Selecting Servomotor Capacity and
Regenerative Capacity
Servomotor Capacity Selection Examples
Use the AC servo drive capacity selection program SigmaJunmaSize+ to select servomotor capacity.
The program can be downloaded for free from our web site (http://www.e-mechatronics.com/).
1Selection Example for Speed Control
Mechanical Specifications
Servomotor
Linear motion
υL
Coupling
Gear
Ball screw
∙ Load speed: υ L = 15 m/min
∙ Linear motion section mass: m = 250 kg
∙ Ball screw length: B = 1.0 m
∙ Ball screw diameter: dB = 0.02 m
∙ Ball screw lead: PB = 0.01 m
∙ Ball screw material density: =7.87×103 kg/m3
∙ Gear ratio: 1/2 (R = 2)
(1) Speed Diagram
60 = 60 =
1.5 (s)
n
40
where ta = td
Speed
(m/min)
ta
: JG = 0.40×10-4 kg ∙ m2
∙ Feeding times: n = 40 times/min
∙ Feeding distance: = 0.275 m
∙ Feeding time: tm = 1.2 s max.
∙ Friction coefficient: μ = 0.2
∙ Mechanical efficiency: η = 0.9 (90%)
t=
υL
15
∙ Gear + coupling moment of inertia
tc
td
ta = tm − υ
Time (s)
tm
L
= 1.2 − 60
× 0.275
= 1.2 − 1.1 = 0.1 (s)
15
tc = 1.2 − 0.1 × 2 = 1.0 (s)
t
(2) Rotation Speed
nL =
∙Load axis rotation speed
υL
PB
= 15 = 1500 (min-1)
0.01
∙Motor shaft rotation speed
Gear ratio 1/R = 1/2 (R=2)
Therefore, nM = nL∙R = 1500 × 2 = 3000 (min-1)
(3) Load torque
TL =
9.8 µ・m・PB 9.8 × 0.2 × 250 × 0.01
=
= 0.43 (N･m)
2πR・η
2π × 2 × 0 . 9
(4) Load Moment of Inertia
2
∙Linear motion section
JL1 = m
∙Ball screw
JB =
1
π ρ
π ×
1
・ B・dB4・ 2 =
7.87 × 103 × 1.0 × (0.02)4・ 2 = 0.31 × 10-4 (kg･m2)
2
R
32
32
JG = 0.40 × 10-4 (kg∙m2)
∙Coupling
∙Load moment of
inertia at motor shaft
JL = JL1 + JB + JG = (1.58 + 0.31 + 0.40) × 10-4 = 2.29 × 10-4 (kg∙m2)
(5) Load Moving Power
PO =
381
2
PB
0.01
= 250 ×
= 1.58 × 10-4 (kg･m2)
2πR
2π × 2
2πnM・TL
2π × 3000 × 0.43
=
= 135(W)
60
60
Others
Selecting Servomotor Capacity and Regenerative Capacity
Servomotor Capacity Selection Examples
(6) Load Acceleration Power
Pa =
2π
nM
60
2
JL
=
ta
2π
× 3000
60
2
×
2.29 × 10-4
= 226 (W)
0.1
(7) Servomotor Provisional Selection
∙TL ≦ Motor rated torque
(a) Selecting Conditions
(Po + Pa)
Provisionally selected
<
< (Po + Pa)
∙
servomotor rated output
2
∙
∙nM ≦ Motor rated speed
∙JL ≦ Allowable load moment of inertia
The followings satisfy the conditions.
∙Servomotor SGMJV-02A
(b) Specifications of the Provisionally Selected Servomotor
∙Rated output
∙Rated motor speed
∙Rated torque
∙Instantaneous peak torque
: 200 (W)
: 3000 (min-1)
: 0.637 (N ∙ m)
: 2.23 (N ∙ m)
∙Servomotor moment of inertia
∙Allowable load moment of inertia
: 0.259 × 10-4 (kg ∙ m2)
: 0.259 × 10-4 × 15 = 3.885 × 10-4 (kg ∙ m2)
(8) Verification on the Provisionally Selected Servomotor
∙Required acceleration torque: TP =
π × 3000 × (0.259 + 2.29) × 10-4
2πnM(JM + JL)
+ TL = 2
+ 0.43
60ta
60 × 0.1
≒ 1.23 (N ∙ m) < Instantaneous peak torque ∙ ∙ ∙ Satisfactory
∙Required deceleration torque: TS =
π × 3000 × (0.259 + 2.29) × 10-4
2πnM(JM + JL)
− TL = 2
− 0.43
60td
60 × 0.1
≒ 0.37 (N ∙ m) < Instantaneous peak torque ∙ ∙ ∙ Satisfactory
∙Torque effective value: Trms =
TP2・ta + TL2・tc + Ts2・td =
t
(1.23)2 × 0.1 + (0.43)2 × 1.0 + (0.37)2 × 0.1
1.5
≒ 0.483 (N ∙ m) < Rated torque ∙ ∙ ∙ Satisfactory
(9) Result
The provisionally selected servomotor is confirmed to be applicable.
