panasonic dimensioning
TRANSCRIPT
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8/12/2019 Panasonic Dimensioning
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1
Mechanical block calculating formula (Rotation Linear motion)
Rotation Linear motion Ball screw horizontal
1. Weight WAin kg
2. Inertia conversion weight WJin kg
3. External force Uin kg
4. Stopped-state holding force Hin kg
5. Friction force Fin kg
6. Velocity coefficient Vin
7. Backlash coefficient B Bin
Receiving data
8. Backlash coefficient A Ain
1. Ball screw density g/cm3
2. Ball screw lead P cm
3. Ball screw diameter D cm
4. Ball screw length L cm
5. Table mass WT kg
6. Friction coefficient
7. Conduction efficiency
Individual
input item
1. Inertia JLout kgcm
2
2. Friction torque TFout Nm
3. Starting torque TUout Nm
4. Stopped-state holding torque THout Nm
5. Velocity coefficient Vout
6. Backlash coefficient B Bout
Passing data
32
LD10J
43
B
=
B2
2
J4
P)WTWJinWAin(JLout +
++=
++
=
2
10PG))WTWAin(Fin(TFout
2
=
2
10PGUinTUout
2
2
10PGHinTHout
2 =
110P
60VinVout
=
AinBout=
Rotation Linear motion Ball screw vertical
1. Weight WAin kg
2. Inertia conversion weight WJin kg
3. External force Uin kg
4. Stopped-state holding force Hin kg
5. Friction force Fin kg
6. Velocity coefficient Vin
7. Backlash coefficient B Bin
Receiving data
8. Backlash coefficient A Ain
1. Ball screw density g/cm3
2. Ball screw lead P cm
3. Ball screw diameter D cm
4. Ball screw length L cm
5. Table mass WT kg
6. Friction coefficient
7. Conduction efficiency
Individual
input item
1. Inertia JLout kgcm2
2. Friction torque TFout Nm
3. Starting torque TUout Nm
4. Stopped-state holding torque THout Nm
5. Velocity coefficient Vout
6. Backlash coefficient B Bout
Passing data
32
LD10J
43
B
=
B2
2
J4
P)WTWJinWAin(JLout +
++=
)2
10PG))WTWAin(Fin((ABSTFout
2
++
=
++=
2
10PG)WTWAinUin(TUout
2
2
10PG)WTWAinHin(THout
2 ++=
110P
60VinVout
=
AinBout=
JB = Ball screw inertia
G = 9.8
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Mechanical block calculating formula (Rotation Linear motion)
Rotation Linear motion Ball screwnut rot. horizontal
1. Weight WAin kg
2. Inertia conversion weight WJin kg
3. External force Uin kg
4. Stopped-state holding force Hin kg
5. Friction force Fin kg
6. Velocity coefficient Vin
7. Backlash coefficient B Bin
Receiving data
8. Backlash coefficient A Ain
1. Ball screw density 1 g/cm3
2. Nut density 2 g/cm3
3. Ball screw lead P cm
4. Ball screw length L1 cm
5. Ball screw diameter D1 cm
6. Nut length L2 cm
7. Nut external diameter D2 cm
8. Table mass WT kg
9. Friction coefficient
Individual
input item
10. Conduction efficiency
1. Inertia JLout kgcm
2
2. Friction torque TFout Nm
3. Starting torque TUout Nm
4. Stopped-state holding torque THout Nm
5. Velocity coefficient Vout
6. Backlash coefficient B Bout
Passing data
4
10LDWB
311
2
1
=
32
1
2
222
2
1
2
2 108
DDL
4
D
4
DJN
+
=
JN4
P)WJinWTWBWAin(JLout
2
2
+
+++=
+++
=
2
10PG))WTWBWAin(Fin(TFout
2
=
2
10PGUin
TUout
2
2
10PGHinTHout
2 =
110P
60VinVout
=
AinBout=
Rotation Linear motion Ball screwnut rot. vertical
1. Weight WAin kg
2. Inertia conversion weight WJin kg
3. External force Uin kg
4. Stopped-state holding force Hin kg
5. Friction force Fin kg
6. Velocity coefficient Vin
7. Backlash coefficient B Bin
Receiving data
8. Backlash coefficient A Ain
1. Ball screw density 1 g/cm3
