Appendix 3 Theoretical Acceleration And Deceleration Times - Mitsubishi Electric MDS-B-SPJ2 Series Specification Manual

Appendix 3 Theoretical acceleration and deceleration times

In the calculation described below, load torque is assumed to be zero. Therefore, acceleration and
deceleration times determined here somewhat differ from actual acceleration and deceleration times.
(1) Definition
(2) Acceleration/deceleration time "t"
1) Constant torque zone
1.03 × GD
t1 =
2) Constant output (power) zone
1.03 × GD
t2 =
3) Reduced output zone
1.03 × GD
t3 =
Therefore, accel/decel. Time t (0 → N
t = t + t
1
Example : GD
From specification 2, GD
2
thus, GD = 0.034 + 0.11 = 0.144kgfm
1.03 × 0.144 × 1500
t =
1
1.03 × 0.144 × (6000
t =
2
1.03 × 0.144 × (8000
t =
3
3 × 375 × 3700 × 1.2 × 6000
Unit conversion :
Forth : 1kgf = 9.8N
Torque : 1kgfm = 9.8Nm = 10
P = ωTo = (2π
2 2
× N1
375 × Po
2 2 2
× (N2 − N1
2 ×375 × Po
2 2 2
× (N3 − N2
2 ×375 × Po × N2
+ t (sec)
2 3
2
2
= 0.11kgfm For motor SJ-PF3.7-01
L
2
= 0.034kgm
M
2
= 0.200
375 × 3700 × 1.2
2
−1500
2 × 375 × 3700 × 1.2
2
−6000
2
kgm
N
60 ) × 9.8T
Appendix
"Po" is (Rated power × 1.2).
(Notes) 1)
Example : For spindle of 2.2/3.7kW,
2
2) GD = (Motor GD
2
(GD converted into load to motor shaft) (kg•m
(sec)
)
(sec)
)
(sec)
) is,
3
2
2
(sec)
2
)
= 1.503 (sec)
2
)
= 1.465 (sec)
Speed
Output (power) : 1kW = 1/1.3596HP
P : Output [w]
ω
: Angular velocity [rad/s]
To : Torque [N−m]
N : Speed [rpm]
T : Torque [kgm]
A − 7
Po = 3700 × 1.2 = 4440 (W)
2
) +
2π
: 1rpm = rad/s
60
2
)