The torque diagram is shown below.
（N･m）
Torque
0.43
0
-0.37
0.1
0.1
1.0
1.5
Selecting Servomotor Capacity
and Regenerative Capacity
Speed
1.23
382
Servomotor Capacity Selection Examples
Use the AC servo drive capacity selection program SigmaJunmaSize+ to select servomotor capacity.
The program can be downloaded for free from our web site (http://www.e-mechatronics.com/).
1Selection Example for Position Control
Mechanical Specifications
Servomotor
Linear motion
υL
Coupling
Ball screw
∙ Load speed: υ L = 15 m/min
∙ Linear motion section mass: m = 80 kg
∙ Ball screw length: B = 0.8 m
∙ Ball screw diameter: dB = 0.016 m
∙ Ball screw lead: PB = 0.005 m
∙ Ball screw material density: =7.87×103 kg/m3
∙ Coupling mass: mc = 0.3 kg
∙ Coupling outer diameter: dc = 0.03 m
∙ Positioning times: n = 40 times/min
∙ Positioning distance: = 0.25 m
∙ Positioning time: tm = 1.2 s max.
∙ Electrical stop accuracy: δ = ± 0.01 mm
∙ Friction coefficient: μ = 0.2
∙ Mechanical efficiency: η = 0.9 (90%)
(1) Speed Diagram
υL
15
60 = 60 =
1.5(s)
n
40
Where ta = td, ts = 0.1(s)
t=
Reference pulse
Load speed
Speed
(m/min)
ta
tc
tm
td ts
60 × 0.25 =
ta = tm − ts − υ = 1.2 − 0.1 −
0.1(s)
15
L
tc = 1.2 − 0.1 × 2 = 1.0(s)
Time(s)
t
(2) Rotation Speed
∙Load axis rotation speed nL =
υL
PB
=
15 =
3000(min-1)
0.005
∙Motor shaft rotation speed with direct coupling: Gear ratio 1/R = 1/1
Therefore, nM = nL∙R = 3000 × 1 = 3000 (min-1)
(3) Load Torque
TL =
9.8 µ・m・PB 9.8 × 0.2 × 80 × 0.005
=
= 0.139(N･m)
2πR・η
2π × 1 × 0.9
(4) Load Moment of Inertia
2
∙Liner motion section
∙Ball screw
∙Coupling
2
PB
0.005
= 80 ×
= 0.507 × 10-4(kg･m2)
2πR
2π × 1
π ρ
π ×
・ℓB・dB4 =
JB =
7.87 × 103 × 0.8 × (0.0016)4 = 0.405 × 10-4(kg･m2)
32
32
1
1
Jc =
mc・dc4 = × 0.3 × (0.03)2 = 0.338 × 10-4(kg･m2)
8
8
JL1 = m
∙Load moment of inertia at the motor shaft
383
JL = JL1 + JB + Jc = 1.25 × 10-4 (kg ∙ m2)
Others
Selecting Servomotor Capacity and Regenerative Capacity
Servomotor Capacity Selection Examples
(5) Load Moving Power
PO =
2πnM・TL
2π × 3000 × 0.139
=
= 43.7(W)
60
60
(6) Load Acceleration Power
Pa =
2π
nM
60
2
JL
=
ta
2π
1.25 × 10-4
× 3000 ×
= 123.4(W)
60
0.1
2
(7) Provisionally Servomotor Selection
(a) Selecting Conditions
∙TL ≦ Motor rated torque
(Po + Pa)
Provisionally selected
<
< (Po + Pa)
∙
servomotor rated output
2
∙
∙nM ≦ Motor rated speed
∙JL ≦ Allowable load moment of inertia
The followings satisfy the conditions.
