ABB MID 1000, Руководство по эксплуатации продукта

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4.2 Dimensioning gear units
Acceleration and deceleration values
To secure that gear units will not run too hard and damage the gear box, the
acceleration and deceleration of the axis on the arm side must be calculated.
This calculation will give a maximum value for the system parameters Nominal
Acceleration and Nominal Deceleration . The value can be lowered if the acceleration
is too fast, see Application manual - Additional axes and stand alone controller .
Do not use values higher than the recommended maximum acceleration, see
Maximum gearbox torques on page 71 .
(T
maxgear
- m * g * CoG
Rmax
) / (m * CoG
Rmax
2
+ J
0z
)
xx1100000104
J
0z
is the moment of inertia around the Z axis at the center of gravity (CoG).
CoG
Rmax
is the radial distance in X and Y directions between the Z axis and the
center of gravity (CoG).
Define the system parameters Nominal Acceleration and Nominal Deceleration in
the type Acceleration Data in the topic Motion , based on the calculations.
Maximum gearbox torques
Use the T
maxgear
values from the table for the calculation.
Recommended maximum acceleration and
deceleration (rad/s
2
)
T
maxgear
(max torque on arm
side) (Nm)
Gear unit
4 480 MTD 250
3 1,100 MTD 500
3 1,950 MTD 750
0.8 5,000 MTD 2000
0.5 11,400 MTD 5000
2.4 1,950 MID 500
1.1 5,000 MID 1000
Related information
Dimensioning of motors is described in Application manual - Additional axes and
stand alone controller .
Product manual - Motor Units and Gear Units 71
3HAC040148-001 Revision: K
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4 Configuration
4.2 Dimensioning gear units