2. Nut density 2 g/cm3
3. Ball screw lead P cm
4. Ball screw length L1 cm
5. Ball screw diameter D1 cm
6. Nut length L2 cm
7. Nut external diameter D2 cm
8. Table mass WT kg
9. Friction coefficient
Individual
input item
10. Conduction efficiency
1. Inertia JLout kgcm2
2. Friction torque TFout Nm
3. Starting torque TUout Nm
4. Stopped-state holding torque THout Nm
5. Velocity coefficient Vout
6. Backlash coefficient B Bout
Passing data
4
10LDWB
311
2
1
=
32
1
2
222
2
1
2
2 108
DDL
4
D
4
DJN
+
=
JN4
P)WJinWTWBWAin(JLout
2
2
+
+++=
+++
=
2
10PG))WTWBWAin(Fin(TFout
2
+++
=
2
10PG)WTWBWAinUin(TUout
2
2
10PG)WTWBWAinHin(THout
2 +++=
110P
60VinVout
=
AinBout=
WB = Ball screw mass [kg]JN = Nut inertia [kgcm
2]
G = 9.8
WB = Ball screw mass [kg]
JN = Nut inertia [kg
cm2
]G = 9.8
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Mechanical block calculating formula (Rotation Linear motion)
Rotation Linear motion Belt conveyor horizontal
1. Weight WAin kg
2. Inertia conversion weight WJin kg
3. External force Uin kg
4. Stopped-state holding force Hin kg
5. Friction force Fin kg
6. Velocity coefficient Vin
7. Backlash coefficient B Bin
Receiving data
8. Backlash coefficient A Ain
1. Drivig pulley density 1 g/cm3
2. Driven pulley density 2 g/cm3
3. Driving pulley diameter D1 cm
4. Driving pulley thickness L1 cm
5. Driven pulley diameter D2 cm
6. Driven pulley thickness L2 cm
7. Table mass WT kg
8. Belt mass WB kg
9. Friction coefficient
Individual
input item
10. Conduction efficiency
1. Inertia JLout kgcm
2
2. Friction torque TFout Nm
3. Starting torque TUout Nm
4. Stopped-state holding torque THout Nm
5. Velocity coefficient Vout
6. Backlash coefficient B Bout
Passing data
4
LD10W 1
2
13
11
=
8
DWJP
2
111
=
4
LD10W 2
2
23
22
=
8
DWJP
2
222
=
2
2
121
21
D
DJPJP
4
D)WJinWTWBWAin(JLout
++
+++=
+++
=
2
10DG))WTWBWAin(Fin(TFout
21
=
2
10DGUin
TUout
21
2
10DGHinTHout
21 =
11 10D
60VinVout
=
AinBout=
Rotation Linear motion Belt conveyor vertical
1. Weight WAin kg
2. Inertia conversion weight WJin kg
3. External force Uin kg
4. Stopped-state holding force Hin kg
5. Friction force Fin kg
6. Velocity coefficient Vin
7. Backlash coefficient B Bin
Receiving data
8. Backlash coefficient A Ain
1. Driving pulley density 1 g/cm3
2. Driven pulley density 2 g/cm3
3. Driving pulley diameter D1 cm
4. Driving pulley thickness L1 cm
5. Driven pulley diameter D2 cm
6. Driven pulley thickness L2 cm
7. Table mass WT kg
8. Belt mass WB kg9. Friction coefficient
Individualinput item
10. Conduction efficiency
1. Inertia JLout kgcm2
2. Friction torque TFout Nm
3. Starting torque TUout Nm
4. Stopped-state holding torque THout Nm
5. Velocity coefficient Vout
6. Backlash coefficient B Bout
Passing data
4
LD10W 1
2
13
11
=
8
DWJP
2
111
=
4
LD10W 2
2
23
22
=
8
DWJP
2
222
=
2
2
121
21
D
DJPJP
4
D)WJinWTWBWAin(JLout
++
+++=
)2
10DG))WTWBWAinUin(Fin((ABSTFout
2
1
++++=
++
=
2
10DG)WTWAinUin(TUout
21
2
10DG)WTWAinHin(THout
21
++=
11 10D
60VinVout
=
AinBout=
W1 = Driving pulley mass [kg]W2 = Driven pulley mass [kg]JP1 = Driving pulley inertia [kgcm
2]
JP2 = Driven pulley inertia [kgcm2]
G = 9.8
W1 = Driving pulley mass [kg]W2 = Driven pulley mass [kg]
JP1 = Driving pulley inertia [kgcm2]JP2 = Driven pulley inertia [kgcm
2]
G = 9.8
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Mechanical block calculating formula (Rotation Linear motion)
