CKD ABSODEX AX1022, Руководство пользователя

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75
AX
Series
Selection guide (1)
Selection guide
1. Load moment of inertia
2. Rotation speed
3. Load torque
Unit of elements of operating condition and symbol
Moving angle (˚)
Moving time (s)
Cycle time (s)
Load friction torque (N·m)
Working torque (N·m)
Cam curve
t
1
t
0
T
F
T
W
Selection from (MS, MC, MT, TR)
a) The max. load torque value is obtained with the following formula:
Vm Am r is the value below:
J
M
T
MF
f is as follows:
J
M
: Output shaft moment of inertia (kg/m
2
)
T
MF
: Output shaft friction torque (N·m)
fc: Usage factor (fc = 1.5 during normal use)
b) The effective value of the load torque is obtained with the
following formula.
T
m
= [A
m
· (J + J
M
) ·
T
rms
= · fc]
2
+(T
F
·fc+T
W
· fc+T
MF
)
2
· [r·A
m
· (J + J
M
) ·
+ T
F
+ T
W
] · fc + T
MF
180 · t
1
2
(Cautions)
N
max
= V
m
·
6·t
1
(rpm)
Settling time
Directive moving time of direct drive actuator
Actual moving time
t
1
t0 180 · t
1
2
4. Regenerative power (Only AX4300, AX4500)
W = ( )
2
·
W 40
(W)
V
m
· · (J+J
M
)
t
1
·180 2·t
0
Cam curve
MS
MC
MT
TR
1.76
1.28
2.00
2.18 5.53
8.01
4.89
6.17 0.707
0.500
0.866
0.773
V
m
A
m
r
Time
Speed
Rolling friction
μ
= 0.03 to 0.05
Sliding friction
μ
= 0.1 to 0.3
Calculate the load movement of inertia, and temporarily select an
actuator that handles inertia movement.
Max. rotation speed Nmax is obtained using movement angle (˚)
and movement time t
1
(s)
V
m
is a constant determined by the cam curve.
Confirm that Nmax does not exceed the actuator's specified
max. rotation speed.
Actual movement time is the direct drive actuator command
movement time plus settling.
Note: Frictional torque is applied to the output shaft due to
the bearing or sliding surface or other friction.
Friction torque is calculated with a relational formula.
Tf =
μ
·Ff·Rf (N·m)
Ff = m·g
Where μ : Friction coefficient
Ff: Force (N) applied on sliding surface or bearings
Rf: Average friction radius (m)
m: Weight (kg)
g: Gravity acceleration (m/s 2 )
The settling time differs based on the working condition, but generally
is between 0.05 and 0.2 s.
Movement time t
1
used for selecting the model should be the direct
drive actuator command movement time. The direct drive actuator
command movement time is also used for setting the movement
time in the NC program.
If the temporarily selected actuator does not satisfy either of the
following conditions, increase the actuator size and calculate
again:
Max. load torque < max. output torque
Effective value of load torque < continuous output torque
Note: For the AX4300 and AX4500, torque speed gradually
decreases, and the use range is limited.
If max. speed is 50 rpm or faster, check with model
selection software.
With AX4300 and AX4500, the power regenerated by the
consumption capacity of the regenerative resistor is limited.
The limit is obtained with the following simple expression:
If this condition is not satisfied, reconsider operation and load
conditions.
Note: The working torque expresses, with a torque value, the
external load, etc., applied on the output shaft as a load.
Working torque TW is calculated with the following formula:
T
W
= F
W
x R
W
(N·m)
F
W
(N) : Force required for work
R
W
(m) : Radius for work
(Example)
When setting the output shaft horizontal, the table,
workpiece, and jig, etc., are the working torque.