Mitsubishi Electric HG-AK, Инструкция по эксплуатации, Страница: 364 / 392

APPENDIX
App. - 17
(2) Acceleration and deceleration torques
The following equations are used to calculate the acceleration and deceleration torques in the following
operation pattern.
t
psd
t
psa
0
Servo motor
speed
Command
Time
Command pulse frequency f [pulse/s]
Servo motor speed [r/min]
N
0
f
0
0
T
a
T
d
Time
Acceleration
torque
Deceleration
torque
Acceleration torque T
a
=
(J
L
+ J
M
) • N
0
9.55 • 10
4
•
t
psa
1
··································································· (5.9)
Deceleration torque T
d
=
(J
L
+ J
M
) • N
0
9.55 • 10
4
•
t
psd
1
··································································· (5.10)