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8. CALCULATION METHODS FOR DESIGNING
(3) Torques required for operation
Torques required for the servo motor are the highest during acceleration. If any of the torques
obtained with Equations 8.11 to 8.13 exceeds the maximum servo motor torque, the servo motor speed
cannot be increased as commanded. Confirm that the calculated value is lower than the servo motor's
maximum torque. Since a friction load is normally applied during deceleration, only the acceleration
torque needs to be considered. In the regenerative mode, the value found by Equation 8.13 is negative.
S
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q
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0
Time
T
Ma
T
Md
T
1
T
2
T
L
T
a
T
d
f
r
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q
u
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n
c
y
f
[
p
p
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]
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r
/
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0
Nofo
Time
Command
Servo motor
speed
t
psa
C
o
m
m
a
n
d
p
u
l
s
e
t
psd
T1 TMa Ta TL .................................................................................................................................... (8.11)
T
2 TL ........................................................................................................................................................ (8.12)
T
3 TMd Td TL.................................................................................................................................. (8.13)