YASKAWA SGDS Sigma III Series User Manual
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Contents
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11 Appendix11.1.3 Calculating the Required Capacity of Regenerative Resistors11-6• Required braking torque• Effective torqueThe above confirms that the provisionally selected servomotor and SERVOPACK capacities are sufficient. In thenext step, their performance in position control are checked.(9) PG Feedback Pulse Dividing Ratio: Setting of Electronic Gear RatioAs the electrical stop accuracy δ = ±0.01mm, take the position detection unit ∆ = 0.01mm/pulse.(10) Reference Pulse Frequency(11) Error Counter PulsesPosition loop gain Kp = 30 (1/ S )(12) Electrical Stop AccuracyThe above results confirm that the selected SERVOPACK and servomotor are applicable for the position control.11.1.3 Calculating the Required Capacity of Regenerative Resistors(1) Simple CalculationWhen driving a servomotor with the horizontal axis, check the external regenerative resistor requirements usingthe calculation method shown below.(a) SERVOPACKs with Capacities of 400 W or LessSERVOPACKs with capacities of 400 W or less do not have built-in regenerative resistors. The energy thatcan be charged with capacitors is shown in the following table. If the rotational energy in the servomotorexceeds these values, then connect a external regenerative resistor.T = − T = − 0.13960ta 60 × 0.12πN (J + J ) 2π × 3000 × (0.209 + 1.25) × 10S−4M M L L0.319 (Nxm) < Instantaneous peak torquexxxSatisfactoryT = =tΤ x ta + T x tc + T x tdr m s P L S0.205 (Nxm) < Rated torquexxxSatisfactory2 2 21.5(0.597) × 0.1 + (0.139) × 0.9 + (0.319) × 0.12 2 2BA( )× = × = 32768 × 4k = =P∆ BA 50.01 BAB ( )BA 32768 × 4500( )vs = = = 25,000 (pps)1000 × 1560 × 0.011000V60 × ∆ε = = = 833 (pulse)25,00030vsKp−∆ε = – = − − 0.17 < − 1 (pulse) = − 0.01 (pulse)NRMNε(SERVOPACK 300030008335000 ×control range) × |
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