YASKAWA VS-656MR5

Appendix
15.2.3 Inertial Moment and GD
2
15 -8
J
Linear Operator Inertial Moment
Fig. 15.3 shows linear operation such as a motor turning a ball screw to drive a table. Example (a) shows
horizontal operation, and example (b) shows vertical operation. Both horizontal and vertical inertial mo-
ments J
H
and J
V
take the full load mass m
L
(kg), counterweight mass m
C
(kg), and ball screw reed P
B
, and
can be expressed using the following formula.
J
H
=
m
L
P
B
2
4π
2
(kg
⋅
m
2
)
J
V
=
(m
L
+ m
C
) P
B
2
4π
2
(kg
⋅
m
2
)
Motor
m
L
P
B
Counter-
weight
m
L
P
B
Motor
m
C
(a) Horizontal Operation (b) Vertical Operation
µ
Fig 15.13 Linear Operator Inertial Moment
15