11 Appendix
11.1.2 Selection Example for Position Control
11-4
(9) Result
The provisionally selected servomotor and SERVOPACK are confirmed to be applicable.
The torque diagram is shown below.
11.1.2 Selection Example for Position Control
(1) Speed Diagram
(2) Rotation Speed
• Load axis rotation speed
• Motor shaft rotation speed with direct coupling: Gear ratio 1/R = 1/1
Therefore,
(3) Load Torque
(N m)
0.1
1.5
1.0
0.1
-7.5
0
1.73
11
Torque
Speed
• Load speed: V = 15 m/min
• Positioning times: n = 40 times/min
• Linear motion section mass: M = 80 kg
• Positioning distance: = 0.25 m
• Ball screw length: L
B
= 0.8 m
• Positioning time: tm = Less than 1.2 s
• Ball screw diameter: D
B
= 0.016 m
• Electrical stop accuracy:
δ
=
±
0.01 mm
• Ball screw lead: P
B
= 0.005 m
• Friction coefficient:
µ
= 0.2
• Coupling mass: M
C
= 0.3 kg
• Mechanical efficiency:
η
= 0.9 (90%)
• Coupling outer diameter: D
C
=0 .03 m
Where ta = td, ts = 0.1 (s)
1
Ball screw
Servomotor
Linear motion
Coupling
Mechanical Specifications
Load
speed
Reference
pulse
s
t
d
t
ta
c
t
(m/min)
Speed
Time (s)
1.2
t
V
15
t
60
n
------
60
40
------
1.5 s
( )
=
=
=
ta = tm
−
ts
−
= 1.2
−
0.1
−
= 0.1 (s)
60
60
×
0.25
V
15
tc
1.2 0.1
–
0.1 2
×
–
0.9 s
( )
=
=
N = = = 3000 (min )
V
1
5
P
B
-1
0.005
N = N R = 3000
×
1 = 3000 (min )
M
-1
T
L
=
= = 0.139 (N m)
9.8
µ
M P
B
2
π
R
η
9.8
×
0.2
×
80
×
0.005
2
π ×
1
×
0.9
Summary of Contents for SGDH
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