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11.SELECTION
11-6 Load torque equations
Typical load torque equations are indicated below:
Load Torque Equations
Type
Mechanism
Servo motor
Linear
Z
2
movement
Z
1
Rotary
movement
Z
1
Servo motor
Servo motor
1/n
Vertical
movement
Guide
T
L
F : Force in the axial direction of the machine in linear
η
F
O
F in Equation 11-15 is obtained with Equation 11-16
F
C
when the table is moved, for example, as shown in the
W
left diagram.
F = F
F
c
F
G
W : Full weight of the moving part [kg]
T
T
LO
L
T
F
Z
2
During rise
During fall
Counter
weight
W
2
Load
W
1
F
•
=
• π • η
3
2 x 10
.............................................................. (11-15)
motion [N]
+ µ • (W • g + F
c
O
: Force applied in the axial direction of the moving
part [N]
: Tightening force of the table guide surface [N]
1
1
=
•
• T
+ T
LO
η
n
: Load friction torque converted into equivalent value
on servo motor shaft [N • m]
....................................................
T
= T
+ T
L
U
F
• η
...........................................
T
= - T
2
+ T
L
U
F
T
: Friction torque of the moving part [N • m]
F
(W
- W
) • g
1
2
T
=
U
•
• η
π
3
2 x 10
•
.......................................................... (11-20)
µ(W
•
+ W
)
g
1
2
T
=
F
3
π
•
2 x 10
W
: Weight of load [kg]
1
W
: Weight of counterweight [kg]
2
11– 8
Equation
F • ∆S
V
=
• π • η
3
N
2 x 10
) .................................... (11-16)
................................
F
) • g • ∆S
(W
- W
V
1
2
=
• η
π
3
2 • 10
•
N
• ∆
S
......................
• η
(11-17)
(11-18)
(11-19)
(11-21)
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