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12. OPTIONS AND AUXILIARY EQUIPMENT
Calculate the total of the 3000r/min-equivalent inertia moments of the axes to be decelerated
simultaneously, and find the maximum total of 3000r/min-equivalent inertia moments.
Also find the sum total of permissible load inertia moments of the drive units installed on the
same base unit.
(Maximum total of 3000r/min-equivalent inertia moments)
(Sum total of permissible load
inertia moments of drive units)
1.42
Regenerative brake option is unnecessary.
(Maximum total of 3000r/min-equivalent inertia moments)
(Sum total of permissible load
inertia moments of drive units)
1.42
Regenerative brake option is necessary.
3) Confirmation example
In the following 8-axis system, the total 3000r/min-equivalent inertia moment is maximum
(9.75kg
cm) at the timing of 7). The permissible inertia moment of this 8-axis system is
11.36[kg
cm
2
] as indicated by the following expression.
8 [axes]
1.42[kg cm
2
] 11.36[kg cm
2
]
Hence,
(Maximum total of 3000r/min-equivalent load inertia moments
9.75) 11.36[kg cm
2
]
The regenerative brake option is unnecessary.
2.67
6.5 6.57 1.26
0.61
0.65
2.52
1.38
2.59
0.59
2.52
2.67
1.38
6.5
HC-KFS13
HC-KFS23
HC-KFS43
HC-KFS13
HC-MFS13
HC-MFS23
HC-KFS13
HC-KFS43
0.084
0.42
0.67
0.084
0.03
0.088
0.084
0.67
1.3
2.1
2.0
0.8
0.9
2.5
0.4
5.83
1.384
2.52
2.67
0.884
0.93
2.588
0.484
6.5
1.38
2.52
2.67
0.61
0.65
2.59
0.59
6.5
3000
3000
3000
2500
2500
3000
3300
3000
1.38
1.266.57 9.75
2.52
2.67
0.61
0.65
First axis
Speed
Second axis
Third axis
Fourth axis
Fifth axis
Sixth axis
Seventh axis
Eighth axis
1) 2) 3) 4) 5) 6) 7) 8) 9) 10) 11) 12) 13)
Axis
No.
Servo
Motor
Model
Servo
Motor
Inertia
Moment
kg/cm
2
Load Inertia
Moment
(Servo motor
shaft equivalent)
Total
inertia
moment
kg/cm
2
Running
speed
3000r/min-
equivalent
Total Inertia
Moment
kg/cm
2
r/min
3000r/min-equivalent total inertia moment
First axis
Second axis
Third axis
Fourth axis
Fifth axis
Sixth axis
Seventh axis
Eighth axis
Simultaneous deceleration total inertia moment maximum value
kg/cm
2
Operation pattern
kg/cm
2