YASKAWA SGDM Series User Manual

12 Appendix
12.1.2 Selection Example for Position Control
12-6
(8) Verification on Provisionally Selected Servomotor
• Required starting torque
• Required braking torque
• Effective torque
The above confirms that the provisionally selected servomotor and SERVOPACK capacities are sufficient. In the
next step, their performance in position control are checked.
(9) PG Feedback Pulse Dividing Ratio: Setting of Electronic Gear Ratio
As the electrical stop accuracy δ = ±0.01mm, take the position detection unit ∆ = 0.01mm/pulse.
(10) Reference Pulse Frequency
(11) Error Counter Pulses
Position loop gain Kp = 30 (1/
S
)
(12) Electrical Stop Accuracy
The above results confirm that the selected SERVOPACK and servomotor are applicable for the position control.
T = + T = + 0.139
60ta 60 × 0.1
2
πN (J + J )
2
π × 3000 × (0.209 + 1.25) × 10
P
−4
MM L
L
0.597 (Nm) < Instantaneous peak torqueSatisfactory
T = − T = − 0.139
60ta 60 × 0.1
2
πN (J + J )
2
π × 3000 × (0.209 + 1.25) × 10
S
−4
MM L
L
0.319 (Nm) < Instantaneous peak torqueSatisfactory
T = =
t
Τ  ta + T  tc + T  td
r m s
PLS
0.205 (Nm) < Rated torqueSatisfactory
222
1.5
(0.597) × 0.1 + (0.139) × 0.9 + (0.319) × 0.1
222
B
A
( )
× = × = 2048 × 4
k = =
P
∆
B
A
5
0.01
B
A
B
( )
B
A
2048 × 4
500
( )
vs = = = 25,000 (pps)
1000 × 15
60 × 0.01
1000V
60 × ∆
ε = = = 833 (pulse)
25,000
30
vs
Kp
±∆ε = ± = ± ± 0.17 < ± 1 (pulse) = ± 0.01 (pulse)
N
R
M
N
ε
(SERVOPACK
3000
3000
833
5000 ×
control range)
×
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YASKAWA SGDM Series Specifications

General

Brand	YASKAWA
Model	SGDM Series
Category	Servo Drives
Language	English