Rotation Linear motion Pinion rack horizontal
1. Weight WAin kg
2. Inertia conversion weight WJin kg
3. External force Uin kg
4. Stopped-state holding force Hin kg
5. Friction force Fin kg
6. Velocity coefficient Vin
7. Backlash coefficient B Bin
Receiving data
8. Backlash coefficient A Ain
1. Pinion density g/cm3
2. Pinion diameter D cm
3. Pinion thickness L cm
4. Table mass WT kg
5. Conduction efficiency
6. Friction coefficient
7. Rack mass WB kg
8. Backlash B deg.
Individual
input item
1. Inertia JLout kgcm
2
2. Friction torque TFout Nm
3. Starting torque TUout Nm
4. Stopped-state holding torque
THoutNm
5. Velocity coefficient Vout
6. Backlash coefficient B Bout
Passing data
32
LD10JP
43 =
JP4
D)WJinWTWBWAin(JLout
2
++++
=
+++
=
2
10DG))WTWBWAin(Fin(TFout
2
=
2
10DGUinTUout
2
2
10DGHinTHout
2
=
110D
60VinVout
=
Ain60Vin
10DBBout
1
+
=
Rotation Linear motion Pinion rack vertical
1. Weight WAin kg
2. Inertia conversion weight WJin kg
3. External force Uin kg4. Stopped-state holding force Hin kg
5. Friction force Fin kg
6. Velocity coefficient Vin
7. Backlash coefficient B Bin
Receiving data
8. Backlash coefficient A Ain
1. Pinion density g/cm3
2. Pinion diameter D cm
3. Pinion thickness L cm
4. Table mass WT kg
5. Conduction efficiency
6. Friction coefficient
7. Rack mass WB kg
8. Backlash B deg.
Individual
input item
1. Inertia JLout kgcm2
2. Friction torque TFout Nm
3. Starting torque TUout Nm
4. Stopped-state holding torque THout Nm
5. Velocity coefficient Vout
6. Backlash coefficient B Bout
Passing data
32
LD10JP
43 =
JP4
D)WJinWTWBWAin(JLout
2
++++
=
)2
10DG))WTWBWAinUin(Fin((ABSTFout
2
++++
=
+++=
210DG)WTWBWAinUin(TUout
2
2
10DG)WTWBWAinHin(THout
2+++
=
110D
60VinVout
=
Ain60Vin
10DBBout
1
+
=
JP = Driving pulley mass [kgcm2]
G = 9.8
JP = Driving pulley mass [kg
cm
2
]G = 9.8
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Mechanical block calculating formula (Rotation Linear motion)
Rotation Linear motion Roller feeding
1. Weight WAin kg
2. Inertia conversion weight WJin kg
3. External force Uin kg
4. Stopped-state holding force Hin kg
5. Friction force Fin kg
6. Velocity coefficient Vin
7. Backlash coefficient B Bin
Receiving data
8. Backlash coefficient A Ain
1. Driving roller density 1 g/cm3
2. Driven roller density 2 g/cm3
3. Driving roller diameter D1 cm
4. Driving roller thickness L1 cm
5. Driven roller diameter D2 cm
6. Driven roller thickness L2 cm
7. Workpiece tension U kg
8. Workpiece mass W kg
9. Conduction efficiency
Individual
input item
1. Inertia JLout kgcm
2
2. Friction torque TFout Nm
3. Starting torque TUout Nm
4. Stopped-state holding torque THout Nm
5. Velocity coefficient Vout
6. Backlash coefficient B Bout
Passing data
4
LD10W 1
2
13
11
=
8
DWJP
2
111
=
4
LD10W 2
2
23
22
=
8