∙Servomotor SGMJV-01A
(b) Specifications of Servomotor
∙Rated output
: 100 (W)
∙Rated motor speed
: 3000 (min-1)
∙Rated torque
: 0.318 (N ∙ m)
∙Instantaneous peak torque
: 1.11 (N ∙ m)
∙Servomotor rotor moment of inertia : 0.0665 × 10-4 (kg ∙ m2)
: 0.0665 × 10-4 × 20 = 1.33 × 10-4 (kg ∙ m2)
∙Allowable load moment of inertia
: 20 bit (1048576P/rev)
∙Encoder resolution
(8) Verification on Provisionally Selected Servomotor
∙Required acceleration torque: TP =
≒ 0.552 (N ∙ m) < Instantaneous peak torque ∙ ∙ ∙ Satisfactory
∙Required deceleration torque: TS =
π × 3000 × (0.0665 + 1.25) × 10-4
2πnM(JM + JL)
− TL = 2
− 0.139
60td
60 × 0.1
≒ 0.275 (N ∙ m) < Instantaneous peak torque ∙ ∙ ∙ Satisfactory
2
2
2
∙Torque effective value: Trms = TP ・ta + TL ・tc + Ts ・td =
t
(0.552)2 × 0.1 + (0.139)2 × 0.9 + (0.275)2 × 0.1
1.5
≒ 0.192 (N ∙ m) < Rated torque ∙ ∙ ∙ Satisfactory
The above confirms that the provisionally selected servomotor is sufficient. In the next step, their performance in position
control are checked.
Selecting Servomotor Capacity
and Regenerative Capacity
2π × 3000 × (0.0665 + 1.25) × 10-4
2πnM(JM + JL)
+ TL = + 0.139
60ta
60 × 0.1
384
Servomotor Capacity Selection Examples
(9) PG Feedback Pulse Dividing Ratio: Setting of Electronic Gear Ratio
B
A
As the electrical stop accuracy δ = ±0.01mm, take the position detection unit ∆ = 0.01mm/pulse.
PB
k=
×
B
A
B
A
=
=
5
×
0.01
B
A
= 1048576
1048576
500
(10) Reference Pulse Frequency
vs =
1000υ L
×
= 1000 15 = 25,000(pps)
60 × 0.01
(11) Error Counter Pulses
Position loop gain KP = 40 (1/s)
ε=
vs = 25,000
KP
40
= 625(pulse)
(12) Electrical Stop Accuracy
± ∆ε = ±
ε
(SERVOPACK control range) × nM
nR
=±
625
± 0.125 < ±1(pulse) = ± 0.01(mm)
3000
5000 ×
3000
The above results confirm that the selected servomotor is applicable for the position control.
385
Others
Selecting Servomotor Capacity and Regenerative Capacity
Selecting Regenerative Resistors
(1) Simple Calculation
When driving a servomotor with the horizontal axis, check the external regenerative resistor requirements using the
calculation method shown below.
(a) SGDV-¡¡¡F, -R70A, -R90A, -1R6A, and -2R8A SERVOPACKs
These SERVOPACKs do not have built-in regenerative resistors. The energy that can be charged with capacitors is
shown in the following table. If the rotational energy in the servomotor exceeds these values, then connect an external
regenerative resistor.
Voltage
Single-phase
100 V
Three-phase
200V
Regenerative Energy that Can
Applicable SERVOPACK
Remarks
be Processed (joules)
SGDV-R70F, R90F, 2R1F
26.4
SGDV-2R8F
44.1
SGDV-R70A, -R90A, -1R6A
24.2
SGDV-2R8A
31.7
Value when main circuit input voltage is 100 VAC
Value when main circuit input voltage is 200 VAC
Calculate the rotational energy (Es) in the servomotor from the following equation:
Es = J × (nM )2/182 (joules)
∙ J = JM + JL
∙ JM : Servomotor rotor moment of inertia (kg∙m2)
∙ JL : Load converted to shaft moment of inertia (kg∙m2)
∙ nM : Rotation speed used by servomotor (min-1)
(b) SERVOPACKs other than (a)
SERVOPACKs other than SGDV-¡¡¡F, -R70A, -R90A, -1R6A, and -2R8A have built-in regenerative resistors. The
allowable frequencies for just the servomotor in acceleration and deceleration operation, during the rotation speed cycle
from 0 (min-1) to the maximum rotation speed to 0, are summarized in the following table.
