>> P.446
STEP1CalculationofthrustforcerequiredforX-axisacceleration①ForcefromrunningresistanceFLFL=Ff+Fc=3.0+1.0=4.0N②ForcefromaccelerationFaVtaFa=(WL+WT)・=(5.0+5.9)×=21.8N0.10.05③ThrustforcerequiredforaccelerationFPFP=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<FMTimetatcttaVSpeedSTEP2Considerationofeffectivethrustforce・EffectivethrustforceFrmscanbeobtainedasfollows.Frms=2×ta+(FP-2×FL)2×ta+FL2×tcFPt25.82×0.05+(25.8-2×4.0)2×0.05+4.02×0.05=0.4≒11.17NAtthispoint,checkthatFrmsisbelowtheratedthrust.Iftheratedthrustisexceeded,reviewthemaximumspeedforoperatingpatternandacceleration/decelerationtime.Intheexamplepattern,itcanbejudgedthatcontinuousoperationispossible.Ⅲ30IncaseofAlignmentStageSATheeffectivethrustforcemayexceedtheratedthrust(ortheeffectivetorqueexceedstheratedtorque)dependingontheoperationrateofAlignmentStageSA,leadingtomotoroverheatingandseizurethatmaycausebreakageandhumaninjury.Beforeoperations,ensurethattheeffectivethrustforceisbelowtheratedthrust(ortheeffectivetorqueisbelowtheratedtorque).DescribedbelowisanexampleofconsiderationofoperationpatternwithAlignmentStageSA120DE/XYS.Temporarilysetanoperationpatternasindicatedbelowconsideringthemarginalaccelerationtime.SA120DE/XYS5.0kg1.0×10-2kg・m25.9kg0.01m0.1m/s0.05s0.05s0.4s1.0N3.4kg0.01m0.1m/s0.05s0.05s0.4s1.0N2.0×10-3kg・m20.1πrad18ºπrad/s180º/s0.05s0.05s0.4s0.0N・m1.3WLJLWTLVtatctFcWTLVtatctFcJTLRtatctMckMassofmovingtableSetstrokeMaximumspeedAcceleration/decelerationtimeConstantspeedtravelingtimeCycletimeCordpull-resistanceMassofmovingtableSetstrokeMaximumspeedAcceleration/decelerationtimeConstantspeedtravelingtimeCycletimeCordpull-resistanceInertiamomentofmovingtableSetoperatingangleMaximumspeedAcceleration/decelerationtimeConstantspeedtravelingtimeCycletimeCordpull-resistanceX-axisoperationpatternY-axisoperationpattern-axisoperationpatternθFactorofsafetySettingitemsTablemodelLoadmassInertiamomentofload
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