41
Required Starting Torque
60
t
a
2π
N
M
(
J
M
+
J
L
)
+
T
L
=
T
P
=
T
S
=
T
rms
=
T
P
2
t
a
+
T
L
2
t
c
+
T
S
2
t
d
=
t
<
1.91
(
N
m
)
=
Instantaneous peak torque
Therefore, the servomotor can be used.
60
×
0.1
2π
×
3000
×
(
0.417 + 1.25
)
×
10
-
4
60
×
0.1
2π
×
3000
×
(
0.417 + 1.25
)
×
10
-
4
Required Braking Torque
Effective Torque
Therefore the recommended selection of servomotors and SERVOPACKs has sufficient capacity
and can be used.
—
T
L
=
<
1.91
(
N
m
)
=
Instantaneous peak torque
Therefore, the servomotor can be used.
(
0.662
)
2
×
0.1+
(
0.139
)
2
×
0.9 +
(
0.384
)
2
×
0.1
1.5
0.225
(
N
m
)
<
0.637
(
N
m
)
=
Rated torque
Therefore, the servomotor can be used.
<Ratings>
60
t
a
2π
N
M
(
J
M
+
J
L
)
Selection of Servomotor Size
Load Acceleration Power
Recommended Servomotor Selections
Servomotor Check
Conditions
From these conditions, the following selections are recommended :
Servomotor : SJME-02AMA4
SERVOPACK : SJDE-02APA
+ 0.139 0.662
(
N
m
)
—
0.139 0.384
(
N
m
)
60
2π
60
2π
2
2
0.1
1.25
×
10
-4
=
123.4
(
W
)
×
3000 ×=
N
M
P
a
=
J
L
t
a
P
a
+
P
o
=(1 to 2)
×
Motor rated output
T
L
Motor rated torque
N
M
Motor rated speed or maximum speed
J
L
Allowable load inertia of SERVOPACK
•
Rated output
•
Rated speed
•
Maximum speed
•
Rated torque
•
Instantaneous peak torque
•
Rotor moment of inertia
•
Allowable load inertia of SERVOPACK
:
200
(
W
)
:
3000
(
min
-1
)
:
4500
(
min
-1
)
:
0.637
(
N
m
)
:
1.91
(
N
m
)
:
0.417
×10
-4
(
kg
m
2
)
:
3
×
10
-4
(
kg
m
2
)