DWJP
2
222
=
2
2
121
21
D
DJPJP
4
DWJLout
++
=
=
2
10DGFinTFout
21
+
=
2
10DG)UinU(
TUout
21
2
10DG)HinU(THout
21 +=
11 10D
60VinVout
=
AinBout=
Rotation Linear motion Running bogie
1. Weight WAin kg
2. Inertia conversion weight WJin kg
3. External force Uin kg
4. Stopped-state holding force Hin kg
5. Friction force Fin kg
6. Velocity coefficient Vin
7. Backlash coefficient B Bin
Receiving data
8. Backlash coefficient A Ain
1. Bogie total mass W kg
2. Wheel external shape D1 cm
3. Wheel total mass W1 kg
4. Axle external shape D2 cm
5. Axle total mass W2 kg
6. Conduction efficiency
7. Friction coefficient
Individual
input item
1. Inertia JLout kgcm2
2. Friction torque TFout Nm
3. Starting torque TUout Nm
4. Stopped-state holding torque THout Nm
5. Velocity coefficient Vout
6. Backlash coefficient B Bout
Passing data
8
DWJP
2
111
=
8
DWJP
2
222
=
21
2
1 JPJP4
D)WWJinWAin(JLout ++
++=
++
=
2
10DG))WWAin(Fin(TFout
21
=
2
10DGUinTUout21
2
10DGHinTHout
21 =
11 10D
60VinVout
=
AinBout=
W1 = Driving pulley mass [kg]W2 = Driven pulley mass [kg]JP1 = Driving roller inertia [kgcm
2]
JP2 = Driven roller inertia [kgcm2]
G = 9.8
JP1 = Wheel total inertia [kgcm2]
JP2 = Wheel total inertia [kg
cm
2
]G = 9.8
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Mechanical block calculating formula (Rotation Linear motion)
Rotation Linear motion Coupling
1. Inertia JLin kgcm2
2. Friction torque TFin Nm
3. Starting torque TUin Nm
4. Stopped-state holding torque THin Nm
5. Velocity coefficient Vin
6. Backlash coefficient B Bin
Receiving data
1. Density g/cm3
2. External diameter D cm
3. Length L cm
4. Internal diameter d cm
Individual
input item
1. Inertia JLout kgcm
2
2. Friction torque TFout Nm
3. Starting torque TUout Nm
4. Stopped-state holding torque THout Nm
5. Velocity coefficient Vout
6. Backlash coefficient B Bout
Passing data
32222
C 108
dDL
4
d
4
DJ
+
=
JcJLinJLout +=
TFinTFout=
TUinTUout=
THinTHout=
VinVout=
BinBout=
Rotation Linear motion Reduction gear
1. Inertia JLin kgcm2
2. Friction torque TFin Nm
3. Starting torque TUin Nm
4. Stopped-state holding torque THin Nm
5. Velocity coefficient Vin
6. Backlash coefficient B Bin
Receiving data
1. Input axis inertia Jg kgcm2
2. Input axis friction torque Tg Nm
3. Reduction ratio i
4. Conduction efficiency g
5. Backlash B deg.Individual
input item
1. Inertia JLout kgcm2
2. Friction torque TFout Nm
3. Starting torque TUout Nm
4. Stopped-state holding torque THout Nm
5. Velocity coefficient Vout
6. Backlash coefficient B Bout
Passing data
g
2
Ji
1JLinJLout +
=
g
g
Ti
1TFinTFout +
=
gi
1TUinTUout
=
iTHinTHout g
=
iVinVout =
BinVin
BBout +=
Jc = Coupling inertia [kgcm2]
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Mechanical block calculating formula (Rotation Linear motion)
