YASKAWA E-S Series User Manual

2.4 Selecting the Servomotor Capacity
2.4.1 Example of Capacity Selection for Servomotors
2-13
2
Selection
6. Load Moving Power
7. Load Acceleration Power
8. Servomotor Provisional Selection
 Selection Conditions
• T
L
≤ Motor Rated Torque
•
• n
M
≤ Rated motor speed
• J
L
≤ Allowable load moment of inertia
The following Servomotor meets the selection conditions.
• SGMSL-A3C Servomotor
 Specifications of the Provisionally Selected Servomotor
9. Verification of the Provisionally Selected Servomotor
It has been verified that the provisionally selected Servomotor is applicable in terms of capacity.
Position control is considered next.
10. Positioning Resolution
The electrical stopping precision δ is ±0.02 mm, so the position detection unit is 0.02 mm/pulse.
The number of pulses per motor rotation must be less than the encoder resolution (pulses/rev).
The ball screw lead PB is 0.005 m, so the number of pulses per motor rotation is calculated with the
following formula.
The number of pulses per motor rotation is less than the encoder resolution (pulses/rev), so the provi-
sionally selected Servomotor can be used.
It has been verified that the provisionally selected Servomotor is applicable for position control.
Item Value
Rated Output 30 (W)
Rated Motor Speed
3,000 (min
-1
)
Rated Torque 0.0955 (Nm)
Instantaneous Maximum Torque 0.286 (Nm)
Motor Moment of Inertia
0.00629 × 10
-4
(kgm
2
)
Allowable Load Moment of Inertia
0.00629 × 10
-4
× 30 = 0.189 × 10
-4
(kgm
2
)
Encoder Resolution 1,024 (P/rev)
• Verification of
required accel-
eration torque:
• Verification of
required decel-
eration torque:
• Verification of
effective torque
value:
P
O
= = = 11.0 (W)
60
2πn
M ·
T
L
60
2π×3,000 × 0.035
Pa = = × × = 46.78 (W)
n
M
2
60
2π
ta
J
L
3,000
2
60
2π
0.1
0.474 × 10
-4
< <
2
(Po + Pa)
(Po + Pa)
Provisionally selected Servomotor rated output
T
P
=
+
T
L
=
+
0.035
0.186 (N
 m) < Maximum instantaneous torque...Satisfactory
60ta
2πn
M
(J
M
+
J
L
)
60 × 0.1
2π×3,000 × (0.00629
+
0.474) × 10
-4
T
S
= − T
L
= − 0.035
60td
2πn
M
(J
M
+ J
L
)
0.116 (N  m) < Maximum instantaneous torque...Satisfactory
60 × 0.1
2π×3,000 × (0.00629
+
0.474) × 10
-4
Trms = =
t
T
P
2
•
ta + T
L
2
•
tc + Ts
2
•
td
(0.186)
2
× 0.1 + (0.035)
2
× 0.9 + (0.115)
2
× 0.1
1.5
0.063 (N  m) <Rated torque...Satisfactory
Δ
Number of pulses per rotation (pulses) = = = 250 (pulses/rev) < Encoder resolution (1,024 (pulses/rev))
Δ
P
B
0.02 mm
5 mm/rev

YASKAWA E-S Series Specifications

General

Brand	YASKAWA
Model	E-S Series
Category	Servo Drives
Language	English