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11.SELECTION
(4) Operation pattern
3000
[r/min]
(5) Load torque (converted into equivalent value on servo motor shaft)
Travel per servo motor revolution
1
∆S = P
•
= 10[mm]
B
n
µ • W • g • ∆S
T
=
L
2 x 10 • π • η
3
(6) Load inertia moment (converted into equivalent value on servo motor shaft)
Moving part
2
∆S
(
)
J
= W •
L1
20π
Ball screw
π • ρ • L
J
=
L2
32
ρ = 7.8 x 10
-3
*
[kg/cm
Gear (servo motor shaft)
π • ρ • L
J
=
L3
32
Gear (load shaft)
π • ρ • L
J
=
L4
32
Full load inertia moment (converted into equivalent value on servo motor shaft)
J
= J
+ J
+ J
L
L1
L2
L3
(7) Temporary selection of servo motor
Selection conditions
1) Load torque < servo motor's rated torque
2) Full load inertia moment < 30 x servo motor inertia moment
From the above, the HC-MF23 (200W) is temporarily selected.
0.05
0.05
Tpsa
Tpsd
t
= 1.0
o
t
= 1.5
f
= 0.23[N • m]
2
= 1.52[kg • cm
]
2
( )
1
4
= 0.24[kg • cm
• D •
n
3
]
4
2
• D = 0.03[kg • cm
]
2
( )
1
4
= 0.8[kg • cm
• D •
n
2
+ J
= 1.9[kg • cm
]
L4
Time[s]
t
s
0.15
2
]
2
]
11– 12
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