Sanyo Denki PY Series, Инструкция по установке и эксплуатации

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PY Manual Copyright © 2006 SANYO DENKI AMERICA , Inc.
49
Vertical Load
VDb VD VUb M
E E E E
+ + =
( )
0 else 0 for 3
2
3
2
≥ × × ×
⎟⎟
⎠
⎞
⎜⎜
⎝
⎛
−
×
× × × ×
=
VUb Ub
T
Ub
T
Ub Ub E
VUb
E t R
K
T
K
t T K N
E
φ
( )
0 else 0 for 3
3
2
≥ × × ×
⎟⎟
⎠
⎞
⎜⎜
⎝
⎛
−
× × × ×
=
VD D
T
D
T
D D E
VD
E t R
K
T
K
t T K N
E
φ
( )
0 else 0 for 3
2
3
2
≥ × × ×
⎟⎟
⎠
⎞
⎜⎜
⎝
⎛
−
×
× × × ×
=
VDb Db
T
Db
T
Db Db E
VDb
E t R
K
T
K
t T K N
E
φ
0
t
E
P
M
M
=
t
0
= cycle time
t
Ub
time to decelerate
with gravity
T
Ub
= torque to
decelerate
with gravity
T
f
+ T
m
= friction torque
due to offset gravity
T
c
+ T
f
+ T
m
= torque to accelerate
Motor Speed = N
Motor Speed and Torque Profile with Vertical Load
Going Up
Going Down
N
time to
decelerate
against gravity
T
m
= load torque
due to gravity
T
m
T
Db
= torque to
decelerate
against gravity
t
Db
T
D
= torque to drive
load down
t
D
time to drive
load down
T
c
+ T
f
- T
m
0
0
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