Panasonic MINAS-BL GP series, Руководство пользователя

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10. Verification of maximum torque
Acceleration torque = T
a
= 0.047 [N
∙
m] < 0.71 [N
∙
m] (GP series 50 W, 1/5 gear, Permissible torque at output shaft of gear head)
11. Verification of effective torque
12. Load torque, load inertia moment are cleared specification.
1.Mechanism
Workpiece weight W
A
= 2 [kg] (including belt)
Pulley diameter P
D
= 0.05 [m]
Pulley weight W
P
= 0.5 [kg] (Use manufacturer-specified catalog value, or calculation value.)
Mechanical efficiency B
Ѡ
= 0.8
Coupling inertia J
C
= 0 (Direct connection to motor shaft)
2. Running pattern
Acceleration time t
a
= 1.0 [s]
Constant-velocity time t
b
= 1.0 [s]
Deceleration time t
d
= 1.0 [s]
Cycle time t
c
= 4 [s]
Travel distance 1 [m]
3. Load inertia
J
L
= J
C
+ J
B
+ J
P
= J
C
+ W
A
× P
D
2 + W
P
× P
D
2 × 2
= 0 + × 2 × 0.05 2 + × 0.5 × 0.05 2 × 2
= 0.00156 = 15.6 × 10 –4 [kg
∙
m 2 ]
4. Provisional motor selection
In case of GP series 50 W, gear ratio 1/15. Permissible load inertia moment = 30.6 × 10 –4 [kg
∙
m 2 ]
5. Inertia moment compared
30.6 × 10 –4 [kg
∙
m 2 ] > 15.6 – 10 –4 [kg
∙
m 2 ]
T
a
2
× t
a
+ T
f
2
× t
b
+ T
d
2
× t
d
t
c
Trms =
0.047 2 × 0.7 + 0.035 2 × 1.3 + (–0.023) 2 × 0.7
4
=
= 0.030 [N
∙
m] < 0.71 [N
∙
m] (GP series 50 W, 1/5 gear, Permissible torque at output shaft of gear head)
1
4 1
8
1
4 1
8
Time
Velocity
Travel distance
(slashed area)
Stop
time
Deceleration
time
Cycle time
Acceleration
time
Constant-
velocity time
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