Rotation Linear motion Gear
1. Inertia JLin kgcm2
2. Friction torque TFin Nm
3. Starting torque TUin Nm
4. Stopped-state holding torque THin Nm
5. Velocity coefficient Vin
6. Backlash coefficient B Bin
Receiving data
1. Gear density g/cm
2. Input side gear thickness D1 cm
3. Input side gear diameter L1 cm
4. Loading side gear thickness D2 cm
5. Loading side gear diameter L2 cm
6. Conduction efficiency g
7. Backlash B deg.
Individual
input item
1. Inertia JLout kgcm
2
2. Friction torque TFout Nm
3. Starting torque TUout Nm
4. Stopped-state holding torque THout Nm
5. Velocity coefficient Vout
6. Backlash coefficient B Bout
Passing data
4
LD10W 1
2
13
1
=
8
DWJg
2
111
=
4
LD10W 2
2
23
2
=
2
2
1
2
222
D
D
8
DWJg
=
21
2
2
1 JgJgD
DJLinJLout ++
=
g2
1
D
DTFinTFout
=
g2
1
DDTUinTUout
=
2
g1
D
DTHinTHout
=
=
1
2
D
DVinVout Bin
Vin
BBout +=
Rotation Linear motion Timing belt
1. Inertia JLin kgcm2
2. Friction torque TFin Nm
3. Starting torque TUin Nm
4. Stopped-state holding torque THin Nm
5. Velocity coefficient Vin
6. Backlash coefficient B Bin
Receiving data
1. Pulley density g/cm3
2. Driving pulley thickness D1 cm
3. Driving pulley diameter L1 cm
4. Driven pulley thickness D2 cm
5. Driven pulley diameter L2 cm
6. Conduction efficiency
7. Mass of the belt WB kg
Individual
input item
1. Inertia JLout kgcm2
2. Friction torque TFout Nm
3. Starting torque TUout Nm
4. Stopped-state holding torque
THoutNm
5. Velocity coefficient Vout
6. Backlash coefficient B Bout
Passing data
4
LD10W 1
2
13
1
=
8
DWJP
2
111
=
4
LD10W 2
2
23
2
=
2
2
1
2
222
D
D
8
DWJP
=
=
2
1
D
DTFinTFout
=
2
1
D
DTUinTUout
2
1
D
DTHinTHout
=
=
1
2
D
DVinVout BinBout=
W1 = Input side gear mass [kg]W2 = Loading side gear mass [kg]Jg1 = Input side gear inertia [kgcm
2]
Jg2 = Loading side gear inertia [kgcm2]
W1 = Driving pulley mass [kg]
W2 = Driven pulley mass [kg]JP1 = Driving pulley inertia [kgcm
2]
JP2 = Driven pulley inertia [kgcm2]
+++
=
4
DWBJPJP
D
DJLinJLout
2
121
2
2
1
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Mechanical block calculating formula (Linear motion Rotation )
Linear motion Rotation Rack pinion horizontal
1. Inertia JLin kgcm2
2. Friction torque TFin Nm
3. Starting torque TUin Nm
4. Stopped-state holding torque THin Nm
5. Velocity coefficient Vin
6. Backlash coefficient B Bin
Receiving data
1. Pinion density g/cm3
2. Pinion diameter D cm
3. Pinion thickness L cm
4. Rack mass WA kg
5. Conduction efficiency
6. Friction coefficient
7. Rack mass WB kg
8. Backlash B deg.
Individual
input item
1. Weight WAout kg2. Inertia conversion weight WJout kg
3. External force Uout kg
4. Stopped-state holding force Hout kg
5. Friction force Fout kg
6. Velocity coefficient Vout
7. Backlash coefficient B Bout
Passing data
8. Backlash coefficient A Aout
32
LD10JP
43 =
2D
4)JPJLin(WJout
+=
WAWAout=
=
G10D
2TFinFout
2
=
