Sanyo Denki PY2A030 - Page 50

PY Manual Copyright © 2006 SANYO DENKI AMERICA, Inc.
49
Vertical Load
VDbVDVUbM
EEEE
+
+=
()
0 else 0for 3
2
3
2
≥×××
⎟
⎟
⎠
⎞
⎜
⎜
⎝
⎛
−
×
××××
=
VUbUb
T
Ub
T
UbUbE
VUb
EtR
K
T
K
tTKN
E
φ
()
0 else 0for 3
3
2
≥×××
⎟
⎟
⎠
⎞
⎜
⎜
⎝
⎛
−
××××
=
VDD
T
D
T
DDE
VD
EtR
K
T
K
tTKN
E
φ
()
0 else 0for 3
2
3
2
≥×××
⎟
⎟
⎠
⎞
⎜
⎜
⎝
⎛
−
×
××××
=
VDbDb
T
Db
T
DbDbE
VDb
EtR
K
T
K
tTKN
E
φ
0
t
E
P
M
M
=
t
0
= cycle time
t
Ub
time to decelerate
with gravity
T
Ub
= torque to
decelerate
with gravity
T
f
+ T
m
= friction torque + torque
due to offset gravity
T
c
+ T
f
+ T
m
= torque to accelerate
Motor Speed = N
Motor Speed and Torque Profile with Vertical Load
Going Up
Going Down
N
time to
decelerate
against gravity
T
m
= load torque
due to gravity
T
m
T
Db
= torque to
decelerate
against gravity
t
Db
T
D
= torque to drive
load down
t
D
time to drive
load down
T
c
+ T
f
- T
m
0
0
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