2.1 Selecting the Servomotor Capacity
2
Capacity
S
election
2-3
Specifications of the Provisionally Selected Servomotor
6.
Verification of the Provisionally Selected Servomotor
•
Steady-State Force
F
L
=
μ
{9.8
×
(
m
W
+
m
T
+
m
M
) +
F
att
} = 0.2 {9.8
×
(1 + 2 + 0.82) + 0} = 7.5 (N)
•
Verification of Acceleration Force
•
Verification of Deceleration Force
•
Verification of Effective Force
7.
Result
It has been verified that the provisionally selected Servomotor is applicable.
Item
Value
Maximum Force
440 (N)
Rated Force
140 (N)
Moving Coil Mass (
m
M
)
0.82 (kg)
Servomotor Magnetic Attraction (
F
att
)
0 (N)
ta
FP
= (
mW
+
mT
+
mM
)
×
+
FL
= (1 + 2
+ 0.82
)
×
+
7.5
=
3
89.5 (N) ≤
×
0.9 (=
3
96 N)
…
2
0.02
Maximum force
S
ati
s
factory
ta
FS
= (
mW
+
mT
+
mM
)
×
−
FL
= (1 + 2
+ 0.82
)
×
−
7.5
=
3
74.5 (N) ≤
×
0.9 (=
3
96 N)
…
Maximum force
S
ati
s
factory
2
0.02
Frm
s
=
=
t
FP
2
∙
ta
+
FL
2
∙
tc
+
F
s
2
∙
td
0.5
3
89.5
2
×
0.02 + 7.5
2
×
0.
3
6 +
3
74.5
2
×
0.02
= 108.
3
(N) ≤
×
0.9 (= 1
3
2.
3
N)
…
Rated force
S
ati
s
factory
