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Configuring
5.1 Configuring workflow
5.1.2
General mechanical conditions
Moment of inertia
The kinetic energy of a rotating body is directly proportional to its moment of inertia J in
kgm
across the entire volume of the body with respect to the rotary axis. The rotating mass
comprises the mass of the rotating mechanical structure (e.g. tool and holder) and the
intrinsic mass of the moving part of the motor (stator or rotor).
Torque due to gravity
Every mass is subject to gravity. This means that the motor must compensate for the
gravitational torque M
the position (angle α) of the moved mass m along the circular path, radius r of the circular
path, the mass itself, force due to gravity g and possibly any torque compensation being
applied.
Figure 5-1
When using torque compensation, you must consider that the compensation does not
automatically amount to 100% and is linked to additional friction forces and inert masses.
80
. The moment of inertia takes into account the rotating mass and its spatial distribution
2
that acts on the moved mass. M
g
Calculating the gravitational torque to be compensated by the motor for a horizontal axis
for a horizontal axis, depends on
g
1FW68 radial segment motors
Configuration Manual, 04/2017, 6SN1197-0AE02-0BP1
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