Mitsubishi HG-RR Benutzerhandbuch
APPENDIX
App. - 25
(8) Acceleration/deceleration torque
Torque necessary for acceleration
T
Ma
=
(J
L
/ + J
M
) • N
0
9.55 • 10
4
• t
psa
+ T
L
= 1.84 [N•m]
J
M
: Moment of inertia of the servo motor
Torque necessary for deceleration
T
Md
=
-(J
L
• + J
M
) • N
0
9.55 • 10
4
• t
psd
+ T
L
= -0.85 [N•m]
The torque required for the servo motor during acceleration/deceleration must be lower than the servo
motor's maximum torque.
motor's maximum torque.
(9) Continuous effective load torque
T
rms
=
t
f
T
Ma
2
• t
psa
+ T
L
2
• t
c
+ T
Md
2
• t
psd
= 0.40 [N•m]
The continuous effective load torque must be lower than the servo motor rated torque.
(10) Torque pattern
0.05
0.05
0
1.84
0.75
0.15
1.5
0.23
-0.85
Time [s]
Torque [N•m]
(11) Selection results
The following servo motor and servo amplifier are selected as a result of the calculation.
Servo motor: HG-KR23
Servo amplifier: MR-J4-20A
Servo motor: HG-KR23
Servo amplifier: MR-J4-20A
(a) Electronic gear setting
CMX = 262144
CDV = 625
CDV = 625
(b) During rapid feed
Servo motor speed N
0
= 3000 [r/min]
(c) Acceleration/deceleration time constant
t
psa
= t
psd
= 0.05 [s]