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Selecting
Inverter
Capacity
10.1 Inverter and Motor Selection
10.2 Braking Unit and Braking Resistor
Selection
+
Braking in reverse rotation
Quadrant III :
10-1
10-2
10-3
10-4
10-5
START
Load torque calculation during
constant speed running
(1)
YES
Accel,and decel,
time limited?
NO
Accel. time calculation
(2)
NO
YES
NO
Lifting or
lowering a load?
Accel. time too long?
YES
YES
NO
(3)
NO
Add optional
braking resistor
YES
Decel. time calculation
NO
NO
Increase the
resistor wattage
rating.
Is the loss
permissible?
YES
YES
YES
NO
Equivalent motor
current (torque)
calculation
NO
(5)
Ieq<lM?
YES
END
NO
10-6
60 F [Nm]
G
2NM
(3.1)
60
FG [Nm]
2NM
(3.2)
(60 )/(2 NM) in the above expression is an equivalent rotation radius corresponding to speed
around the motor shaft.
The value F in the above expressions changes according to the load type.
(2) Moving a load horizontally
(3.3)
60
2NM
(W +W)g
G
[Nm] (3.4)
10-7
(3.5)
(Lowering)
F = (WB +WWO)g [N]
(3.6)
Where maximum load is Wmax, generally WB equals to (Wo + Wmax) / 2. So, F may become a negative
force to brake both lifting and lowering movements depending on the load weight.
Calculate the required torque around the motor shaft in the driving mode by expression (3.1) and
that in the braking mode by expression (3.2). That is, if F is positive, use expression (3.1); if it is
negative, use expression (3.2).
(4) Moving a load along a slope
(3.7)
(Lowering)
F = (WB (WO +W) (sin + cos) g [N]
(3.8)
The force of gravity F may become a negative force to brake both lifting and lowering movements,
depending on the load weight. This is the same as for vertical lifting and lowering. Required torque
around the motor shaft can be also calculated similarly.
That is, when F is positive, use expression (3.1); when it is negative, use expression (3.2).
10-8
dN
) [N m] (3.10)
60
dt
In this way, the mechanical moment of inertia is an important element in acceleration and
deceleration. First, calculation method of moment of inertia is described, then that for acceleration
and deceleration time are explained.
(
Moment of inertia
(3.11)
D2 [m]
D1 [m]
(3.12)
60
For a similar shape, a solid cylinder, calculate the moment of inertia as D2 is 0.
J=
[kgm2]
10-9
J 1 + J 2 / G
M L / G
2 (NM 0)
60
[s] (3.15)
Where,
: Motor shaft moment of inertia [kgm2]
J1
: Load shaft moment of inertia converted to motor shaft [kgm2]
J2
M : Minimum motor output torque in driving mode [Nm]
L : Maximum load torque converted to motor shaft [Nm]
G : Reduction-gear efficiency
As clarified in the above expression, equivalent moment of inertia becomes (J1+J2/G) considering the
reduction gear efficiency.
(3) Calculation of the deceleration time
In Figure 10-10, the time required to stop the motor rotating at a speed of NM [r/min] is calculated
with the following expression:
tDEC =
J1 + J 2 G
M L G
2 (0 NM)
60
[s]
(3.16)
Where,
: Motor shaft moment of inertia [kgm2]
J1
: Load shaft moment of inertia converted to motor shaft [kgm2]
J2
M : Minimum motor output torque in braking (deceleration) mode [Nm]
L : Maximum load torque converted to motor shaft [Nm]
G : Reduction-gear efficiency
In the above expression, generally output torque M is negative and load torque L is positive. So,
deceleration time becomes shorter. However, in a lifted and lowered load, L may become a negative
value in braking mode. In this case, the deceleration time becomes longer.
* For lifting or lowering load
In inverter and motor capacity selection for lifted and lowered load, the deceleration time must be
calculated by using the maximum value that makes the load torque negative.
(4) Non-linear (S-curve) accel./decel. time
For loads that are frequently accelerated and decelerated, it is often necessary to minimize the accel.
and decel. time by using accel. and decel. torques. Vector control inverters are ideal for such
operations.
10-10
J1 + J 2 / G
M + L / G
2 N
[s]
60
(3.17)
Obtaining in advance the moment of inertia of the motor shaft (J1) and of the load shaft (after
conversion into motor shaft) (J2) and load torque L (after conversion into motor shaft) as well as the
efficiency of the reduction speed device (G), the maximum motor torque () is calculated using one
of the following formulas depending on the speed range:
M when NN0: constant-torque range
M =
60 PO
2 NO
[N m]
(3.18)
60 PO
2 N
[N m]
(3.19)
If the result of the above calculation differs from the expected result, select a drive system by one
frame larger.
