2
for Simple Diagrams
11
Appendices
11-5
11.2.2
GD
2
for Simple Diagrams
Minimum Braking
Time (s)
Load Moving Power
(W)
Load Acceleration
Power (W)
Required Starting
Torque (N
m)
Required Braking
Torque (N
m)
Effective Torque
Value (N
m)
Continued from previous page.
Type of Motion
Rotary Motion
Linear Motion
Horizontal Axis
Vertical Axis
N
M
J
M
J
L
=
2
π
( + )
60 ( + )
t
dm
T
PM
T
L
N
M
=
60
P
0
T
L
2
π
J
L
t
a
t
a
t
am
N
M
60
P
a
=
2
π
2
( ≥ )
J
M
J
L
t
a
N
M
=
+
60
×
T
P
T
L
2
π
( ≥ )
t
a
t
am
J
M
J
L
t
d
N
M
=
-
60
×
T
S
T
L
2
π
t
d
t
dm
( ≥ )
T
P
t
a
t
c
=
t
d
+
T
rms
t
T
L
+ T
S
2
2
2
( + )
T
P
t
a
t
c
t
e
=
t
d
+
T
rms
t
T
L
+ T
S
2
2
2
When Rotary Shaft Is
Aligned with Center Line
of Cylinder
When Rotary Shaft Runs
Through Gravitational
Center
When Rotary Shaft Is on
One End
When Rotary Shaft Is
Outside Rotating Body
Continued on next page.
Solid cylinder
OR
: Density (g/cm
3
)...Copper: 7.866
: Length (m)
( = /2 )
=125
π
D
GD
L
: Diameter (m)
D
D
0
D
0
2
2
4
2
ρ
ρ
LD
Hollow cylinder
OR
:Density (g/cm
3
)
: Length (m)
= /2
=125
π
D
GD
L
:Diameter (m)
D
0
2
2
2
D
1
2
D
0
4
D
1
4
ρ
ρ
( + )
( + )
L
D
0
D
1
,
D
0
D
1
= ( + )/3
Rectangular solid
D
b
b
c
c
2
2
2
=
/3 +
/4
Cylindrical body
D
L
L
D
0
D
0
2
2
2
5
2
D
0
=
Sphere
D
D
0
2
2
D
0
D
1
=
-
Hollow sphere
5
2
D
2
D
0
5
D
1
3
-
D
0
3
D
1
3
D
0
10
3
=
Cone
D
D
0
2
2
D
0
D
1
+
4
3
=
Wheel
D
D
0
2
2
D
1
2
c
b
C
= (4 + )/3
Rectangular solid
D
b
2
2
2
D
0
=
+
Cylindrical body
L
L
3
4
4
D
2
2
D
0
2
b
d
b
bd
d
c
C
=
+4( + )
Rectangular solid
3
4
+
D
2
2
2
2
D
0
L
L
D
0
+
4
dL
d
d
=
+4( + )
Cylindrical body
3
4
D
2
2
2
2
