Harmonic Drive MMA Series, Руководство пользователя, Страница: 34 / 62

2-1 MMA series selection
2-1
Se
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2
Appe
2-1 MMA series selection
Allowable load inertia moment
To maximize the performance of the MMA series, make a tentative selection of a motor so that the
rotational speed and load inertia moment ratio are equal to or lower than the allowable values shown in
the table below.
The allowable load inertia moment ratios in the table below are reference values for the following
cases:
(1) Controllable range: where the motor is accelerated/decelerated gradually or high responsiveness
is not required.
(2) Stable control range: where higher responsiveness is required to shorten the transient vibration
period during positioning or stable operation at a constant speed is required.
Model
MMAB09 MMAB12 MMAB15 MMAA21A
Allowable
rotational speed
r/min 5600 4800 4000 3000
Inertia moment
(without brake)
×10
-4
kg
･
m
2 1.78 6.45 15.8 125
×10
-4
kgf
･
cm
･
s
2 18.2 65.8 161 1280
Inertia moment
(with brake)
×10
-4
kg
･
m
2 2.16 6.83 19.8 141
×10
-4
kgf
･
cm
･
s
2 22.1 69.7 202 1444
Allowable load
inertia moment
ratio
(1) Controllable
range
10 times or less than inertia moment
(2) Stable
control range
3 times or less than inertia moment
Refer to [A-2 Calculating inertia moment] (P5-3) for the calculation of inertia moment.
When a load with a large inertia moment is operated frequently, a greater regenerative energy is
produced during braking. If the produced regenerative energy exceeds the absorption capacity of the
built-in regenerative resistor of the servo amplifier, an additional regenerative resistor must be
connected externally to the servo amplifier. For details, refer to [Related manual] (P6).