Harmonic Drive RSF supermini Series - Acceleration Time and Deceleration Time

2-4 Duty Cycles
2-3
1
2
3
4
5
6
Selection of the RSF supermini Series
 Horizontal linear motion
The following formula calculates the torque for horizontal linear motion of mass [W] fed by the screw of
pitch [P].
π×
××µ×=
2
P
W8.9T
T:
torque (N
･
m)
μ:
coefficient of friction
W:
mass (kg)
P:
screw pitch
(m)
 Vertical linear motion
The following formula calculates the torque for vertical linear motion of mass [W] fed by the screw of
pitch [P].
π×
××=
2
P
W8.9T
Acceleration time and deceleration time
The fastest acceleration and deceleration times with the selected actuator can be calculated using the
following formula.
Acceleration:
( )
LM
LAa
TT
N
60
2
JJt
−
×
π×
×+=
(1)
Deceleration:
( )
LFM
LAd
TT2T
N
60
2
JJt
−×+
×
π×
×+=
(2)
ta:
acceleration time
(sec)
td:
deceleration time
(sec)
J
A
:
actuator inertia
(kg
･
m
2
)
J
L
:
load moment of inertia
(kg
･
m
2
)
N:
actuator speed
(r/min)
TM:
maximum torque of actuator
(N
･
m)
T
L
:
load torque
(N
･
m)
For polarity, the rotation direction is set to positive (+), and the opposite direction is
set to negative (-).
The friction torque of the actuator T
F
(N･m) can also be obtained from the following formula:
TF=KT×IM-TM (3)
K
T
: Torque constant
[N
･
m/A]
IM
: Maximum current
[A]
Mass: W
Pitch: P
Friction: μ
Pitch: P
Mass: W
ta
td
N
Time
Speed