YASKAWA SGDM User Manual

12.1 Servomotor Capacity Selection Examples
12-3
12
Appendix
(6) Load Acceleration Power
(7) Servomotor Provisional Selection
(a) Selecting Conditions
• T
L
≤ Motor rated torque
• Pa + Po = (1 to 2) × Motor rated output
• N
M
≤ Motor rated speed
• J
L
≤ SERVOPACK allowable load moment of inertia
The followings satisfy the conditions.
• SGMGH-09A2A servomotor
• SGDM-10ADA SERVOPACK
(b) Specifications of the Provisionally Selected Servomotor and SERVOPACK
• Rated output: 850 (W)
• Rated motor speed: 1500 (min
-1
)
• Rated torque: 5.39 (N⋅m)
• Instantaneous peak torque: 13.8 (N⋅m)
• Servomotor moment of inertia: 13.9 × 10
-4
(kg⋅m
2
)
• SERVOPACK allowable load moment of inertia: 69.58 × 10
-4
(kg⋅m
2
)
(8) Verification on the Provisionally Selected Servomotor
• Required starting torque
• Required braking torque
• Torque efficiency
(9) Result
The provisionally selected servomotor and SERVOPACK are confirmed to be applicable.
The torque diagram is shown below.
P
a
= ( N
M
)
2
= ( × 1500 )
2
= 1108 (W)
2π
60
2π
60
J
L
ta
44.9 × 10
-4
0.1
T = + T = + 1.73
60ta 60 × 0.1
2
πN (J + J )
2
π × 1500 × (13.9 + 44.9) × 10
P
−4
MM L
L
11 (Nm) < Instantaneous peak torqueSatisfactory
T = − T = − 1.73
60td 60 × 0.1
2
πN (J + J )
2
π × 1500 × (13.9 + 44.9) × 10
S
−4
MM L
L
7.5 (Nm) < Instantaneous peak torqueSatisfactory
T = =
t
Τ  ta + T  tc + T  td
r m s
PLS
3.72 (Nm) < Rated torqueSatisfactory
222
1.5
(11) × 0.1 + (1.73) × 1.0 + (7.5) × 0.1
222
(Nm)
0.1
1.5
1.0
0.1
-7.5
0
1.73
11
Torque
Speed

YASKAWA SGDM Specifications

General

Communication Interface	MECHATROLINK-II, MECHATROLINK-III, EtherCAT
Feedback	Incremental encoder, Absolute encoder
Protection Features	Overcurrent, Overvoltage, Overload, Overheat
Ambient Temperature	0°C to 55°C
Storage Temperature	-20 to +85°C (-4 to 185°F)
Vibration	5.9 m/s2 (0.6 G) at 10 to 55 Hz