Ball scrw, Hrz. | Running | C:\Users\Renjith\Desktop\shet.

svm

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Symbol Description Data
Unit
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WT Mass of table 50.000
kg
WL Mass of load 0.000
kg
Fc Thrustload 50.000
N
FG Guide tightening force 0.000
N
1/n External reduction gear ratio 1/1

JG External reduction gear inertia 0.444

kg-cm2
JC Coupling inertia 0.000
kg-cm2
JO Inertia of the others 0.000
kg-cm2
PB Lead of ball screw 32.000
mm
DB Diameter of ball screw 20.000
mm
LB Length of ball screw 500.000
mm
eta Drive efficiency 0.900

mu Drive coefficient of friction 0.100

*1/nm Actual reduction ratio of motor with reduction Not Used

*Pf Encoder resolution 4194304

pulses/rev
*Kp Position loop gain 150
1/s
*JMG Inertia of reduction gear with motor 0.000
kg-cm2
*JMB Inertia of brake with motor 0.000
kg-cm2
*JM Motor rotor inertia 151.000
kg-cm2
g Gravitational acceleration 9.800
m/s2
*Tmax Motor maximum torque 100.000
N-m
*Ttyp Motor rated torque 33.400
N-m
*Ityp Rated current Not Used

*etam Reverse-efficiency of motor 0.000

*etaMG Reduction gear efficiency 1.000

*t Regenerative operation time 0.000

s
*Ec Energy charged to the capacitors in amp. 0.000
J
*Ptyp Rated power of regeneration 0.000
W
*tmax Maximum regeneration time 0.000
s
**Irms Continuous effective load current Not Used

V0 Feed (Operation Pattern) ---

mm/min
Tsa Accel. Time (Operation Pattern) ---
s
Tsd Decel. Time (Operation Pattern) ---
s
t0 Pos. Time (Operation Pattern) ---
s
tf Cycle Time (Operation Pattern) 0.250
s
The data marked * is that of the servo amplifier, servo motor or regenerative
resistor selected after sizing
calculation.

If an error is found during calculation, the data becomes '0.000'.

The data with ** will be values taking into consideration the motor current of the
motor selected according
to the operation pattern.

When the data, related to the operation pattern is '---', refer to the Operation
Pattern Screen.
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During calculations, the 4th decimal digit is always rounded and displayed.

However, the result of the calculation is based on the not rounded value and might
differ from the
displayed calculation function.

Therefore, depending on the condition, the result's difference might be a large.

If the calculation result of regenerative power is zero or negative, then 'Pr' is

indicated as '0'.
If the calculation result of max regenerative power is zero or negative or 'tmax'
is 0,
then 'Pmax' is indicated as '0'.

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1.Feed distance/Motor Rev.

dS = PB * 1/n * 1/nm

= 32.000 * 1/1 * 1.000

= 32.000 [mm/rev]

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 2.Electrical accuracy

dL = (dS/Pf) * 1000

= (32.000/4194304) * 1000

= 0.007629395 [micron/pulse]

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3.Motor rotational speed

N0 = V0/dS

N0_ 1 = 75000.000/32.000

= 2343.750 [r/min] (Operation Pattern No. 1)

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4.Stop settling time

ts = 3 * 1/Kp

= 3 * 1/150

= 0.020 [s]

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5.Inertia of ball screw

JB = {(pi*0.0078*(LB/10))/32} * (DB/10)^4

= {(3.1416 * 0.0078 * (500.000/10))/32} * (20.000/10)^4

= 0.613 [kg-cm2]

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6.Inertia of Table & Load

JF_1 = WT * (dS/20pi)^2 (Without WL)

= 50.000 * (32.000/(20*3.1416))^2

= 12.969 [kg-cm2]

JF_2 = (WT + WL) * (dS/20pi)^2 (With WL)

= (50.000 + 0.000) * (32.000/(20*3.1416))^2

= 12.969 [kg-cm2]

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7.Total load inertia

JL_1 = JMG+JMB+JF_1+{JG+JC+JO+JB*(1/n)^2}*(1/nm)^2 (Without WL)

 = 0.000 + 0.000 + 12.969 + {0.444 + 0.000 + 0.000 + 0.613 * (1/1)^2} *
(1.000)^2
= 14.026 [kg-cm2]

JL_2 = JMG+JMB+JF_2+{JG+JC+JO+JB*(1/n)^2}*(1/nm)^2 (With WL)

= 0.000 + 0.000 + 12.969 + {0.444 + 0.000 + 0.000 + 0.613 * (1/1)^2} *

(1.000)^2
= 14.026 [kg-cm2]

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8.Load torque

TL_1 = {mu*(WT*g +FG)*dS}/(2000*pi*eta*etaMG) (Without WL, Fc)

= {0.100*(50.000*9.8 + 0.000)*32.000}/(2000*3.1416*0.900*1.000)

= 0.277 [N-m]

TL_2 = {(Fc + mu*(WT*g +FG))*dS}/(2000*pi*eta*etaMG) (Without WL, with Fc)

= {(50.000 + 0.100*((50.000)*9.8 + 0.000))*32.000}/

(2000*3.1416*0.900*1.000)
= 0.560 [N-m]

TL_3 = {mu*((WT + WL)*g +FG)*dS}/(2000*pi*eta*etaMG) (With WL, without Fc)

= {0.100*((50.000 + 0.000)*9.8 + 0.000)*32.000}/(2000*3.1416*0.900*1.000)

= 0.277 [N-m]

TL_4 = {(Fc + mu*((WT + WL)*g +FG))*dS}/(2000*pi*eta*etaMG) (With WL, Fc)

= {(50.000 + 0.100*((50.000 + 0.000)*9.8 + 0.000))*32.000}/

(2000*3.1416*0.900*1.000)
= 0.560 [N-m]

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9.Moment of inertia ratio

m_1 = JL_1/JM (Without WL)

= 14.026/151.000

= 0.1 [times]

m_2 = JL_2/JM (With WL)

= 14.026/151.000

= 0.1 [times]

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10.Acceleration torque
 TMa = {((JL / eta + JM)*N0)/(9.55*10000*Tsa)} + TL

TMa_ 1 = {((14.026/0.900 + 151.000)*2343.750)/(9.55*10000*0.050)} + (0.560)

= 82.326 [N-m] (Operation Pattern No. 1)

TMa_Max = 82.326 [N-m] (Maximum value)

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11.Deceleration torque

TMd = -{((JL * eta + JM)*N0)/(9.55*10000*Tsd)} + TL

TMd_ 1 = -{((14.026*0.900 + 151.000)*2343.750)/(9.55*10000*0.050)} + (0.560)

= -79.752 [N-m] (Operation Pattern No. 1)

TMd_Max = 79.752 [N-m] (Maximum value)

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12.Peak load factor

Rp = {(maximum value of |TMa|,|TL|,|TMd|)/Ttyp} * 100

= (82.326/33.400)*100

= 246.485 [%]

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13.Cont. effect load torque

tc = t0 - Tsa - Tsd - ts

tc_ 1 = 0.150 - 0.050 - 0.050 - 0.020

= 0.030 [s] (Operation Pattern No. 1)

Trms1 = SQRT{(TMa^2*Tsa + TL^2*tc + TMd^2*Tsd)/tf}

= SQRT{{((82.326)^2)*0.050+

((0.560)^2)*0.030+

((-79.752)^2)*0.050

}/0.250}

= 51.260 [N-m]

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14.Effective load factor

Rrms = (Trms1/Ttyp) * 100

= (51.260/33.400)*100
 = 153.474 [%]

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There is no Servo Motor and Servo Amplifier in this series with the required output
torque rating.
The RMS torque has exceeded the rated torque of the largest motor in this series.

-Change the motor series.

-Load torque and accel./decel. torque must be reduced.