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APPENDIX
(6) Load moment of inertia (converted into equivalent value on servo motor shaft)
Moving part
-3
S 10
J
= W •
L1
2
Ball screw
B
J
=
• D
L2
B
32
3
3
ρ = 7.8 • 10
[kg/m
Gear (servo motor shaft)
G
J
=
• D
L3
G1
32
Gear (load shaft)
G
J
=
• D
L4
G2
32
Full load moment of inertia (converted into equivalent value on servo motor shaft)
J
= J
+ J
+ J
+ J
L
L1
L2
L3
(7) Temporary selection of servo motor
Selection conditions
(a) Load torque < servo motor rated torque
(b) Full load moment of inertia < J
J
: Recommended load to motor inertia ratio
R
According to above conditions, HG-KR23 (rated torque: 0.64 N•m, maximum torque: 2.2 N•m,
moment of inertia: 0.221 • 10
2
-4
2
= 1.52 • 10
[kg•m
]
2
1
4
•
= 0.24 • 10
-4
[kg•m
n
] (iron)
4
-4
2
= 0.03 • 10
[kg•m
]
2
1
4
-4
•
= 0.08 • 10
[kg•m
n
-4
2
= 1.9 • 10
[kg•m
]
L4
• moment of inertia of the servo motor
R
-4
2
kg•m
) is selected temporarily.
2
]
2
]
App. - 25
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