G10D
2TUinUout
2
G10D
2THinHout
2
=
60
10DVinVout
1=
Vin
BBinAout +=
Vin360
DBBout
=
Linear motion Rotation Ball screw horizontal
1. Inertia JLin kgcm2
2. Friction torque TFin Nm
3. Starting torque TUin Nm
4. Stopped-state holding torque THin Nm
5. Velocity coefficient Vin
6. Backlash coefficient B Bin
Receiving data
1. Ball screw density g/cm3
2. Ball screw lead P cm
3. Ball screw diameter D cm
4. Ball screw length L cm
5. Table mass WT kg
6. Conduction efficiency Individual
input item
1. Weight WAout kg
2. Inertia conversion weight
WJoutkg
3. External force Uout kg
4. Stopped-state holding force Hout kg
5. Friction force Fout kg
6. Velocity coefficient Vout
7. Backlash coefficient B Bout
Passing data
8. Backlash coefficient A Aout
32
LD10JB
43 =
2
2
P
4)JBJLin(WJout
+=
WTWAout=
=
G10P
2TFinFout
2
=
G10P
2TUinUout
2
G10P
2THinHout
2
=
60
10PVinVout
1=
BinAout= 0Bout=
JP = Pinion inertia [kgcm2]
G = 9.8
JB = Ball screw inertia [kgcm2]
G = 9.8
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Mechanical block calculating formula (Rotating load)
Rotating load Cylinder inertia load
1. Inertia JLin kgcm2
2. Friction torque TFin Nm
3. Starting torque TUin Nm
4. Stopped-state holding torque THin Nm
5. Velocity coefficient Vin
6. Backlash coefficient B Bin
Receiving data
1. Density g/cm3
2. External diameter D cm
3. Thickness L cm
Individual
input item
1. Inertia JLout kgcm
2
2. Friction torque TFout Nm
3. Starting torque TUout Nm
4. Stopped-state holding torque THout Nm
5. Velocity coefficient Vout
6. Backlash coefficient B Bout
Passing data
4
10LDW
32 =
8
DWJW
2=
JWJLinJLout +=
TFinTFout=
TUinTUout=
THinTHout=
VinVout= BinBout=
Rotating load Eccentric cylinder inertia load
1. Inertia JLin kgcm2
2. Friction torque TFin Nm
3. Starting torque TUin Nm
4. Stopped-state holding torque THin Nm
5. Velocity coefficient Vin
6. Backlash coefficient B Bin
Receiving data
1. Density g/cm3
2. External diameter D cm
3. Thickness L cm
4. Eccentricity S cm
Individual
input item
1. Inertia JLout kgcm2
2. Friction torque TFout Nm
3. Starting torque TUout Nm
4. Stopped-state holding torque THout Nm
5. Velocity coefficient Vout
6. Backlash coefficient B Bout
Passing data
4
10LDW
32 =
22
SW8
DWJW +
=
JWJLinJLout +=
TFinTFout=
TUinTUout=
THinTHout=
VinVout= BinBout=
W = Workpiece mass [kg]
JW = Workpiece inertia [kgcm2]
W = Workpiece mass [kg]
JW = Workpiece inertia [kg
cm
2
]
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Mechanical block calculating formula (Rotating load)
Rotating load Multi stage cylinder inertia load
1. Inertia JLin kgcm2
2. Friction torque TFin Nm
3. Starting torque TUin Nm
4. Stopped-state holding torque THin Nm
5. Velocity coefficient Vin
6. Backlash coefficient B Bin
Receiving data
1. Density g/cm3
2. First stage external diameter D1 cm
3. First stage thickness L1 cm
