Yaskawa SGDH Linear Sigma Series - Manual (Page 111)

4.5 SERVOPACK Overload Characteristics and Allowable Load Mass
4-13
4
4.5.2 Starting Time and Stopping Time
The starting time tr and the stopping time tf of linear servomotor under constant load conditions can be calcu-
lated using the following formulas.
Calculate the motor force from the motor current: Motor force = Motor force constant × Motor effective current
The following figure shows the motor force and motor speed timing chart.
V
M
Motor movement speed (m/s)
M Load mass including motor (kg)
F
PM
Motor instantaneous peak force (N) in combination with a SERVOPACK
F
L
Load force (N)
Starting time tr = [ s ]
M x V
M
F
PM
− F
L
M x V
M
F
PM
+ F
L
Stopping time tf = [ s ]
Motor force
(Current amplitude)
Motor movement
speed
tr tf
V
M
F PM
F PM
F
L
Time
Time