Mitsubishi Electric MELDAS MDS-R Series, Технические характеристики и инструкция по эксплуатации

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Appendix 2. Selection
A2 - 15
Appendix 2-4 Motor shaft conversion load torque
The calculation method for a representative load torque is shown.
Type Mechanism Calculation expression
Linear
movement
W
Z
1
Z
2
F
C
F
0

Servomotor
T
L
=
F in the above expression is obtained from the expression below
when the table is moved as shown on the left.
F = Fc +

(W . g + F
0
)
F.
∆
S
2×10
3 
V
N
) =
F
2×10
3 
·(
Fc : Force applied on axial direction of moving section (N)
F
0
: Tightening force on inner surface of table guide (N)
W : Total mass of moving section (kg)
g : Gravitational acceleration = 9.8 (m/s
2
)

: Friction coefficient
T
L
: Load torque (N.m)
F : Force in axial direction of the machine
that moves linearly (N)

: Drive system efficiency
V : Speed of object that moves linearly (mm/min)
N : Motor speed (r/min)
∆
S : Object movement amount per motor
rotation (mm)
Z1, Z2 : Deceleration ratio
Servomotor
T
LO
Z
1
Z
2
T
L
= · · T
LO
+ T
F
= · · T
LO
+ T
F
Rotary
movement
W
2
W
1
1/n
Servomotor
Guide
Counter-
weight
Load
When rising
T
L
= T
U
+ T
F
When lowering
T
L
= –T
U
·
 2
+ T
F
T
U
=
· (

) =
T
F
=
Vertical
movement
V
N (W
1

W
2
) · g
2

10
3 
(W
1
– W
2
) · g ·
∆
S
2

10
3


· (W
1
+ W
2
) · g ·
∆
S
2

10
3

1

T
L
: Load torque (N.m)
T
LO
: Load torque on load shaft (N.m)
T
F
: Motor shaft conversion load friction torque (N.m)

: Drive system efficiency
Z
1
, Z
2
: Deceleration ratio
n : Deceleration rate
T
L
: Load torque (N.m)
T
U
: Unbalanced torque (N.m)
T
F
: Friction torque on moving section (N.m)
Z
1
Z
2
W
1
: Load mass (kg)
W
2
: Counterweight mass (kg)

: Drive system efficiency
g : Gravitational acceleration = 9.8 (m/s
2
)
V : Speed of object that moves linearly (mm/min)
N : Motor speed (r/min)
∆
S : Object movement amount per motor rotation (mm)

: Friction coefficient
1

1
n
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