Mitsubishi Electronics MDS-R ユーザーズマニュアル
Appendix 8 Old motor specifications
A8 - 21
(2) Coasting rotation distance during emergency stop
The distance that the motor coasts (angle for rotary axis) when stopping with the dynamic brakes
can be approximated with the following expression.
can be approximated with the following expression.
L
MAX
=
F
60
▪
{te + (1 +
J
L
J
M
)
▪
(A
▪
N
2
+ B)}
L
MAX
: Motor coasting distance (angle)
[mm, (deg)]
F
: Axis feedrate
[mm/min, (deg/min)]
N :
Motor
rotation speed
[r/min]
J
M
: Motor inertia
[kg.cm
2
]
J
L
: Motor shaft conversion load inertia
[kg.cm
2
]
te
: Brake drive relay delay time
(s) (Normally, 0.03s)
A
: Coefficient A (Refer to the table below)
B
: Coefficient B (Refer to the table below)
Dynamic brake braking diagram
Coasting amount calculation coefficients table
Motor type
JM
（kg･cm
2
）
Combination
drive unit type
A B
HF44
MDS-R-V1-20 to 40
MDS-R-V2-2020 to 4040
0.67×10
-9
3.14×10
-3
2.6
MDS-R-V2-6040 to 8040
0.65×10
-9
3.21×10
-3
HF74
MDS-R-V1-20 to 40
MDS-R-V2-2020 to 4040
1.31×10
-9
6.16×10
-3
5.1
MDS-R-V2-6040 to 8040
1.20×10
-9
6.73×10
-3
HF53
MDS-R-V1-20 to 40
MDS-R-V2-2020 to 4040
5.62×10
-9
3.85×10
-3
6.1
MDS-R-V2-6040 to 8040
5.03×10
-9
4.30×10
-3
HF103
MDS-R-V1-20 to 40
MDS-R-V2-2020 to 4040
5.06×10
-9
2.54×10
-3
11.9
MDS-R-V2-6040 to 8040
3.84×10
-9
3.35×10
-3
HF153 17.8
3.68×10
-9
3.23×10
-3
HF203 38.3
MDS-R-V1-60 to 80
MDS-R-V2-6040 to 8080
11.41×10
-9
4.62×10
-3
HF353 75.0
MDS-R-V1-60 to 80
MDS-R-V2-6060 to 8080
8.00×10
-9
5.17×10
-3
te
OFF
ON
ON
Emergency stop (EMG)
Actual dynamic brake operation
N
Time
Motor rotation speed
Dynamic brake control output
OFF
ON
ON
Coasting amount
OFF
ON
ON