APPENDIX
App. - 23
(3) Acceleration/deceleration time constant
t
psa
= t
psd
= t
0
-
V
0
/60
l
- t
s
= 0.05 [s]
t
s
: Settling time (Here, this is assumed to be 0.15 s.)
(4) Operation pattern
0.050.05
0
Time [s]
3000
t
psa
t
psd
t
0
= 1.0
1 cycle t
f
= 1.5
t
s
0.15
Servo motor speed [r/min]
(5) Load torque (converted into equivalent value on servo motor shaft)
Travel distance per servo motor revolution
∆S = P
B
•
n
1
= 16 •
8
5
= 10 [mm]
T
L
=
2 • 10
3
•
S•W• g•
=
0.2 • 60 • 9.8 • 10
2 • 10
3
• 3.14 • 0.8
= 0.23 [N•m]