Hiwin IM-2-13, Инструкция по сборке

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Assembly Instruction Configuration
Torque Motor TM-Komponenten-04-0-EN-2108-MA Page 21 of 84

Symbol
φ
Angular displacement (rad) I
p
Peak current (A
rms
)
t Moving time (sec) I
e
Equivalent current (A
rms
)
α
Angular acceleration
(rad/s
2
)
I
c
Continuous current
(A
rms
)
ω
Angular velocity (rad/s) ω
0
Initial angular velocity (rad/s)
J
L
Load inertia (kgm 2 ) m Loading Mass (kg)
J
Rotor inertia
(kgm 2 ) R
L
Outside diameter of loading Mass (m)
T
p
Peak torque (Nm)
r
L
Inside diameter of loading Mass (m)
T
c
Continuous torque (Nm) a
L
, b
L
Side length of loading Mass (m)
T
i
Inertia torque (Nm) S Distance from gravity center to rotary center (m)
K
t
Torque constant (
Nm/A
rms
)
1 Requirement
To select a proper motor, the following formula of load inertia and motion must be understood before selection.
Calculation of load inertia
Load inertia can be determined by 3D drawing software or the formula. Basic formula is as below.
Moment of inertia of a hollow cylinder:
J
L
= m �
R
L
+r
L
2
+ S
2
�
Moment of inertia of a rectangular:
J
L
= m �
a
L
+b
L
12
+ S
2
�
Determine motion speed and parameters
Basic kinematics equations are described as below.
ω = ω
0
+ α t
φ = ω
0
t +
1
2
α t
2
Where
ω
is angular velocity,
𝛼𝛼
is angular acceleration,
𝑡𝑡
is moving time and
φ
is angular displacement. Users
can choose two of the four parameters (
ω
,
α
,
t
and
φ
) as designed parameters. The left two parameters can be
calculated by above equations.
※
Motion velocity profile
Motion profiles for torque motor can be classified into “Trapezoidal profile” and “Triangular profile”. Trapezoid
profile is usually used in scanning applications. Its motion profile can be divided into acceleration, constant
velocity and deceleration. The maximum angular acceleration can be determined by the basic kinematics
equations mentioned above. Triangle profile is usually used in point-to-point applications. Its motion profile can
be divided into acceleration and deceleration, and its motion profile and formula can be simplified as below.