A3 : 30W 10 : 1kW A5 : 50W 15 : 1.5kW 01 : 100W 20 : 2kW.... 08 : 800W 50 : 5kW CSD series CSDD series CSDF series CSDS series CSDH series CSDN series CSDX series A : AC110V B : AC220V S : / P :
20?C
20?C
20?C
Fr 5 Fs B A C
B C A
Fr 5 Fs B C A
G H A D A F E I D C B #16 #12 C B #12 A B C D A D E F #12 G H I #8 C B #8 G H A F E I D C B #16 #12 A B C D E F #12 G H I #8
D A F A B C B #16 E D C #16 D A F A C B E G B #12 D C #12 D A F A E G B C B #8 D C #8 D A C B #4
M L T K S J H A B N P R F G C E D #16
NOISE FILTER NOISE FILTER NOISE FILTER
incremental encoder CSD SERVO DRIVE ENCODER N/M incremental encoder CSD SERVO DRIVE ENCODER N/M
incremental encoder CSD SERVO DRIVE ENCODER N/M
incremental encoder CSD SERVO DRIVE ENCODER N/M
t 3 t 4 t 1 t 2 t T t 5 t 6 t 7 t 1, t 2? 0. 1? s t 3, t 7? 0. 1? s 4 5 6? 3? s t, t, t?? 1.1? s t 1 t 2 t T t 1, t 2? 0. 1? s?? 100? 50% T?? 1.1? s t 1 T t 2 t t 3 t 1, t 2? 0. 1? s t 3? 3? s???? 1.1 s? 100? 50% T
J J L1 M? J J M JL2? J L2 L1? 30? 8
NOISE FILTER SERVO TRANS NOISE FILTER
1 1 3 5 1 1 1 9 15 25 1 3 1 5 1 9 1 15 1 25 1 3 1 5 1 9 1 15 1 25 1 3 1 5 1 9 1 15 1 25 1 3 1 5 1 9 1 15 1 3 1 5 1 9 1 15
F G E H I D A C B #16 #12 A B C D E F #12 G H I #8
-. -. -.
. -.
.. 0 +0.01
.. +0.01 0-0.015 0 0 +0.01
.. -.
-. -. -. -. -.. -. -.
D A C B #16 E F A D B C #16 D C A B #12 F A E G B D C #12 D A C B #8 F A E G B D C #8 D A C B #4
F P V l D η V l L N M s V 2t - t - t = 60 2 l s a d Vl if ta = td, Ls = ( t s - t a ) 60 RVl = πd µ P F D T = (` + ) L 2 Rη
J = J + 1 R J 2 L G R J R J G t am 2 π 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 N M = 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 N M ( J M + J L ) = - T 60t 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 η D 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 = πd µ M F D T = ( 9. 8 + ) L 2Rη
J P J L = J W + J G + R 2 J W J G J P J M D W = ( ) 2 R 2 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 T p TS 2π N M ( J M + JL ) = + T 60t 2 π NM ( JM + JL ) = - T 60t 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
D B, P B L B V l F P B L B D B η V l L M s V 2t - t - t = 60 2 l s a d Vl if ta = td, Ls = ( t s - t a ) 60 N RVl = P TL = B µ ( 9. 8 M + F ) P 2πR η B
J W J B J L = J W + J G + R 2 J G J B J M P B W = ( ) 2πR M B 2 1 π J = M P = ρ P P 8 32 2 4 B B D L D t am 2π N M ( J M + JL ) = 60( TPM - TL ) J M T PM t dm 2 π N M ( J M + JL ) = 60( T PM + TL ) J M T PM P o 2π NM = 60 T L P a 2 π N M = ( ) 60 2 J t L a T p TS 2 π N M ( J M + JL ) = + T 60t 2π NM ( JM + JL ) = - T 60t 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
1/ R M c M F D B, P B V l F P B L B D B η M C 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 TL = [ 9. 8( M - MC ) + F] P 2πR η B
J W J B J L = J W + J G + R 2 J G J B PB JW = ( M + MC )( ) 2 R M B 2 1 π J = M P = ρ P P 8 32 2 4 B B D L D t am 2 π 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 2π NM T Po = 60 P T p TS a 2π N M = ( ) 60 2 L J t 2π N M ( J M + JL ) = + T 60 t 2 π NM ( JM + JL ) = - T 60 t d a L a L L ( t? t ) a dm T rms = 2 2 2 T t + T ( t - t - t ) + T t p a L c a d s d t s
V l F D t η 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 =? 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 p J M D 2 1 2 π W = ( ) J p = M p D = ρ 4 t D 2 R 8 32 Mp t am 2 π 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 Po 2π NM = 60 T L P a 2π N M = ( ) 60 2 J t L a T p T 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
D M t ω l T l η D t ω l θ s s N R M =? TL ω l 2ts -ta -td θ = 60 2 ω l if ta = t, θ t t d s = ( s - a ) 60 Tl = R l
J W J G J L JW = JG + R 2 1 π JW = M D = ρ t D 8 32 2 4 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 T p TS 2π N M ( J M + JL ) = + T 60t 2π NM ( JM + JL ) = - T 60t 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
2 GD J = 4 1 2 π J = M D = ρ 4 L D 8 32 1 2 2 π 4 4 JK = M K ( Do Di ) = ρ L( Do Di ) 8 32
V t = 60 n = 60 40 = 1. 5(sec) ta? t d 60λ 60 0. 275 ta = tm - = 1. 2 - = 0. 1(sec) Vλ 15 T l Vλ 15 λ= = = 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 JB = ρ 4 π 3 4-4 2 LB DB = 7. 87 10 1. 4 0. 04 = 27. 7 10 ( kg m ) 32 32 1 2 1 2-4 2 JC = MC DC = 0. 06 = 4. 5 10 ( kg m ) 8 8
P O 2π N M TL 2π 1500 173. = = = 272( W) 60 60 P a 2π N M 2 JL 2π 2 = ( ) = ( 1500) 60 t 60 a 44. 9 10 01. = 1108( W) π π 2π NM( JM + JL) 2π 1500( 617. + 449. ) TP = + TL = + 173. = 975. ( N m) 60t a 60 01. 2π NM( JM + JL) 2π 1500( 617. + 449. ) T T N m S = L = 173. = 629. ( ) 60t d 60 01. 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. ) 10. + ( 629. ) 01. = 331. ( N m) 15.