Harmonic Drive RSF supermini Series, Руководство пользователя

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Chapter 2 Selection of the RSF supermini Series
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P
2 x
!
P
2 x
!
2 x
!
60
N
T
M
–T
L
N
T
M
+2xT
F
–T
L
2 x
!
60
Horizontal linear motion
The following formula calculates the torque for horizontal linear motion of mass [W] fed by the screw of
pitch [P].
µ
T: torque (Nm)
µ: coefficient of friction
W: mass
(kg)
P: screw pitch (m)
Vertical linear motion
The following formula calculates the torque for vertical linear
motion of mass [W] fed by the screw of pitch [P].
2-4-4 Acceleration time and deceleration time
Calculate acceleration and deceleration times for the selected actuator.
Acceleration: t
a
= (J
A
+ J
L
) x x (1)
Deceleration: t
d
= (J
A
+ J
L
) x x (2)
T
a
: acceleration time (sec)
T
d
: deceleration time (sec)
J
A
: actuator inertia (kg•m
2
)
J
L
: load moment of inertia (kg m
2
)
N: actuator speed (r/min)
T
M
: maximum torque of actuator (Nm)
T
L
: load torque (Nm)
note that the polarity of the load torque is plus (+) for counter direction of revolution, and
minus (-) for same direction.
The friction torque of the actuator T
F
(Nm) can also be obtained from the following formula:
T
F
= K
T
I
M
-T
M
(3)
K
T
: Torque constant [Nm/A]
I
M
: Maximum current [A]
Mass: W
Pitch: P
Friction: µ
Pitch: P
Mass: W
ta td
N
Time
Speed