Yaskawa Sigma II Series SGMVH - Manual (Page 308)

11 Appendix
11.1.2 Selection Example for Position Control
11-6
(8) Verification on Provisionally Selected Servomotor
• Required starting torque
• Required braking torque
• Effective torque
The above confirms that the provisionally selected servomotor and SERVOPACK capacities are sufficient. In the
next step, their performance in position control are checked.
(9) PG Feedback Pulse Dividing Ratio: Setting of Electronic Gear Ratio
As the electrical stop accuracy δ = ±0.01 mm, take the position detection unit Δ = 0.01 mm/pulse.
(10) Reference Pulse Frequency
(11) Error Counter Pulses
Position loop gain Kp = 30 (1/
S
)
(12) Electrical Stop Accuracy
The above results confirm that the selected SERVOPACK and servomotor are applicable for the position control.
T = + T = + 0.139
60ta 60 × 0.1
2
π
N (J + J ) 2
π × 3000 × (0.209 + 1.25) × 10
P
−4
M M L
L
0.597 (N m) < Instantaneous peak torque Satisfactory
T = − T = − 0.139
60ta 60 × 0.1
2
π
N (J + J ) 2
π × 3000 × (0.209 + 1.25) × 10
S
−4
M M L
L
0.319 (N m) < Instantaneous peak torque Satisfactory
T = =
t
Τ ta + T tc + T td
r m s
P L S
0.205 (N m) < Rated torque Satisfactory
2 2 2
1.5
(0.597) × 0.1 + (0.139) × 0.9 + (0.319) × 0.1
2 2 2
B
A
( )
×
=
×
= 2048
×
4
k = =
P
Δ
B
A
5
0.01
B
A
B ( )
B
A
2048 × 4
500
( )
vs = = = 25,000 (pps)
1000 × 15
60 × 0.01
1000V
60 × Δ
ε = = = 833 (pulse)
25,000
30
vs
Kp
± Δε = ± = ± ± 0.17 < ± 1 (pulse) = ± 0.01 (pulse)
N
R
M
N
ε
(SERVOPACK
3000
3000
833
5000 ×
control range)
×