GSK DA98B - 9.3 Stop characteristic

Chapter 9 Order guide
71
γ —— Material density of rotational object(kg*m
2
)
D —— Diameter of rotational object（cm）
L —— Length of rotational object（cm）
g —— Gravity acceleration，g=980cm/s
2
2. The inertia of linear movement object
J＝
g
W
（
π 2
L
）
2
(kg*m
2
)
W —— Gravity of linear movement object（N）
L —— The object moving distance for one revolution of
motor; if the motor is directly connected to the lead
screw, L=lead screw lead h
sp
.
3. The inertia converted to the motor shaft in deceleration and the
deceleration of gears, gear-form belt drive
J＝J
0
（
2
1
z
z
）
2
Motor
， － Tooth number
Refer to the sketch map above, the load inertia J
L
converted to the motor
shaft is:
J
L
＝J
G1
＋（
2
1
z
z
）
2
[（J
G2
＋J
S
）＋
g
W
（
π 2
L
）
2
] (kg*m
2
)
J
G1
——Inertia of gear 1 (kg*m
2
)
J
G2
——Inertia of gear 2 (kg*m
2
)
J
S
—— Inertia of ball screw (kg*m
2
)。
③ Calculation of the max. torque in orienting acceleration
M ＝
a
m
t
n
60
2
π
（J
M
＋J
L
）+M
L
n
m
—— Speed of fast moving motor（r /min）（r /min）
t
a
—— Acceleration or deceleration time（s）, taking 150-200ms by t
a
≈3 /K
S
；