11.2 Reference Information for Servomotor Capacity Selection
11.2.4 Application Examples by Type of Application
11
Appendices
11-9
Continued from previous page.
Machine Configuration
Chains and Timing Belts
Dollies
Load Speed, N (min
-1
)
Speed Calculated at
Motor Shaft, N
M
(min
-1
)
R
×
N
R
×
N
Linear
Motion
Section,
GD
2
(kg
m
2
)
GD
2
Cal-
culated at
Load Shaft
GD
2
L
Cal-
culated at
Motor
Shaft
Load
Torque
(kg
m)
T
Calcu-
lated at
Load Shaft
T
L
Calcu-
lated at
Motor
Shaft
Load Moving Power,
P
O
(kW)
Load Acceleration
Power
Starting Torque, T
P
(kg
m)
Deceleration Torque,
T
S
(kg
m)
Effective Torque Value,
Trms (kg
m)
System Remarks
•
Positioning of conveyors
•
Chain looseness, movement, and
pitch error are problems (not suitable
for frequent use).
•
Radial load for overtightened belt
chains
•
Dolly slipping
F
V
(kg)
F
H
(kg)
1/R
W(kg)
Number of teeth, Z
P
Pitch, L
P
(mm)
dp(mm)
φ
W(kg)
1/R
C: Resistance to travel (kg/t) dp(mm)
φ
However, =
π
OR =
P
B
P
B
d
P
V
1000
×
Load speed (m/min)
P
B
L
P
Z
P
[However, =
π
]
P
B
P
B
d
P
V
1000
×
Load speed (m/min)
d
P
1000
W
( )
2
d
P
1000
W
( )
2
W
( )
×
( )
2
2
L
GD
V
N
M
π
2
R
1
OR
×
( )
2
2
L
GD
V
N
M
π
W
( )
2
R
1
OR
{
μ
( W + )+ }
F
V
F
H
d
P
2000
W
C
d
P
2
×
10
6
{
μ
( W + )+ }
V
F
V
F
H
N
M
OR
T
×
×
R
1
1
η
2
π
η
Mechanical
efficiency
N
M
OR
2
×
10
3
×
π ×
η
C
T
×
×
R
1
1
η
Mechanical
efficiency
W V
{
μ
( + )+ }
V
W
F
V
F
H
6120
× η
6120
×
10
3
× η
C
W V
t
a
GD
2
N
2
365
×
10
3
×
Acceleration time (s)
t
a
GD
2
N
2
365
×
10
3
×
Acceleration time (s)
(
ޓޓ
+
ޓޓ
)
(
ޓޓ
+
ޓޓ
)
T
P
T
L
T
t
a
t
c
t
d
V (m/min)
T
P
T
L
=
+
t
a
GD
2
M
N
M
GD
2
L
375
T
S
T
L
=
-
t
d
GD
2
M
N
M
GD
2
L
375
( - - )+
T
rms
=
+
T
T
P
2
T
L
2
+T
S
2
t
a
t
c
t
d
T
rms
=
+
T
T
P
2
T
S
2
T
L
2
T
t
a
t
a
t
d
t
d
When a load torque is applied while stopped for a vertical ball screw:
