>> P.430
Ⅲ30IncaseofAlignmentStageSATheeffectivethrustforcemayexceedtheratedthrust(ortheeffectivetorqueexceedstheratedtorque)dependingontheoperationrateofAlignmentStageSA,leadingtomotoroverheatingandseizurethatmaycausebreakageandhumaninjury.Beforeoperations,ensurethattheeffectivethrustforceisbelowtheratedthrust(ortheeffectivetorqueisbelowtheratedtorque).DescribedbelowisanexampleofconsiderationofoperationpatternwithAlignmentStageSA120DE/XYS.Temporarilysetanoperationpatternasindicatedbelowconsideringthemarginalaccelerationtime.SettingitemsTablemodelSA120DE/XYSLoadmassWL5.0kgInertiamomentofloadJL1.0×10-2kg・m2X-axisoperationpatternMassofmovingtableWT5.9kgSetstrokeL0.01mMaximumspeedV0.1m/sAcceleration/decelerationtimeta0.05sConstantspeedtravelingtimetc0.05sCycletimet0.4sCordpull-resistanceFc1.0NY-axisoperationpatternMassofmovingtableWT3.4kgSetstrokeL0.01mMaximumspeedV0.1m/sAcceleration/decelerationtimeta0.05sConstantspeedtravelingtimetc0.05sCycletimet0.4sCordpull-resistanceFc1.0Nθ-axisoperationpatternInertiamomentofmovingtableJT2.0×10-3kg・m2SetoperatingangleL0.1πrad18ºMaximumspeedRπrad/s180º/sAcceleration/decelerationtimeta0.05sConstantspeedtravelingtimetc0.05sCycletimet0.4sCordpull-resistanceMc0.0N・mFactorofsafetyk1.3STEP1alculationofthrustforcerequiredforX-axisacceleration①ForcefromrunningresistanceFLFL=Ff+Fc=3.0+1.0=4.0N②ForcefromaccelerationFaVFa=(WL+WT)・ta0.1=(5.0+5.9)×=21.8N0.05③ThrustforcerequiredforaccelerationFPFP=Fa+FL=21.8+4.0=25.8NAtthispoint,checkthattheFP×k(factorofsafety)isbelowthemaximumthrustinpageⅡ-280.Ifthisvalueisexceeded,reviewthemaximumspeedforoperatingpatternandacceleration/decelerationtime.Youcanseeintheexamplepatternthatitisbelowthemaximumthrust.ThemaximumthrustFMofSA120DE/X=70NFP×k=25.8×1.3=33.54N<FMSTEP2Considerationofeffectivethrustforce・EffectivethrustforceFrmscanbeobtainedasfollows.Frms==≒11.17NAtthispoint,checkthatFrmsisbelowtheratedthrust.Iftheratedthrustisexceeded,reviewthemaximumspeedforoperatingpatternandacceleration/decelerationtime.Intheexamplepattern,itcanbejudgedthatcontinuousoperationispossible.TimettatctaSpeedVFP2×ta+(FP-2×FL)2×ta+FL2×tct25.82×0.05+(25.8-2×4.0)2×0.05+4.02×0.050.4
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