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8. CALCULATION METHODS FOR DESIGNING
(6) Load inertia moment (converted into equivalent value on servo motor shaft)
Moving part
J
L1 W
20
2
S
1.52[kg cm
2
]
Ball screw
J
L2
32
L
D
4
n
2
1
0.24[kg cm
2
]
*
7.8 10
3
[kg cm
3
]
Gear (servo motor shaft)
J
L3
32
L
D
4
0.03[kg cm
2
]
Gear (load shaft)
J
L4
32
L
D
4
n
2
1
0.8[kg cm
2
]
Full load inertia moment (converted into equivalent value on servo motor shaft)
J
L JL1 JL2 JL3 JL4 2.59[kg cm
2
]
(7) Temporary selection of servo motor
Selection conditions
(a) Load torque
servo motor's rated torque
(b) Full load inertia moment
30 servo motor inertia moment
From the above, the HC-MF23 (200W) is temporarily selected.
(8) Acceleration and deceleration torques
Torque required for servo motor during acceleration
T
Ma
(JL JM) No
9.55 10
4
T
psa
TL 1.7[N m]
Torque required for servo motor during deceleration
T
Md
(JL JM) No
9.55 10
4
Tpsd
+ TL 1.2[N m]
The torque required for the servo motor during deceleration must be lower than the servo motor's
maximum torque.