Convert the data into the values obtained with actual rotation speed and load moment of inertia to determine whether
an external regenerative resistor is needed.
Voltage
Three-phase
200 V
Servomotor Model
Allowable Frequencies in Regenerative Mode (time/min)
03
05
06
08
09
10
13
15
20
25
30
40
44
SGMJV-¡¡
–
–
–
15
–
–
–
–
–
–
–
–
–
50
–
SGMAV-¡¡
–
–
74
31
–
20
–
–
–
–
–
–
–
–
SGMPS-¡¡
–
–
–
11
–
–
–
7
–
–
–
–
–
–
SGMGV-¡¡A
39
29
–
–
6
–
6
–
7
–
9*
–
6
–
12
SGMSV-¡¡A
–
–
–
–
–
13
–
21
28
21
10
16
–
Three-phase
SGMGV-¡¡D
68
51
–
–
10
–
8
–
13
–
7
–
6
–
400V
SGMSV-¡¡D
–
–
–
–
–
24
–
30
49
38
17
16
–
12
Selecting Servomotor Capacity
and Regenerative Capacity
*: This value is "4," when used in combination with SGDV-200A SERVOPACK.
386
Selecting Regenerative Resistors
Operating Conditions for Allowable Regenerative Frequency Calculation
Load moment of inertia = 0 (servomotor only)
Speed reference
0
t
Maximum rotation speed
Servomotor rotation speed
0
Regeneration
mode
Maximum torque
Servomotor-generated torque 0
t
Maximum torque
T
(Operation cycle)
Allowable frequency = 1/T (times/min)
Use the following equation to calculate the allowable frequency for regeneration mode operation
Allowable frequency for Seromotor only
Max. rotation speed 2
Allowable frequency = —————————————————————— × ——————————— (time/min)
(1+n)
Rotation speed
∙ n = JL / JM
∙ JM : Servomotor rotor moment of inertia (kg∙m2)
∙ JL : Load converted to shaft moment of inertia (kg∙m2)
(c) SGDV-470A, -550A, -590A, -780A SERVOPACKs
These SERVOPACKs do not have built-in regenerative resistors. The following table shows the allowable regenerative
frequencies when the JUSP-RA04-E or JUSP-RA05-E regenerative resistor is used together with an applicable
SERVOPACK.
The servomotor driving conditions and the conversion equation for the allowable regenerative frequencies to the rotation
speed and load moment of inertia are the same as that shown in (b) on the previous page.
Voltage
Three-phase 200 V
387
Servomotor Model
Allowable Frequencies in Regenerative Mode (time/min)
55
70
75
1A
1E
SGMGV-¡¡A
24
–
34
39
31
SGMSV-¡¡A
–
124
–
–
–
Others
Selecting Servomotor Capacity and Regenerative Capacity
Selecting Regenerative Resistors
(2) Calculating the Regenerative Energy
This section shows the procedure for calculating the regenerative resistor capacity when acceleration and deceleration
operation is as shown in the following diagram
nM: Motor rotation speed
Rotation speed
0
tD
TL: Load torque
Motor torque
0
T
Regenerative torque
Calculation Procedure
3
The procedure for calculating the regenerative capacity is as follows:
Step
1
2
3
Item
Calculate the rotational energy of the servomotor.
Calculate the energy consumed by load loss during the
deceleration period
Calculate the energy lost from servomotor winding
resistance.
Symbol
Equation
ES
ES = JnM 2 / 182
EL
EL = (π / 60)nMTLt D
EM
(Value calculated from (4) Servomotor Winding Resistance
Loss diagrams) × t D
Calculate from (3) SERVOPACK’s Absorbable Energy
4
Calculate the SERVOPACK energy that can be absorbed.
EC
5
Calculate the energy consumed by the regenerative resistor.
EK
EK = ES - (EL + EM + EC)
6
Calculate the required regenerative resistor capacity (W).
WK
WK = EK / (0.2 × T)
diagrams.
Note: 1 The “0.2” in the equation for calculating Wk is the value for when the regenerative resistor’s utilized load ratio is 20%.
2 The units for the various symbols are as follows:
ES to EK: Energy joules (J)
TL: Load torque (N∙m)
WK : Regenerative resistor required capacity (W)
t D: Deceleration stopping time (s)
2
J : (= JM + JL)(kg∙m )
T: Servomotor repeat operation period (s)
-1
nM : Servomotor rotation speed (min )
When the operation period in regeneration mode is continuous, add the following items to the above calculation
procedure in order to find the required capacity (W) for the regenerative resistor.
