Specialized Concentrated Focused
Servo Motor「29」
5) Inertia Ratio
J
L
/J
M
=15.6×10
-4
/0.87×10
-4
[kg•m
2
]=17.9 times <20 times
6) Max. Velocity
max
Movement distance
Acc. time Dec. time
+ +Constant speed time
22
V
=1/0.9=1.111[m/s]
7) Rotational Speed
You need to convert it to N [r/min]. Per revolution of driving wheel
×P
D
=0.157[m]
N=1.111/0.157=7.08[r/s]=7.08×60=424.8[r/min]<3000[r/min]
8) Calculate the Torque
Constant torque:
f
P 0.05
( gW +F)= 0.1 9.8 2+0
2 2 0.8
A
T
=0.061[N•m]
Acceleration torque:
a
( ) 2
Running torque
LM
psa
J J N
T
t
44
(15.6 10 0.87 10 ) 2 7.08
0.061
0.1
=0.751+0.061=0.812[N•m]
Deceleration torque:
d
( ) 2
Running torque
LM
d
ps
J J N
T
t
-
=0.751-0.061=0.69[N•m]
9) Confirm the Max. Torque
Acceleration torque =T
a
=0.812[N•m]<7.1[N•m](the max. torque of motor (0.75kW) )
10) Confirm the Effective Torque
2 2 2
2 2 2
0.812 0.1+0.061 0.8+0.69 0.1
=
2
a a f b d d
rms
c
T t T t T t
T
t
=0.241[N•m]<2.4[N•m](rated torque of motor (0.75kW) )
11) Confirm Motor Selection
Taking all calculations above into consideration, you will find that despite there is relatively large torque
allowance when motor (0.75kW) is selected, it is a suitable choice considering inertia ratio.
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