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Explanation
References
NO
Determine the size, mass, coefficient of friction, and external forces of all the moving part of the Servo Motor the rotation of which affects.
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YES Determine the operating pattern (relationship between time and speed) of each part that must be controlled. Convert the operating pattern of each controlled element into the motor shaft operating pattern. The elements of the machine can be separated so that inertia can be calculated for each part that moves as the Servo Motor rotates. Calculate the inertia applied to each element to calculate the total load inertia of the motor shaft conversion value. Calculation of Friction Torque Calculates the frictional force for each element, where necessary, and converts it to friction torque for a motor shaft. Calculation of External Torque Calculates the external force for each element, where necessary, and converts it to external torque of a motor shaft. Calculates the total load torque for the motor shaft conversion value. Select a motor temporarily based upon the motor shaft converted load inertia, friction torque, external torque and r.p.m of a motor. Calculate the Acceleration/Deceleration Torque from the Load Inertia or Operating Pattern. Calculate the necessary torque for each part of the Operating Pattern from the Friction Torque, External Torque and Acceleration/ Deceleration Torque. Confirm that the maximum value for the Torque for each operating part (Maximum Momentary Torque) is less than the Maximum Momentary Torque of the motor. Calculate the Effective Torque from the Torque for each Operating part, and confirm that it is less than the Rated Torque for the motor. Operation Pattern Formula
NO
YES Calculating the Load Inertia For Motor Shaft Conversion Value
Inertia Formulas
Calculating the Added Load Torque For Motor Shaft Conversion Value
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Explanation References
Calculate Regenerative Energy from the Torque of all the moving parts.
Please see the user manual of each product for the details on calculation of the regenerative energy. Accuracy of Positioning
NO
Check if the the number of encoder pulses meets the system specified resolution.
YES Check if the calculation meets the specifications of the temporarily selected motor. If not, change the temporarily selected motor and re-calculate it. The following table
NO
Check Items
Load Inertia Motor Rotor Inertia x Applicable Inertia Ratio Effective Torque < Motor Rated Torque Please allow a margin of about 20%. * Maximum Momentary Torque < Motor Maximum Momentary Torque Please allow a margin of about 20%. * For the motor Maximum Momentary Torque, use the value that is combined with a driver and the one of the motor itself. Maximum Rotation Speed Rated Rotation Speed of a motor Try to get as close to the motor's rated rotations as possible. It will increase the operating efficiency of a motor. For the formula, please see "Straight-line Speed and Motor Rotation Speed" on Page 11. Regenerative Energy Regenerative Energy Absorption of a motor When the Regenerative Energy is large, connect a Regenerative Energy Absorption Resistance to increase the Absorption capacity of the driver. Ensure that the Encoder Resolution meets the system specifications. Check if the Pulse Frequency does not exceed the Maximum Response Frequency or Maximum Command Frequency of a Positioner. Ensure that values of the ambient operating temperature/ humidity, operating atmosphere, shock and vibrations meet the product specifications.
Regenerative Energy
* When handling vertical loads and a load affected by the external torque, allow for about 30% of capacity.