4. Second stage external shape D2 cm
5. Second stage thickness L2 cm
6. Third stage external shape D3 cm
7. Third stage thickness L3 cm
Individual
input item
1. Inertia JLout kgcm
2
2. Friction torque TFout Nm
3. Starting torque TUout Nm
4. Stopped-state holding torque THout Nm
5. Velocity coefficient Vout
6. Backlash coefficient B Bout
Passing data
4
10LDW
31
2
11
=
4
10LDW
32
2
22
=
4
10LDW
33
2
33
=
8
DW
8
DW
8
DWJW
2
33
2
22
2
11 +
+
=
JWJLinJLout +=
TFinTFout=
TUinTUout= THinTHout=
VinVout= BinBout=
Rotating load Prism inertia load
1. Inertia JLin kgcm2
2. Friction torque TFin Nm
3. Starting torque TUin Nm
4. Stopped-state holding torque THin Nm
5. Velocity coefficient Vin
6. Backlash coefficient B Bin
Receiving data
1. Density g/cm3
2. Horizontal dimension a cm
3. Vertical dimension b cm
4. Thickness c cm
Individual
input item
1. Inertia JLout kgcm2
2. Friction torque TFout Nm
3. Starting torque TUout Nm
4. Stopped-state holding torque THout Nm
5. Velocity coefficient Vout
6. Backlash coefficient B Bout
Passing data
310cbaW =
12
)ba(WJW
22 +=
JWJLinJLout +=
TFinTFout=
TUinTUout=
THinTHout=
VinVout= BinBout=
W1 = First stage workpiece mass [kg]W2 = Second stage workpiece mass [kg]W3 = Third stage workpiece mass [kg]
JW = Workpiece total inertia [kgcm2]
W = Workpiece mass [kg]
JW = Workpiece inertia [kg
cm2
]
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Mechanical block calculating formula (Rotating load)
Rotating load Eccentric prism inertia load
1. Inertia JLin kgcm2
2. Friction torque TFin Nm
3. Starting torque TUin Nm
4. Stopped-state holding torque THin Nm
5. Velocity coefficient Vin
6. Backlash coefficient B Bin
Receiving data
1. Density g/cm3
2. Horizontal dimension a cm
3. Vertical dimension b cm
4. Thickness c cm
5. Eccentricity S cmIndividual
input item
1. Inertia JLout kgcm
2
2. Friction torque TFout Nm
3. Starting torque TUout Nm
4. Stopped-state holding torque THout Nm
5. Velocity coefficient Vout
6. Backlash coefficient B Bout
Passing data
310cbaW
=
222
SW12
)ba(WJW +
+=
JWJLinJLout +=
TFinTFout=
TUinTUout=
THinTHout=
VinVout= BinBout=
Rotating load Rotational external force factor
1. Inertia JLin kgcm2
2. Friction torque TFin Nm
3. Starting torque TUin Nm
4. Stopped-state holding torque THin Nm
5. Velocity coefficient Vin
6. Backlash coefficient B Bin
Receiving data
1. Working point distance L cm
2. External force U kg
Individual
input item
1. Inertia JLout kgcm2
2. Friction torque TFout Nm
3. Starting torque TUout Nm
4. Stopped-state holding torque THout Nm
5. Velocity coefficient Vout
6. Backlash coefficient B Bout
Passing data
JLinJLout=
TFinTFout=
TUin10LUGTUout 2 +=
THin10LUGTHout 2 +=
VinVout=
BinBout=
W = Workpiece mass [kg]
JW = Workpiece inertia [kgcm2]
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Mechanical block calculating formula (Rotating load)
