Specialized Concentrated Focused
Servo Motor
「
29
」
5)
Inertia Ratio
J
L
/J
M
=15.6
×
10
-4
/0.87
×
10
-4
[kg
•
m
2
]=17.9 times <20 times
6)
Max. Velocity
max
Movement distance
Acc. time
Dec. time
+
+Constant speed time
2
2
V
=1/0.9=1.111[m/s]
7)
Rotational Speed
You need to convert it to N [r/min]. Per revolution of driving wheel
×
P
D
=0.157[m]
N=1.111/0.157=7.08[r/s]=7.08
×
60=424.8[r/min]<3000[r/min]
8)
Calculate the Torque
Constant torque:
f
P
0.05
( gW +F)=
0.1 9.8 2+0
2
2 0.8
A
T
=0.061[N
•
m]
Acceleration torque:
a
(
) 2
Running torque
L
M
psa
J
J
N
T
t
4
4
(15.6 10
0.87 10 ) 2
7.08
0.061
0.1
=0.751+0.061=0.812[N
•
m]
Deceleration torque:
d
(
) 2
Running torque
L
M
d
ps
J
J
N
T
t
-
=0.751-0.061=0.69[N
•
m]
9)
Confirm the Max. Torque
Acceleration torque =T
a
=0.812[N
•
m]<7.1[N
•
m](the max. torque of motor (0.75kW) )
10)
Confirm the Effective Torque
2
2
2
2
2
2
0.812
0.1+0.061
0.8+0.69
0.1
=
2
a
a
f
b
d
d
rms
c
T
t
T
t
T
t
T
t
=0.241[N
•
m]<2.4[N
•
m](rated torque of motor (0.75kW) )
11)
Confirm Motor Selection
Taking all calculations above into consideration, you will find that despite there is relatively large torque
allowance when motor (0.75kW) is selected, it is a suitable choice considering inertia ratio.