User Manual Appendix
EM1 Series AC Servo Motors EM1-01-0-EN-2110-MA Page 67 of 72
Motor calculation speed should be under motor continuous work range.
Ex: As bellowing T-N curve, 3.000 rpm is the continuous work range of motor speed.
13.1.5 Motor Torque Calculation
Transmission mechanism Travelling torque calculation
Ball Screw
T
=
B
B
×
(
gW + F
)
B
Ball screw efficiency
(
%
)
g gravity
(
m/s
)
friction coefficient
Pulley & Belt
T
=
D
2P
× (gW + gW
+ 2F
)
P
Pulley efficiency
(
%
)
F
Belt tension force
(
N
)
W
Belt weight (kg)
Rotary Table
T
= gW
+ n × gW
W
Rotary table weight
(
kg
)
Acceleration torque
T
=
N
30t
×
(
J
+ J
)
+ T
Deceleration torque
T
=
N
30t
×
(
J
+ J
)
T
Equivalent torque
T
=
T
× t
+ T
× t
+ T
× t
tc
tc = ta + tf + td + ts ts stop time (sec)
0
5
10
15
0 1000 2000 3000
T (Nm)
v (ms)
Peak work range
Continuous work range
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