YASKAWA SGDH, Руководство пользователя

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11 Appendix
11.1.1 Selection Example for Speed Control
11-2
11.1 Servomotor Capacity Selection Examples
11.1.1 Selection Example for Speed Control
(1) Speed Diagram
(2) Rotation Speed
• Load axis rotation speed
• Motor shaft rotation speed with the direct coupling: Gear ratio 1/R = 1/1
Therefore,
(3) Load torque
(4) Load Moment of Inertia
• Linear motion section
• Ball screw
• Coupling
• Load speed: V = 15 m/min • Feeding times: n = 40 times/min
• Linear motion section mass: M = 500 kg
• Feeding distance: = 0.275 m
• Ball screw length: L
B
= 1.4 m • Feeding time: tm = 1.2 s max.
• Ball screw diameter: D
B
= 0.04 m • Friction coefficient: µ = 0.2
• Ball screw lead: P
B
= 0.01 m • Mechanical efficiency:
η
= 0.9 (90%)
• Coupling mass: M
C
= 1 kg
• Coupling outer diameter: D
C
= 0.06 m
1
Ball screw
Servomotor
Linear motion
Coupling
Mechanical Specifications
c
t ta d t
(m/min)
Speed
Time (s)
1.2
t
V
15
60
n
t = = = 1.5 (s)
tc = 1.2
−
0.1
×
2 = 1.0 (s)
where ta = td
60
40
60
×
ta = tm
−
= 1.2
−
= 0.1 (s)
60
×
0.275
15
V
N = = = 1500 (min )
V
1 5
P
B
-1
0.01
N = N R = 1500
×
1 = 1500 (min )
M
-1
T
L
= = = 1.73 (N m)
9.8
µ
M P
B
2
π
R
η
9.8
×
0.2
×
500
×
0.01
2
π ×
1
×
0.9
J
L1
= M
( )
2
= 500
×
( )
2
= 12.7
×
10
-4
(kg m
2
)
P
B
2
π
R
0.01
2
π ×
1
J =
ρ
L D =
×
7.87
×
10
×
1.4
×
(0.04) = 27.7
×
10 (kg m )
π
32
π
32
B B B
-4 -3 4 4
2
J = M
C
D
C
2
=
×
1
×
(0.06)
2
= 4.5
×
10
-4
(kg m
2
)
8
1
1
8 C