CSM serise CSMG serise CSMD serise CSMF serise CSMS serise CSMH serise CSMN serise CSMX serise CSMP serise CSMQ serise CSMZ serise B: 1 : (Coupling ) 2 : 2Slice (Set Screw ) 3 : Key 4 : Tapper 5 : 6 : Harmonics Drive H : CSMN, CSMX T : CSM, CSMG, CSMP M : CSMD, CSMF, CSMH, CSMS, CSMQ, CSMZ A2 : 15W 04 : 400W A3 : 30W 06 : 600W A5 : 50W 08 : 800W 01 : 100W 10 : 1KW 02 : 200W A : AC 110V B : AC 220V C : DC 24V D :110V/220V.
t 3 t 4 t 1 t 2 t 1, t 2 0. 1 µ s t 3, t 7 0. 1 µ s t 4, t 5, t 6 > 3 µ s t T t 5 t 6 t 7 1.1 µ s t 1 t 2 t T t 1, t 2 0. 1µ s 10050% T 1.1µ s t 1 T t 2 t t 3 t 1, t 2 0. 1 µ s 1.1 µ s t 3> 3 µ s 10050% T
Set-42. SEt-02: SEt-03: SEt-04: Set-06: 1 SEt-40: 1 1), SEt-4, SEt-40. 2) SEt-42,. 4) SEt-420. Set-420, Auto tuning (SEt-38)Damping(SEt-39)(SEt-02 SEt-03). 5) Auto tuning1. tuning. 1, Set-42.
20?C
20? C
20? C
20? C
D1
-.. -.
-. -.
. -. -... -. -. -.
1 π J = M D = ρ L D 8 32 2 4 1 2 2 π 4 4 J K = M K ( D o D i ) = ρ L ( D o Di ) 8 32
F P V l η D V l Vl 2ts - ta - td Ls = 60 2 Vl if ta = td, Ls = ( t s - t a ) 60 N M RVl = π D µ P F D T = ( + ) L 2Rη J J R = J + 1 R J 2 L G R J G t am J M t dm J M 2π N M ( J M + JL ) = 60( T - T ) PM L T PM 2π N M ( J M + JL ) = 60( T + T ) PM L T PM
P o 2π NM = 60 T L P a 2π N M = ( ) 60 2 J t L a T T p S 2π N M ( J M + JL ) = + T 60t 2π NM ( J M + J L ) = - T 60 t d a L L ( t? t ) a dm T rms = 2 2 2 T t + T ( t - t - t ) + T t p a L s a d s d t s V l F D η V l Vl 2ts - ta - td Ls = 60 2 Vl if ta = td, Ls = ( t s - t a ) 60 N RVl M = π D
µ M F D T = ( 9. 8 + ) L 2Rη J P J L = J W + J G + R 2 J W J G J M D W = ( ) 2 R 2 J P t am J M t dm J M 2π N M ( J M + JL ) = 60( T - T ) PM L T PM 2π N M ( J M + JL ) = 60( T + T ) PM L T PM P o 2π NM = 60 T L P a 2π N M = ( ) 60 2 J t L a 2 π N M ( J M + JL ) T p = + T 60t a L TS = 2π NM ( J M + J L ) - T 60t d L ( t? t ) a dm T rms = 2 2 2 T t + T ( t - t - t ) + T t p a L s a d s d t s
V l F P B L B D B h L B D B, P B V l L s V 2t - t - t = 60 2 l s a d Vl if ta = td, Ls = ( t s - t a ) 60 N M = RVl P B T L µ ( 9. 8 M + F ) P = 2πRh B J G J B J B J L = J W + J G + R 2 J W 1 π J = M P = ρ P P J M P B 2 2 4 W = ( ) B B D L D 2πR 8 32 M B t am 2π N M ( J M + JL ) = 60( TPM - TL ) J M T PM
t dm 2π N M ( J M + JL ) = 60( TPM + TL ) J M T PM P o 2π NM = 60 T L P a 2π N M = ( ) 60 2 J t L a 2 π N M ( J M + JL ) T p = + T 60t a L TS = 2π NM ( JM + JL ) - T 60t d L ( t? t ) a dm T rms = 2 2 2 T t + T ( t - t - t ) + T t p a L s a d s d t s
GD J = 4 2
V t = 60 n = 60 40 = 1. 5(sec) ta? t d 60 60 0. 275 ta = tm - = 1. 2 - = 0. 1(sec) V 15 T l Vλ 15 Nλ = = = r P 001. 1500 ( / min) B N M = Nλ R = 1500 1= 1500( r / min) 9. 8µ M PB 9. 8 0. 2 500 0. 01 = = = 1. 73( N m) 2πR η 2π 1 0. 9 PB 2 0. 01-4 2 J L1 = M ( ) = 500( ) = 12. 7 10 ( kg m ) 2? R 2? 1 π ρ π J L D 4 3 4-4 kg m 2 B = B B = 7. 87 10 1. 4 0. 04 = 27. 7 10 ( ) 32 32 J 1 M D 2 1 2-4 kg m 2 C = C C = 0. 06 = 4. 5 10 ( ) 8 8
2π N T 2π 1500 173. M L P = = = 272( W) O 60 60-2π NM 2 JL 2π. Pa = ( ) = ( ) 60 t 60 1500 2 449 10 01. a 4 = 1108( W) T P 2π NM ( JM + JL) 2π 1500( 617. + 449. ) = + T = + 173. = 975. ( N m) < L 60t 60 01. a 2π NM( JM + JL) 2π 1500( 617. + 449. ) T T N m S = L = 173. = 629. ( ) 60t 60 01. d T rms = 2 2 2 2 2 2 P a L c S d T t + T t + T t t = ( 9. 75) 01. + ( 173. ) 1. 0+ ( 629. ) 01. = 331. ( N m) 15.