>> P.440
■CalculationofmarginalaccelerationtimeTorque(thrustforce)requiredfordrivingofprecisionpositioningtablecomestothehighestduringacceleration.Torque(thrustforce)requiredforthisaccelerationislimitedbymotoroutputtorque(linearmotorthrustforce).Therefore,themarginalaccelerationtimewithtableusedhorizontallyiscalculatedbythefollowingequation.Forballscrewdriveandtimingbeltdrive[N・m]……Ballscrewdrive2πη●AppliedtorqueTLℓTL=T0+μWg・TL=T0+(Wg×Wedgereductionratio)・rTL=T0+μWg・ηℓ[N・m]…ApplicabletoTZ2πη[N・m]……Timingbeltdrive2πN60ta●AccelerationtorqueTaTa=(JT+JM+JC+JL)・[N・m]JL=W・r2[kg・m2]………TimingbeltdriveJL=W・()2JL=W・()2ℓ2πℓ2π[kg・m2]………Ballscrewdrive×Wedgereductionratio2[kg・m2]……ApplicabletoTZ●TorquerequiredforaccelerationTPTP=TL+Ta[N・m](TP×k<TM)●Marginalaccelerationtimetata=(JT+JM+JC+JL)・2πN60k・[s]TM-TL[IncaseofAT]2πη●AppliedtorqueTLℓTL=T0+μWg・●CarryingmassinertiaJL●DistancetorotatorLJL=W・()2ℓ・R02πLModelAT120AAT200AAT300Aℓ[m]0.0010.0010.002L[m]0.1000.1300.186:StartingtorqueN・m:Pulleypitchradius(0.0159m):Carryingmasskg:BallscrewleadmT0μ:Frictioncoefficientofrollingguide(0.01)Wℓrη:Efficiency0.9JTJMJCJLNtagTM:MotoroutputtorqueN・m:Tableinertiakg・m2:Motorinertiakg・m2:Couplinginertia:Carryingmassinertiakg・m2:Numberofrevolutionsofmotormin-1:Accelerationtimes:Gravityacceleration(9.8m/s2)・・Forthesteppermotor,itistheoutputtorqueatthenumberofmotorrevolutionsN.FortheACservomotor,itisthemaximum(momentary)torqueatthenumberofrevolutionsN.:Factorofsafety(ACservomotor:1.3)(steppermotorkWedgereductionratio:0.5incaseof1:2R0:0.25incaseof1:4:1.5〜2)gravityoftheloadm:DistancefromthecenterofthetabletothecenterofL:DistancefromthecenterofthetabletotherotatormⅢ24
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