4) load moment of inertia, A) selecting conditions, B) specifications of servomotor and servopack – Yaskawa Sigma II Series SGMVH User Manual
Page 307
11.1 Servomotor Capacity Selection Examples
11-5
11
Appendix
(4) Load Moment of Inertia
• Liner motion section
• Ball screw
• Coupling
• Load moment of inertia at the motor shaft
(5) Load Moving Power
(6) Load Acceleration Power
(7) Provisionally Servomotor Selection
(a) Selecting Conditions
•
T
L
≤
Motor rated torque
•
Pa + Po = (1 to 2)
×
Motor rated output
•
N
M
≤
Motor rated speed
•
J
L
≤
SERVOPACK allowable load moment of inertia
The followings satisfy the conditions.
• SGMPH-02AAA21 servomotor
• SGDH-02AE SERVOPACK
(b) Specifications of Servomotor and SERVOPACK
• Rated output:
200 (W)
• Rated motor speed:
3000 (min
-1
)
• Rated torque:
0.637 (N
⋅m)
• Instantaneous peak torque:
1.91 (N
⋅m)
• Servomotor rotor moment of inertia:
0.209
× 10
-4
(kg
⋅m
2
)
• SERVOPACK allowable load moment of inertia:
3.69
× 10
-4
(kg
⋅m
2
)
• Number of encoder pulses:
2048 (P/R)
J
L1
= M
(
)
2
= 80
×
(
)
2
= 0.507
× 10
-4
(kg m )
P
B
2
πR
0.005
2
π × 1
2
J
B
=
ρ
L
B
D
B
4
= × 7.87 × 10
3
× 0.8 × (0.016)
4
= 0.405
× 10
-4
(kg
m
2
)
π
32
π
32
J
C
= M
C
D
C
4
= × 0.3 × (0.03)
2
= 0.338
× 10
-4
(kg
m
2
)
8
1
1
8
J
L
= J
L1
J
B
J
C
= 1.25 × 10
-4
(kg
m
2
)
P
O
=
= = 43.7 (W)
2
πN
M
T
L
60
2
π × 3000 × 0.139
60
P
a
=
(
N
M
)
2
=
(
× 3000
)
2
-4
= 123.4 (W)
2
π
60
2
π
60
J
L
ta
1.25
× 10
0.1