MHT258a (Engl.)11-5
(d) Torque determination
Ball-screw
Ｗ
ＧＬ
Ｎ
Ｖ
BP
T
L
WF BP
GL=
+×
æ
è
ç
ö
ø
÷
×
().
µ
πη
981
2
10
3
・T
L
at load lifting :
T
L
WW BP
GL=
+×
æ
è
ç
ö
ø
÷
×
(( ) ) .
µ
πη
1981
2
10
12
3
−
・T
L
at lowering :
T
L
WW BP
GL=
×
æ
è
ç
ö
ø
÷
×
(( ) ) .
µ
πη
− −1981
2
10
12
3
・T
L
at stop (servo lock) :
T
L
WW BP
GL=
×
æ
è
ç
ö
ø
÷
×
().
12
3
981
2
10
−
πη
Rack and pinion, conveyor
Ｗ
ＧＬ
Ｖ
Ｎ
Ｄ
T
L
WF D
GL=
+×
×
æ
è
ç
ö
ø
÷
×
().
µ
η
981
2
1
10
3
・T
L
at load lifting :
T
L
WW D
GL=
+−×
×
æ
è
ç
ö
ø
÷
×
(( ) ) .
µ
η
1981
2
1
10
12
3
・T
L
at lowering :
T
L
WW D
GL=
−−×
×
æ
è
ç
ö
ø
÷
×
(( ) ) .
µ
η
1981
2
1
10
12
3
・T
L
at stop (servo lock) :
T
L
WW D
GL=
−×
×
æ
è
ç
ö
ø
÷
×
().
12
3
981
2
1
10
η
Where
BP : Screw-pitch [mm]
D : Pulley, pinion or roll diameter [mm]
F : Thrust (axial) force (opposes feed on is + direction)
GL : Reduction speed ratio
J : Moment of inertia, total
J
L
: Ditto, load parts
J
M
: Ditto, motor rotor
where,
J
L
= J
M
x 100 : Load of low moving velocity
J
L
= J
M
x 50 : Load of positioning
J
L
= J
M
x 10 : Load of high frequent positioning
L : Length or distance of parts
N : Motor speed
T
L
: Load torque, total
v : Moving velocity
W : Mass (weight)
W
1
: Ditto, movable part
W
2
: Ditto, counter movable part
η : Mechanical efficiency
μ : Friction coefficient
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