Sanyo Denki PY2A030 - Page 49

PY Manual Copyright © 2006 SANYO DENKI AMERICA, Inc.
48
T
Ub
= Torque during up deceleration [Nm]
T
D
= Torque during down drive [Nm]
T
Db
= Torque during down deceleration [Nm]
R
φ
= Armature resistance [Ohms]
t
b
= Deceleration time [s]
t
Ub
= Up deceleration time [s]
t
D
= Down drive time [s]
t
Db
= Down deceleration time [s]
t
0
= Cycle time [s]
Motor Model
K
T
[Nm / A
rms
]
K
E
[V / RPM]
R
φ
[Ohms]
P20B10150D 0.82 0.0292 0.67
P20B10250D 0.79 0.0276 0.31
P20B13300D 0.80 0.0280 0.19
P20B13500D 0.85 0.0297 0.11
P30B04010D 0.292 0.0102 4.30
P30B06040D 0.533 0.0186 1.40
P30B08075D 0.565 0.0197 0.52
P50N05020D 0.436 0.0152 3.4
P50N08100D 0.553 0.0193 0.41
P60B13150H 0.900 0.0314 0.27
Horizontal load
t
0
= cycle time
t
b
= time to decelerate
T
b
= torque to
decelerate
(T
b
= T
c
- T
f
)
T
f
= friction torque
T
c
+ T
f
= torque to accelerate
Motor Speed = N
Motor Speed and Torque Profile with Horizontal Load
0
0
0
t
E
P
M
M
=
E
M
= E
Hb
=
N x 3 x K
E
x T
b
x t
b
2 x K
T
T
b
K
T
x 3 x R
φ
x t
b
(
)
2
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