Sigma-II Series SGM*H/SGDH USER'S MANUAL - Esco Drives ...

11 Appendix11.1.2 Selection Example for Position Control(8) Verification on Provisionally Selected Servomotor• Required starting torque2πN (J + J ) −4M M L 2π × 3000 × (0.209 + 1.25) × 10T P = + T = + 0.13960taL60 × 0.10.597 (N•m) < Instantaneous peak torque•••Satisfactory• Required braking torque2πN (J + J ) −4M M L 2π × 3000 × (0.209 + 1.25) × 10T S = − T = − 0.13960taL60 × 0.10.319 (N•m) < Instantaneous peak torque•••Satisfactory• Effective torque2 2 2ΤP• ta + TL• tc + TS• tdT r m s = =t0.205 (N•m) < Rated torque•••SatisfactoryThe 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.P∆B × B =5×B( = 2048 × 4A)0.01( A)k =BA=2048 × 4500(10) Reference Pulse Frequencyvs =1000V=1000 × 15= 25,000 (pps)60 × ∆ 60 × 0.01(11) Error Counter PulsesPosition loop gain Kp = 30 (1/ S )ε =vs=25,000= 833 (pulse)Kp 30(12) Electrical Stop Accuracy2 2 2(0.597) × 0.1 + (0.139) × 0.9 + (0.319) × 0.11.5ε833±∆ε = ±N= ± ± 0.17 < ± 1 (pulse) = ± 0.01 (pulse)(SERVOPACK5000 × 3000control range) ×3000N RM(BA)The above results confirm that the selected SERVOPACK and servomotor are applicable for the position control.11-6