>> P.442
Incaseofdirectdrive(SA…DE)[IncaseofSA…DE/X(Y)]●FrictionresistanceofrollingguideFfFfvalueshallbeasfollows.IncaseofSA65DE/XIncaseofSA120DE/XIncaseofSA200DE/X0.5N3.0N10.0N●ForcefromrunningresistanceFLFL=Ff+Fc[N]●ForcefromaccelerationFaFa=(WL+WT)・[N]taV●ThrustforcerequiredforaccelerationFPFP=Fa+FL[N]●Marginalaccelerationtimetata=[s](WL+WT)・V・kFM-FL[IncaseofSA…DE/S]●FrictionresistanceofrollingguideMfMfvalueshallbeasfollows.IncaseofSA65DE/SIncaseofSA120DE/SIncaseofSA200DE/S0.03N・m0.1N・m0.3N・m●TorquefromrotationresistanceMLML=Mf+Mc[N・m]●TorquefromaccelerationMaMa=(JL+JT)・[N・m]Rta●TorquerequiredforaccelerationMPMP=Ma+ML[N・m]●Marginalaccelerationtimetata=[s](JL+JT)・R・kMM-ML:Cordpull-resistance(1)NWT:MassofmovingtablekgWL:CarryingmasskgFcFM:LinearmotorthrustforceNtaVk(maximumthrustattravelingspeedV):Accelerationtimes:Travelingspeedm/s:Factorofsafety(1.3)Note(1)Cordpull-resistancevariesdependingoncordmassandhowtopullit.Usetheanexpectedresistancevalueforcalculation.:Inertiamomentofloadkg・m2:Inertiamomentofmovingtablekg・m2JLJTMc:Cordpull-resistance(2)N・mMM:AlignmentstagetorqueN・mtaRk:Accelerationtimes:Travelingspeedrad/s:Factorofsafety(1.3)Note(2)Asthereisnocordforθ-axismovingtable,setthecordpull-resistanceto0iftheloaddoesnotpullcord.Calculatetheinertiamomentofloadbyreferencingcalculationformulasbelow.Calculationofinertiamomentp:density,m:massCylinderrQuadrangularprismOffsetrotationabr3tcJL==・m・r21・π・p・t・r42121JL=121=12・p・a・b・c・(a2+b2)・m・(a2+b2)JL′=JL+m・r3JL′:2InertiamomentfromrotationcenterInertiamomentwhenrotatingaroundthecenterofgravityJL:Ⅲ26
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