First, calculate the load torque converted to the motor as follows:
1, horizontal linear motion axis:
TL=(9.8* *W*PB)/2π*R*η
PB: ball screw pitch (m)
μ: friction coefficient
1/R: reduction ratio
W: Workbench and workpiece weight (KG)
2, vertical linear motion axis:
TL=[9.8* *(W-WC)*PB]/2π*R*η
WC: Counterweight Weight (KG)
3, rotary axis movement
TL= TI/ (R*η)
TI: Coarse torque (NM)
Second, load inertia calculation
Different from the load torque, it means that the exact value of the load can be obtained by calculation. Whether it is a linear motion or a rotary motion, the inertia of all the components driven by the motor is calculated separately, and the load inertia can be obtained by adding according to the rules. The load inertia can be obtained in almost all cases by the following basic formula.
1, cylinder inertia
D(cm)
L(cm)
The inertia of the aid body with the center axis is calculated from the following equation. Such as ball screw, roller and so on.
JK=(Ï€*Ï*D4*L)/32
Ï: Density
2, moving body inertia
JL1=W*( /2)2
W: weight of the linear motion body
PB: Motor movement per revolution in linear direction
Third, the calculation of operating power and acceleration power
1, the power calculation
P0=(2Ï€* Nm * Ti:)/60
P0: Operating power
Nm: motor speed
Ti: load torque