∙ Energy for continuous regeneration mode operation period: EG (joules)
∙ Energy consumed by regenerative resistor: EK = ES - (EL + EM + EC) + EG
∙ Required capacity of regenerative resistor: WK = EK /(0.2 × T)
Here, EG = (2π/ 60) nMGTG t G
∙ TG : Servomotor’s generated torque in continuous regeneration mode operation period (N∙m)
∙ nMG : Servomotor rotation speed for same operation period as above (min-1)
∙ t G : Same operation period as above(s)
Selecting Servomotor Capacity
and Regenerative Capacity
If the above calculation determines that the amount of regenerative power (Wk) processed by the built-in resistor is not
exceeded, then an external regenerative resistor is not required. Refer to Specifications of Built-in Regenerative
Resistor for regenerative resistors built into SERVOPACKs. If the amount of regenerative power that can be processed
by the built-in resistor is exceeded, then install an external regenerative resistor for the capacity obtained from the
above calculation.
If the energy consumed by load loss (in step 2 above) is unknown, then perform the calculation using
El = 0.
388
Selecting Regenerative Resistors
(3) SERVOPACK’s Absorbable Energy
The following diagrams show the relationship between the SERVOPACK’s input power supply voltage and its absorbable
energy.
SERVOPACK for 100 V
SERVOPACK for 200 V
Model: SGDV-
60
R70F, R90F, 2R1F
2R8F
Model: SGDVR70A, R90A, 1R6A
2R8A
70
3R8A
50
5R5A, 7R6A
Absorbable Energy (J)
Absorbable Energy (J)
60
40
30
20
50
40
30
20
10
10
0
0
85
90
95
100
105
110
115
120
170
180
190
200
Input Voltage (Vrms)
SERVOPACK for 200 V
210
220
230
Model: SGDV-
SERVOPACK for 200 V
600
160
260
470A
550A
330A
590A
500
780A
Absorbable Energy (J)
120
Absorbable Energy (J)
250
Model: SGDV-
120A
180A, 200A
140
240
Input Voltage (Vrms)
100
80
60
400
300
200
40
100
20
0
0
170
180
190
200
210
220
230
240
250
260
170
Input Voltage (Vrms)
SERVOPACK for 400 V
160
Model: SGDV1R9D
3R5D, 5R4D
700
8R4D, 120D
170D
600
200
210
220
230
SERVOPACK for 400 V
240
250
260
120
100
80
60
Model: SGDV-
210D
260D
280D
370D
500
40
400
300
200
100
20
0
320
340 360 380 400 420 440 460 480 500 520 540
Input Voltage (Vrms)
389
190
Input Voltage (Vrms)
Absorbable Energy (J)
Absorbable Energy (J)
140
180
0
320 340 360 380 400 420 440 460 480 500 520 540
Input Voltage (Vrms)
Others
Selecting Servomotor Capacity and Regenerative Capacity
Selecting Regenerative Resistors
(4) Servomotor Winding Resistance Loss
The following diagrams show the relationship, for each servomotor, between the servomotor’s generated torque and the
winding resistance loss.