(5) Calculation for nonlinear decelerating time
Decelerating time can be calculated by the same formula as used for calculating accelerating time.
tDEC =
J 1 + J 2 G
M L G
2 N
[s] (3.20)
60
In this formula, because both M and N are negative value, load torque L generally promotes
deceleration. However, lift load has a mode in which L becomes negative. In this mode, the polarity
differs between M and L, which blocks deceleration.
10-11
Mass: W [kg]
Mass: W [kg]
Moment of inertia:
J [kgm2]
Hollow cylinder
(D12D22)L
4
W=
J=
1
W(D12+D22)
8
Sphere
3
D
6
W=
J=
D2L
12
W=
3
WD2
40
W = ABL
J=
Triangular prism
Triangle cone
(tetrahedron with
equilateral triangular base)
Jb=
1
1
W(L2+ A2)
4
12
1
ABL
3
Ja=
1
3
W(L2+ D2)
12
4
Jb=
1
3
W(L2+ D2)
3
16
W=
1
W(A2+B2)
20
Jb=
1
1
W(L2+ A2)
10
4
J=
1
WA2
3
W=
W=
3
A2L
12
Jb=
J=
1
WA2
5
10-12
3
3
L0L+ L2)
2
5
D2L
12
1
3
W(L2+ D2)
10
8
Jc W(L02+
1 2
L )
3
1
ABL
3
Jc W(L02+
3
W=
A2L
4
1 2
L )
3
D2L
4
Jc W(L02+L0L+
1
J=
W(A2+B2)
12
W=
1
W(L2+A2)
12
W=
Rectangular prism
Square cone
(pyramid, rectangular base)
Ja=
Jc W(L02+L0L+
1
WD2
10
Cone
J=
W = ABL
3
3
L0L+ L2)
2
5
J
2
2 N2 2
) [J]
60
(3.21)
1
2
J N2 [J] (3.21)
182 .4
The output energy when this object is decelerated to a speed N1 [r/min] is as follows:
E =
J
2
1
182 .4
[(
2 N2
60
2
) (
2 N1
60
] [J] (3.22)
The energy regenerated to the inverter as shown in Figure 9-10 is calculated by considering the
reduction-gear efficiency G and motor efficiency M as follows:
E
1
(J1+J2 G) M (N22N12)
182 .4
[J]
(3.23)
(3.24)
[J] (3.25)
10-13
[A] (3.26)
The torque-current curve for the dedicated motor is not available for actual calculation. So, calculate the
load current I from the load torque 1 using the following formula (3.27). Then, calculates the equivalent
current Ieq.
2
[ A ] (3.27)
I = 1 It
+ Im100
100 100
Here, 1: load torque [%], It100 = torque current (P09; M1 torque current), Im100 = (exciting current) (P08;
M1 exciting current)
For the function code data of P08 and P09, refer to Chapter 14 Replacement data.
When using the second motor, refer to the torque current and exciting current of A code instead of
those of P code.
10-14
2
[rad/s] 0.1047 [rad/s]
60
1 [rad/s] = 60 [r/min] 9.549 [r/min]
2
6) Inertia constant
J [kg m2] : Moment of inertia
1 [r/min] =
V [m/min]
F [kgf]
NM [r/min] G
4) Acceleration torque
[Driving mode]
J [kg m2] N [r/min]
[N m]
9.55
t [s] G
T [kgf m]
t [s] ] G
375
[Braking mode]
[N m]
9.55
t [s]
T [kgf m]
t [s]
375
5) Acceleration time
tACC [s]
tACC [s]
1 atmospheric pressure
= 1013 [mbar] = 760 [mmHg]
V [m/min]
F [N]
NM [r/min] G
T [kgf m] 0.159
V [m/min]
F [kgf]
NM [r/min] G
2
J1+J2/G [kg m ]
ML/G [N m2]
N [r/min]
9.55
2
2
2
GD1 + GD2 /G [kg m ] N [r/min]
TMTL/G [kgf m]
375
6) Deceleration time
tDEC [s]
tDEC [s]
10-15
N [r/min]
J1+J2G [kg m2]
9.55
MLG [N m2]
2
2
2
GD1 + GD2 /G [kg m ] N [r/min]
TMTL/G [kgf m]
375
10-16
T1 100
Duty cycle (%ED) =
T0
- MEMO -
10-17