YASKAWA JUNMA SERIES User Manual

38
n
60
60
40
60 × 0.5
30
Mechanical Specifications
Time (s)
Reference pulse
Load speed
Speed
(m/min)
30
t
1.2
ta tc td ts
V
•
Load axis speed
2π R  η
µ  9.8  M  PB + 2π  T
30
0.201
•
Motor speed
Where acceleration time (
ta
) = deceleration time (
td
) and
setting time (
tc
) = 0.1 s when the filter setting of the FIL rotary switch is 0.
Cycle time
NM = N  R=149 × 5= 745
(
min
-1
)
2π × 5 × 0.9
0.2
× 9.8 × 4 × 0.201 + 2π × 0.05
•
Load speed
•
Mass of linear-motion unit
•
Pulley diameter
•
Pulley thickness
•
Coupling mass
•
Coupling outer diameter
•
Gear A outer diameter
•
Gear A thickness
•
Gear B outer diameter
•
Gear B thickness
•
Gear density
•
Gear ratio
•
Positioning frequency
•
Traveling distance
•
Positioning interval
•
Friction coefficient
•
Effective load torque
at motor shaft
•
Combined efficiency
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
= 30m/min
= 4kg
= 0.064m
= 0.02m
= 2690kg/m
3
= 0.03m
= 0.02m
= 0.02m
= 0.1m
= 0.02m
= 7870kg/m
3
= 5
= 40 times/min
= 0.5m
= 1.2
S max.
= 0.2
= 0.05N

m
= 0.9
(
90%
)
V
M
D
P
LP
MC
DC
DA
LA
DB
LB
A
, B
R
n
tm
µ
T
η
t = = = 1.5 (s)
ta = td = tm
–
ts
–
= 1.2
–
0.1
–
= 0.1 (s)
tc = tm
–
ts
–
ta
–
td = 1.2
–
0.1
–
0.1
–
0.1 = 0.9 (s)
60 ×
V
N = = = 149
(
min
-1
)
P B = π d = π × 0.064 = 0.201
J L = J L1 + J L2 + J L3 =
(
1.639 + 0.687 + 0.362
)
× 10
-4
= 2.69 × 10
-4
(
kg  m
2
)
P B
V
T
L = = 0.0669
(
N
 m
)
=
32
π
J i
5
2
1
8
1
•
Linear motion
•
Load-shaft motion: Pulley × 2 + Gear B
•
Motor-shaft motion: Gear A + Coupling
2
πR 2π × 5
0.201
2
2
J L1 = M =1.639 × 10
-4
(
kg  m
2
)
= 4 ×
P B
× ×
(
2690 × 0.02 ×
(
0.064
)
4
× 2 + 7870 × 0.02 ×
(
0.1
)
4
)
= 0.687 × 10
-4
(
kg  m
2
)
= J L2 =
32
π
R
2
× 0.3 ×
(
0.03
)
2
= 0.362 × 10
-4
(
kg  m
2
)
× 7870 × 0.02 ×
(
0.02
)
4
+ J L3 =
ρ
ρ
Σ
Constant-speed time :
Acceleration time :
Gear B
Load
Servomotor
Pulley
Gear A
Coupling
Selection of Servomotor Size
Selection of Servomotor Size
Servomotor Selection Example
Speed Diagram
Speed
Effective Torque at Motor Shaft
Effective Load Moment of Inertia at Motor Shaft

YASKAWA JUNMA SERIES Specifications

General

Brand	YASKAWA
Model	JUNMA SERIES
Category	Servo Drives
Language	English