(a) SGMJV Rotary Servomotors
Model: SGMJV500
Model: SGMAV-
450
08A
Winding Resistance Loss ( W )
Winding Resistance Loss ( W )
350
C2A
400
350
04A
300
01A
02A
250
200
A5A
150
100
50
01A
300
02A
250
A5A
200
150
100
50
0
0
100
200
300
350
0
Torque (%)
0
100
200
Model: SGMAV-
Model: SGMAV450
C2A
02A
250
06A
400
01A
300
Winding Resistance Loss ( W )
Winding Resistance Loss ( W )
350
300
Torque (%)
(b) SGMAV Rotary Servomotors
A5A
200
150
100
50
04A
350
08A
300
10A
250
200
150
100
50
0
0
0
100
200
300
Torque (%)
0
100
200
300
Torque (%)
Model: SGMAV-
450
06A
400
350
08A
450
300
Model: SGMPS-
10A
04A
400
250
15A
350
02A
200
300
01A
08A
150
250
100
200
50
150
0
100
0
100
200
300
Torque (%)
50
0
0
100
200
Torque (%)
300
Selecting Servomotor Capacity
and Regenerative Capacity
Winding Resistance
( W ) Loss ( W )
WindingLoss
Resistance
04A
(c) SGMPS Rotary Servomotors
390
Selecting Regenerative Resistors
(d) SGMGV Rotary Servomotors
Model: SGMGV-
Model: SGMGV800
Winding Resistance Loss ( W )
Winding Resistance Loss ( W )
600
500
05¡
400
03¡
300
200
700
20¡
600
13¡
500
09¡
400
300
200
100
100
0
0
100
200
300
0
0
400
50
100
150
200
250
300
Torque (%)
Torque (%)
Model: SGMGV-
Model: SGMGV-
1200
1400
Winding Resistance Loss ( W )
Winding Resistance Loss ( W )
75¡
1000
44¡㧘55¡
800
30¡
600
400
200
1200
1EA
1000
1AA
800
600
400
200
0
0
0
50
100
150
200
250
0
300
50
100
150
200
250
300
Torque (%)
Torque (%)
(e) SGMSV Rotary Servomotors
Model: SGMSV-
Model: SGMSV-
1400
1600
70A
Winding Resistance Loss ( W )
Winding Resistance Loss ( W )
25¡
1200
20¡
1000
800
600
400
15¡
10¡
200
0
0
50¡
1200
1000
30¡㧘40¡
800
600
400
200
100
200
Torque (%)
391
1400
300
400
0
0
100
200
Torque (%)
300
400
Others
Selecting Servomotor Capacity and Regenerative Capacity
Selecting Regenerative Resistors
(f) SGMCS Direct Drive Servomotors
1000
Winding Resistance Loss ( W )
10C
600
Winding Resistance Loss ( W )
Model: SGMCS-
Model: SGMCS-
700
04C
14C
500
07B
05B
400
02B
300
200
16E
800
35E
25D
600
08D
17D
400
200
100
0
0
100
0
0
300
200
100
300
200
Torque (%)
Torque (%)
(g) SGLGW Linear Servomotors
Model: SGLGW-30A
250
Model: SGLGW-40A
1200
Winding Resistance Loss ( W )
Winding Resistance Loss ( W )
365C¡
080C¡
200
050C¡
150
100
50
1000
253C¡
800
600
140C¡
400
200
0
0
0
100
200
300
0
400
100
200
300
Model: SGLGW-40A
2500
400
Torque (%)
Torque (%)
Model: SGLGW-60A
1400
365C¡-M
Winding Resistance Loss ( W )
Winding Resistance Loss ( W )
365C¡
2000
253C¡-M
1500
140C¡-M
1000
500
1200
1000
253C¡
800
140C¡
600
400
200
0
0
100
200
300
400
0
500
0
100
200
Torque (%)
400
Model: SGLGW-90A
Model: SGLGW-60A
3000
300
Torque (%)
6000
365C¡-M
253C¡-M
2000
1500
140C¡-M
1000
500
0
0
100
200
300
Torque (%)
400
500
5000
4000
370C¡
3000
200C¡
2000
1000
0
0
100
200
300
Torque (%)
400
500
Selecting Servomotor Capacity
and Regenerative Capacity
Winding Resistance Loss ( W )
Winding Resistance Loss ( W )
535C¡
2500
392
Selecting Regenerative Resistors
(h) SGLFW Linear Servomotors
Model: SGLFW-20A
Winding Resistance Loss ( W )
Winding Resistance Loss ( W )
120A¡
250
200
090A¡
150
100
Model: SGLFW-35A
800
300
50
700
600
230A¡
500
400
120A¡
300
200
100
0
0
0
0
100
200
300
400
500
100
200
Torque (%)
Model: SGLFW-50A
1000
380B¡