Formulas
Formulas for Operating Patterns
speed v0
Maximum Speed
v0 =
X0 tA
Triangular
Acceleration/Deceleration Time
tA =
X0 v0
tA t0 X0
tA
time
Travel Distance
X0 = v0tA
speed v0
Maximum Speed
v0 =
X0 t0 tA v0
Acceleration/Deceleration Time tA = t0 X0
t0 = tA + X0 v0 v0 v0
Trapezoid
time tA tB t0 XA XB X0 XA tA
Total Travel Distance X0 = v0 (t0 tA)
speed
Ascending Time
tA = v0 v1
v0 v1
Speed and Slope When Ascending Ascending Time (tA) including distance moved
vg time tg tA
XA =
XA =
Speed Gradient
vg tg
t0: Positioning Time (s) tA: Acceleration/Deceleration Time (s) v0: Maximum Speed (mm/s) : Speed Gradient
v0 = tA t0 tA = tA time
t0 4X0 ) (1 1 t0 2
Ascending Time
t 4X0 v0 ) = 0 (1 1 2 t0
speed v0
X0
t02 4
v0 = time
X0
tA t0 X0
tA
Ascending Time
tA =
X0
v [mm/s]
Linear Movement
Perform the following unitary conversions
X [mm]
Rotating Part
[rad/s] N [r/min]
Inertia Formulas
D2: Cylinder Inner Diameter (mm) D1: Cylinder Outer Diameter (mm)
Cylindrical Inertia
2 2 JW = M (D1 + D2 ) 10 6 (kgm2) 8
Center of rotation
M
Inertia of Rotating Square Cylinder
L: Length (mm)
a: Width (mm)
JB: Ball Screw Inertia (kgm2) P: Ball Screw Pitch (mm) JW: Inertia (kgm2)
JW = M
10 ( 2P )
+ JB (kgm2)
D: Diameter (mm) JW
Inertia of Lifting Object by Pulley
M1: Mass of Cylinder (kg) J1: Cylinder Inertia (kgm2) J2: Inertia due to the Object (kgm )
2
JW = J1 + J2 D2 M2 D2 = M1 106 (kgm2) + 8 4
M Rack
Inertia of Rack and Pinion Movement
D (mm) JW JW = JW: Inertia (kgm2) M2 M1 M1: Mass (kg) M2: Mass (kg) D2 (M1 + M2) 106 (kgm2) 4
JW : Inertia (kgm ) J1 : Cylinder 1 Inertia (kgm2) J2 : Inertia due to Cylinder 2 (kgm ) J3 : Inertia due to the Object (kgm2) J4 : Inertia due to the Belt (kgm2)
2
JW : System Inertia (kgm2) J1 : Roller 1 Inertia (kgm2) J2 : Roller 2 Inertia (kgm2) D1 : Roller 1 Diameter (mm) D2 : Roller 2 Diameter (mm)
Inertia where Work is Placed between Rollers
J1
Roller 1 D1 JW
JW = J1 + D1 D2
( ) J + MD 4
2
106 (kgm2)
M Roller 2 J2
D2
Load Gears Z2: Number of Gear Teeth on Load Side J2: Gear Inertia on Load Side (kgm2) Motor
Z1: Number of Gear Teeth on Motor Side J1: Gear Inertia on Motor Side (kgm2) JL: Motor Shaft Conversion Load Inertia Gear Ratio G = Z1/Z2 (kgm2)
TW = FP 10 3 (Nm) 2
: Ball Screw Friction Coefficient P: Ball Screw Pitch (mm) g: Acceleration due to Gravity (9.8m/s )
2
TW = Mg P 10 3 (Nm) 2
D: Diameter (mm)
Torque when external force is applied to a rotating object
TW = F D 10 3 (Nm) 2
D: Diameter (mm)
Torque of an object on the conveyer belt to which the external force is applied
TW = F D 10 3 (Nm) 2
Torque of an object to which the external force is applied by Rack and Pinion
TW = F
D 10 3 (Nm) 2
TW = Mgcos D 10 3 (Nm) 2
D: Diameter (mm)
TW: Load Torque (Nm) Z1: Number of Gear Teeth on Motor Side Gear (Deceleration) Ratio G = Z1/Z2
Z2: Number of Gear Teeth on Load Side : Gear Transmission Efficiency TL = TW G (Nm)
TA = 2 N JM + JL (Nm) 60tA
: Gear Transmission Efficiency M N: Motor Rotation Speed (r/min) JM: Motor Inertia (kgm2)
Speed (Rotation Speed) N: Rotation Speed (r/min) N TA: Acceleration/Deceleration Torque (Nm)
