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Mitsumi electronic IB-1500875(ENG)-E ユーザーズマニュアル

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7 - 11
MDS-D/DH Series Specifications Manual
7-1 Selection of the servomotor
7-1-3 Motor shaft conversion load torque
The calculation method for a representative load torque is shown.
Type
Mechanism
Calculation expression
Linear 
movement
T
L
:Load torque (N•m)
F:Force in axial direction of the machine that moves linearly (N)
η: Drive system efficiency
V:Speed of object that moves linearly (mm/min)
N:Motor speed (r/min)
ΔS:Object movement amount per motor rotation (mm)
Z
1
,Z
2
:Deceleration ratio
F in the above expression is obtained from the expression below when 
the table is moved as shown on the left.
F=Fc+
μ (W•g+F
0
)
F
c
:Force applied on axial direction of moving section (N)
F
0
:Tightening force on inner surface of table guide (N)
W:Total mass of moving section (kg)
g:Gravitational acceleration = 9.8 (m/s
2
)
μ:Friction coefficient
Rotary 
movement
T
L
:Load torque (N•m)
T
L0
:Load torque on load shaft (N•m)
T
F
:Motor shaft conversion load friction torque (N•m)
η:Drive system efficiency
Z
1
,Z
2
:Deceleration ratio
n:Deceleration ratio
Vertical 
movement
When rising    T
L
=T
U
+T
F
  When lowering    T
L
= -T
U
•
η
2
+T
F
T
L
:Load torque (N•m)
T
U
:Unbalanced torque (N•m)
T
F
:Friction torque on moving section (N•m)
W
1
:Load mass (kg)
W
2
:Counterweight mass (kg)
η: Drive system efficiency
g:Gravitational acceleration = 9.8 (m/s
2
)
V:Speed of object that moves linearly (mm/min)
N:Motor speed (r/min)
ΔS:Object movement amount per motor rotation (mm)
μ:Friction coefficient
Z
2
W
F
0
F
c
Z
1
ǯ
Servo-
motor
T
L 
=
F
™10
3
πη
N
.(    ) = 
V
™10
3
πη
F
.
ΔS
Servomotor
Z
2
Z
1
T
L0
T
L 
=      
.      .T
L0
+T
F
 =      .     .T
L0
+T
F
η
1
Z
1
n
1
η
1
Z
2
1/n
W
1
W
2
Servomotor
Counter-
weight
Load
T
U 
=
(W
1
-W
2
)
.g
™10
3
πη
N
.(    ) = 
V
™10
3
πη
(W
1
-W
2
)
.g.
ΔS
T
F 
=
™10
3
πη
μ.
(W
1
+W
2
)
.g.
ΔS