800
600
400
200B¡
400
Model: SGLFW-1ZA
1800
Winding Resistance Loss㧔W㧕
Winding Resistance Loss㧔W㧕
1200
300
Torque (%)
1600
1400
380B¡
1200
1000
200B¡
800
600
400
200
200
0
0
0
100
0
200
300
100
Torque (%)
1200
Winding Resistance Loss㧔W㧕
Winding Resistance Loss㧔W㧕
700
600
300
Model: SGLFW-50D
Model: SGLFW-35D
800
200
Torque (%)
230A¡
500
400
120A¡
300
200
1000
800
380B¡
600
200B¡
400
200
100
0
0
100
200
300
400
Model: SGLFW-1ZD
Winding Resistance Loss㧔W㧕
1800
1600
1400
380B¡
1200
1000
800
200B¡
600
400
200
0
0
100
200
Torque (%)
393
100
200
Torque (%)
Torque (%)
2000
0
0
300
300
Others
Selecting Servomotor Capacity and Regenerative Capacity
Selecting Regenerative Resistors
(i) SGLTW Linear Servomotors
Model: SGLTW-20A
Model: SGLTW-35A
3500
Winding Resistance Loss
㧔W㧕
Winding Resistance Loss
㧔W㧕
2500
2000
460A¡
1500
320A¡
1000
170A¡
3000
460A¡
2500
320A¡
2000
1500
170A¡
1000
500
500
0
0
100
200
300
0
400
0
100
200
Torque (%)
Model: SGLTW-35A
400
Model: SGLTW-40A
7000
800
Winding Resistance Loss
㧔W㧕
Winding Resistance Loss㧔W㧕
900
300
Torque (%)
320H¡
700
600
170H¡
500
400
300
6000
600B¡
5000
400B¡
4000
3000
2000
200
1000
100
0
0
50
100
150
200
0
250
0
200
Torque (%)
Model: SGLTW-50A
600
1000
320H¡
800
170H¡
600
400
Model: SGLTW-80A
10000
Winding Resistance Loss㧔W㧕
9000
8000
7000
400B¡
6000
5000
4000
3000
2000
200
1000
0
0
50
100
150
Torque (%)
200
250
0
0
200
400
600
Torque (%)
Selecting Servomotor Capacity
and Regenerative Capacity
Winding Resistance Loss㧔W㧕
1200
400
Torque (%)
394
Selecting Regenerative Resistors
(i) SGLTW Linear Servomotors (cont’d)
Model: SGLTW-35D
900
800
320H¡
700
600
500
170H¡
400
300
Model: SGLTW-40D
8000
Winding Resistance Loss㧔W㧕
Winding Resistance Loss
㧔W㧕
1000
7000
6000
600B¡
5000
400B¡
4000
3000
2000
200
1000
100
0
0
0
100
300
200
0
200
Torque (%)
Model: SGLTW-50D
600
1000
320H¡
800
170H¡
400
Model: SGLTW-80D
12000
Winding Resistance Loss
㧔W㧕
Winding Resistance Loss㧔W㧕
1200
600
400
Torque (%)
10000
8000
400B¡
6000
4000
2000
200
0
0
0
50
100
150
200
250
0
200
Torque (%)
400
600
Torque (%)
(j) SGLCW Cylinder Type Linear Servomotors
Model: SGLCW-D16A
Winding Resistance Loss㧔W㧕
Winding Resistance Loss㧔W㧕
350
145AP
300
115AP
250
085AP
200
150
100
Model: SGLCW-D20A
1200
400
1000
170AP
800
135AP
600
100AP
400
200
50
0
0
0
100
200
300
400
0
500
200
1600
1400
Winding Resistance Loss㧔W㧕
Winding Resistance Loss㧔W㧕
600
Model: SGLCW-D32A
Model: SGLCW-D25A
1600
215AP
1200
170AP
1000
125AP
800
600
400
200
1400
285AP
1200
225AP
1000
165AP
800
600
400
200
0
0
0
100
200
300
Torque (%)
395
400
Torque (%)
Torque (%)
400
500
0
100
200
300
Torque (%)
400
500
Others
Selecting Servomotor Capacity and Regenerative Capacity
Selecting Regenerative Resistors
(k) SGT Linear Sliders
700
1200
Winding Resistance Loss㧔W㧕
F4¡
600
500
F3¡
400
300
200
1000
800
600
F9A
400
200
100
0
0
0
100
200
300
400
0
100
Torque (%)
200
Model: SGT¡
Model: SGT¡
1200
1400
Winding Resistance Loss㧔W㧕
Winding Resistance Loss㧔W㧕
300
Torque (%)
1000
GF¡
800
GE¡
600
GD¡
400
200
1200
GI¡
1000
GH¡
800
GG¡
600
400
200
0
0
0
100
200
Torque (%)
300
400
0
100
200
300
400
Torque (%)
Selecting Servomotor Capacity
and Regenerative Capacity
Winding Resistance Loss㧔W㧕
Model: SGT¡
Model: SGT¡
800
396