tA
time
N (r/min)
T1 = TA + TL (N m)
Effective Torque (Trms)
time
TA T2 TL 0 T3 t1 t2 t3 t4 time
Single Cycle TA: Acceleration/Deceleration Torque (Nm) TL: Servomotor Shaft Converted Load Torque (Nm) T1: Maximum Momentary Torque (Nm) Trms: Effective Torque (Nm)
10
Positioning Accuracy
G = Z1/Z2 Gear (Deceleration) Ratio P: Ball Screw Pitch (mm) Z2: Number of Gear Teeth on Load Side S: Positioner Multiplier M R: Encoder Resolution (Pulses/Rotation) Ap: Positioning Accuracy (mm)
Positioning Accuracy (AP)
Ap = P G (mm) RS
Z2: Number of Gear Teeth on Load Side G = Z1/Z2 Gear (Deceleration) Ratio
N = 60V (r/min) P G
M Z1: Number of Gear Teeth on Motor Side N: Motor Rotation Speed (r/min)
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Sample Calculations
1Machinery Selection
Load Mass M = 5 (kg) Ball Screw Pitch P = 10 (mm) Ball Screw Diameter D = 20 (mm) Ball Screw Mass MB = 3 (kg) Ball Screw Friction Coefficient = 0.1 Since there is no decelerator, G = 1, = 1
MB Direct Connection
Time (s)
JB =
6
JW = M
10 ( 2P )
+ JB
JW = 5
JL = G2 (JW + J2) + J1
JL = JW = 1.63 10 4 (kgm2)
TW = Mg P 10 3 2 TL = G TW
TW = 0.1 5 9.8
N = 60V PG
N=
6Motor Temporary Selection [In case OMNUC U Series Servo Motor is temporarily selected]
The Rotor/Inertia of the selected servo motor is JM JL 30 more than 1/30* of a load 80% of the Rated Torque of the selected servo motor is more than the load torque of the servomotor shaft conversion value
JL 1.63 104 = = 5.43 106 (kgm2) 30 30 Temporarily selected Model R88M-U20030 (JM = 1.23 105).
TM 0.8 > TL
Rated Torque for R88M U20030 Model from TM = 0.637 (Nm) TM = 0.637 (Nm) 0.8 > TL = 7.8 10-3 (Nm)
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TA = 2 N JM + JL 60tA
TA =
T1 = TA + TL = 0.165 + 0.0078
= 0.173
(Nm) speed
(mm/s) 300
0.157 (Nm)
0 t1 0.2 (Nm) 0.165 TA 0 Acceleration/ Decceleration Torque t2 1.0 Single Cycle t3 0.2 t4 0.2
Trms =
T12t1 + T22t2 + T32t3 t1 + t2 + t3 + t4 0.1732 0.2 + 0.00782 1.0 + 0.1572 0.2 0.2 + 1.0 + 0.2 + 0.2
Trms =
Time (s)
-0.165 Load Torque of Servomotor Shaft Conversion Total Torque (Nm) TL 0.0078 Time (s)
9Result of Examination
Load Inertia Effective Torque Maximum Momentary Torque Maximum Rotation Speed [Load Inertia JL = 1.63 104 (kgm2)] [Motor Rotor Inertia JM = 1.23 105] [Applied Inertia = 30] [Effective Torque Trms = 0.0828 (Nm)] < [Servomotor Rated Torque 0.637 (Nm) 0.8] [Maximum Momentary Torque T1 = 0.173 Nm < [Servomotor Maximum Momentary Torque 1.91 (Nm) 0.8] [Maximum Rotations Required N = 1800 (r/min)] [Servomotor Rated Rotation Speed 3000 (r/min)] The encoder resolution when the positioner multiplication factor is set to 1 is Encoder Resolution Conditions Satisfied Conditions Satisfied Conditions Satisfied Conditions Satisfied
R=
Conditions Satisfied
The encoder specification of U Series 2048 (pulses/rotation) should be set 1000 with the Encoder Dividing Rate Setting. Note.This example omits calculations for the regenerative energy, operating conditions, or positioner characteristics.
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