Rotating load Rotational friction factor
1. Inertia JLin kgcm2
2. Friction torque TFin Nm
3. Starting torque TUin Nm
4. Stopped-state holding torque THin Nm
5. Velocity coefficient Vin
6. Backlash coefficient B Bin
Receiving data
1. Working point distance L cm
2. Friction force F kg
Individual
input item
1. Inertia JLout kgcm
2
2. Friction torque TFout Nm
3. Starting torque TUout Nm
4. Stopped-state holding torque THout Nm
5. Velocity coefficient Vout
6. Backlash coefficient B Bout
Passing data
JLinJLout=
TFin10LFGTFout 2 +=
TUinTUout=
THinTHout=
VinVout=
BinBout=
Rotating load Index table
1. Inertia JLin kgcm2
2. Friction torque TFin Nm
3. Starting torque TUin Nm
4. Stopped-state holding torque THin Nm
5. Velocity coefficient Vin
6. Backlash coefficient B Bin
Receiving data
1. Table density g/cm3
2. Table external shape D cm
3. Table thickness L cm
4. Table support diameter d cm
5. Friction coefficient
6. Workpiece external shape DW cm
7. Workpiece mass W kg
8. Workpiece positional eccentricity S cm
9. Workpiece quantity pc pc.
Individual
input item
1. Inertia JLout kgcm2
2. Friction torque TFout Nm
3. Starting torque TUout Nm
4. Stopped-state holding torque THout Nm
5. Velocity coefficient Vout
6. Backlash coefficient B Bout
Passing data
4
10LDWT
32 =
8
DWTJT
2=
22
SWpc8
DWWpcJTJLinJLout +
++=
2
10dG)WpcWT(TFinTFout
2++=
TUinTUout=
THinTHout=
VinVout=
BinBout=
WT = Table mass [kg]
JT = Table inertia [kg
cm
2
]
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Mechanical block calculating formula (Rotating load)
Rotating load Direct input of inertia
1. Inertia JLin kgcm2
2. Friction torque TFin Nm
3. Starting torque TUin Nm
4. Stopped-state holding torque THin Nm
5. Velocity coefficient Vin
6. Backlash coefficient B Bin
Receiving data
1. Inertia JL kgcm2
Individual
input item
1. Inertia JLout kgcm
2
2. Friction torque TFout Nm
3. Starting torque TUout Nm
4. Stopped-state holding torque THout Nm
5. Velocity coefficient Vout
6. Backlash coefficient B Bout
Passing data
JLJLinJLout +=
TFinTFout=
TUinTUout=
THinTHout=
VinVout=
BinBout=
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Mechanical block calculating formula (Linear motion load)
Linear motion load Simple linear motion load
1. Weight WAin kg
2. Inertia conversion weight WJin kg
3. External force Uin kg
4. Stopped-state holding force Hin kg
5. Friction force Fin kg
6. Velocity coefficient Vin
7. Backlash coefficient B Bin
Receiving data
8. Backlash coefficient A Ain
1. Workpiece total mass W kg
Individual
input item
1. Weight WAout kg2. Inertia conversion weight WJout kg
3. External force Uout kg
4. Stopped-state holding force Hout kg
5. Friction force Fout kg
6. Velocity coefficient Vout
7. Backlash coefficient B Bout
Passing data
8. Backlash coefficient A Aout
WWAinWAout +=
WJinWJout=
UinUout=
HinHout=
FinFout=
VinVout=
BinBout=
AinAout=
Linear motion load Vertical linear motion load with balancer
1. Weight WAin kg
2. Inertia conversion weight WJin kg
3. External force Uin kg
4. Stopped-state holding force Hin kg
5. Friction force Fin kg
6. Velocity coefficient Vin
7. Backlash coefficient B Bin
Receiving data
8. Backlash coefficient A Ain
1. Pulley density g/cm3
2. Pulley diameter D cm
3. Pulley thickness L cm
4. Balancer mass WB kg
5. Workpiece total mass W kg
6. Coefficient of friction
Individual
input item
1. Weight WAout kg
2. Inertia conversion weight WJout kg
3. External force Uout kg
4. Stopped-state holding force Hout kg
5. Friction force Fout kg
6. Velocity coefficient Vout
7. Backlash coefficient B Bout
Passing data
8. Backlash coefficient A Aout
32
10LDJP
34 =
2D
4JPWP
=
WBWPWJinWJout ++=
WWAinWAout +=
WBUinUout =
WBHinHout =
))(( ++= WBWFinFout
VinVout=
BinBout= AinAout=
JP = Pulley inertia [kgcm2]
WP = Pulley inertia conversion weight [kg]
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Mechanical block calculating formula (Linear motion load)
Linear motion load Linear motion external force factor
1. Weight WAin kg
2. Inertia conversion weight WJin kg
3. External force Uin kg
4. Stopped-state holding force Hin kg
5. Friction force Fin kg
6. Velocity coefficient Vin
7. Backlash coefficient B Bin
Receiving data
8. Backlash coefficient A Ain
1. External force U kg
Individual
input item
1. Weight WAout kg2. Inertia conversion weight WJout kg
3. External force Uout kg
4. Stopped-state holding force Hout kg
5. Friction force Fout kg
6. Velocity coefficient Vout
7. Backlash coefficient B Bout
Passing data
8. Backlash coefficient A Aout
WAinWAout=
WJinWJout=
UUinUout +=
UHinHout +=
FinFout=
VinVout=
BinBout=
AinAout=
Linear motion load Linear motion friction factor
1. Weight WAin kg
2. Inertia conversion weight WJin kg
3. External force Uin kg
4. Stopped-state holding force Hin kg
5. Friction force Fin kg
6. Velocity coefficient Vin
7. Backlash coefficient B Bin
Receiving data
8. Backlash coefficient A Ain
1. Friction force F kg
Individual
input item
1. Weight WAout kg
2. Inertia conversion weight WJout kg
3. External force Uout kg
4. Stopped-state holding force Hout kg
5. Friction force Fout kg
6. Velocity coefficient Vout
7. Backlash coefficient B Bout
Passing data
8. Backlash coefficient A Aout
WAinWAout=
WJinWJout=
UinUout=
HinHout=
FFinFout +=
VinVout=
BinBout=
AinAout=