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A2 - 11

 

 

The acceleration/deceleration time constant is calculated using expression (a), and is judged 
whether it satisfies the target acceleration/deceleration time constant of 100ms. 

 

(J

L

+J

M

)

N (32.2+14.0)3000 

HF103B: ta= 

95.5

(0.8T

MAX

–T

U

–T

F

)

=

95.5

(0.821.6–5.3–0.27) 

 = 123.9 (ms) 

 

(J

L

+J

M

)

N (32.2+20.0)3000 

HF153B: ta= 

95.5

(0.8T

MAX

–T

U

–T

F

)

=

95.5

(0.835.3–5.3–0.27) 

 = 72.3 (ms) 

 

(J

L

+J

M

)

N (32.2+47.9)3000 

HF203B: ta= 

95.5

(0.8T

MAX

–T

U

–T

F

)

=

95.5

(0.841.7–5.3–0.27) 

 = 90.5 (ms) 

 

(J

L

+J

M

)

N (32.2+84.7)3000 

HF353B: ta= 

95.5

(0.8T

MAX

–T

U

–T

F

)

=

95.5

(0.859.8–5.3–0.27) 

 = 86.9 (ms) 

 

 

The motor which satisfies the conditions based on the above calculation results is HF153B or more 
as shown below. 

   HF103B 

21.6 

46.2 

123.9 

 

   HF153B 

35.3 

52.2 

 72.3 

 

   HF203B 

41.7 

80.1 

90.5 

 

   HF353B 

59.8 

116.9 

86.9 

 

 
(6)  Selecting the appropriate motor from the continuous characteristics  

 

Generally, the motor is judged following the typical operation pattern. Because the Z axis is the 
vertical axis here, the motor will be judged by the torque during an upward stop. 

 

The unbalance axis torque during a stop should be 60% or less of the stall torque. This is one of the 
criteria for motor selection. As shown in the following table, only the HC203B or larger motor satisfies 
this criterion.  Based on the judgment in steps (4) to (6), the "HF203B" motor is appropriate for the Z 
axis. 

   HF153B 

8.82 5.57  63.2 

 

   HF203B 

13.7 5.57  40.7 

 

   HF353B 

22.5 5.57  24.8 

