>> P.447
ConsiderationofOperationPatternsSTEP3ConsiderationofthrustforceandeffectivethrustSTEP5ConsiderationofeffectivetorqueforcerequiredforY-axisacceleration・EffectivetorqueMrmscanbeobtainedasfollows.Mrms=2×ta+(MP-2×ML)2×ta+MLMPt2×tc0.8542×0.05+(0.854-2×0.1)2×0.05+0.12×0.05=0.4≒0.38N・mAtthispoint,checkthatMrmsisbelowtheratedtorque.Iftheratedtorqueisexceeded,reviewthemaximumspeedforoperatingpatternandacceleration/decelerationtime.Intheexamplepattern,itcanbejudgedthatcontinuousoperationispossible.※CautionIftheloadisoffsetfromtherotationcenter,X-andY-axisacceleration/decelerationgeneratestorqueloadontheθ-axis.Soextracaremustbeexercised.PerformthesamecalculationasX-axis.Iftheoperationpatternisthesame,theconditionislighterforY-axisasitsmassofmovingtableissmaller.Sothatisomittedinthisexample.STEP4Considerationoftorquerequiredforθ-axisacceleration①TorquefromrotationresistanceMLML=Mf+Mc=0.1+0.0=0.1N・m②TorquefromaccelerationMaRtaMa=(JL+JT)・=(0.01+0.002)×≒0.754N・m0.05π③TorquerequiredforaccelerationMPMP=Ma+ML=0.754+0.1=0.854N・mAtthispoint,checkthattheMP×k(factorofsafety)isbelowthemaximumtorqueinpageⅡ-280.Ifthisvalueisexceeded,reviewthemaximumspeedforoperatingpatternandacceleration/decelerationtime.Youcanseeintheexamplepatternthatitisbelowthemaximumtorque.MaximumtorqueMMofSA120DE/S=2.0N・mMP×k=0.854×1.3≒1.11N・m<MMⅢ31
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