sh030051g.pdf - 第202页

10 - 7 10. CHARACTERISTIC S Speed [r/min] T i m e c o n s t a n t [ m s ] 500 1000 1500 2000 10 20 30 40 50 60 0 0 81 201 121 51 421 301 Speed [ r/min ] Time constant [ms] 52 500 1000 1500 2000 2500 3000 152 20 40 60 80 …

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10 - 6
10. CHARACTERISTICS
10.3 Dynamic brake characteristics
10.3.1 Dynamic brake operation
(1) Calculation of coasting distance
Fig. 10.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated.
Use Equation 10.2 to calculate an approximate coasting distance to a stop. The dynamic brake time
constant
varies with the servo motor and machine operation speeds. (Refer to (2)(a), (b) of this section.)
V
0
Time constant
Forced stop(EM1)
OFF
ON
Machine speed
t
e
Time
Fig. 10.3 Dynamic brake operation diagram
Lmax
60
V
0
JL
JM
t
e
1
....................................................................................................................... (10.2)
L
max : Maximum coasting distance .................................................................................................... [mm][in]
Vo : Machine rapid feed rate .............................................................................................. [mm/min][in/min]
J
M
: Servo motor inertial moment ..................................................................................... [kg cm
2
][oz in
2
]
J
L
: Load inertia moment converted into equivalent value on servo motor shaft ............ [kg cm
2
][oz in
2
]
: Brake time constant .......................................................................................................................... [s]
t
e
: Delay time of control section ............................................................................................................. [s]
For 7kW or less servo, there is internal relay delay time of about 30ms. For 11k to 22kW servo,
there is delay time of about 100ms caused by a delay of the external relay and a delay of the
magnetic contactor built in the external dynamic brake.
(2) Dynamic brake time constant
The following shows necessary dynamic brake time constant
for the equations (10.2).
(a) 200V class servo motor
Speed [r/min]
0
0 1000 2000
5
10
15
20
25
3000 4000 5000 6000
43
053
13
2373
Time constant [ms]
0
0 1000 2000
5
10
15
20
25
3000 4000 5000 6000
43
053
13
23
73
Speed [r/min]
Time constant [ms]
HF-MP series HF-KP series
10 - 7
10. CHARACTERISTICS
Speed [r/min]
T
i
m
e
c
o
n
s
t
a
n
t
[
m
s
]
500 1000 1500 2000
10
20
30
40
50
60
0
0
81
201
121
51
421
301
Speed [r/min]
Time constant [ms]
52
500 1000
1500 2000 2500 3000
152
20
40
60
80
100
120
0
0
102
202
502
702
352
HF-SP1000r/min series HF-SP2000r/min series
Speed [r/min]
0
2
4
6
8
10
12
14
16
18
0 500 1000 1500 2000 2500 3000
153
503
103
353
203
Ti
m
e
c
o
n
s
t
a
n
t
[
m
s
]
Speed [r/min]
352
500 1000 1500 20000
0
10
20
30
40
50
60
70
80
90
100
502
72
202
152
Ti
m
e
c
o
n
s
t
a
n
t
[
m
s
]
HC-RP series HC-UP2000r/min series
0
10
20
30
40
50
60
50 500 100015002000250030000
43
23
70
13
73
Speed
[r/min]
Ti
m
e
c
o
n
s
t
a
n
t
[
m
s
]
Speed[r/min]
200 400 600 1200
Ti
m
e
c
o
n
s
t
a
n
t
[
m
s
]
10
20
30
40
50
60
0
0
800 1000
15K1
25K1
12K1
801
20K1
601
HC-UP3000r/min HA-LP1000r/min series
0
Speed[r/min]
20
40
60
80
100
120
0 500 1000 1500 2000
11K1M
15K1M
22K1M
701M
Ti
m
e
c
o
n
s
t
a
n
t
[
m
s
]
Speed[r/min]
0
0
500
1000 1500 2000
80
60
40
20
11K2
15K2
22K2
502
702
Ti
m
e
c
o
n
s
t
a
n
t
[
m
s
]
HA-LP1500r/min series HA-LP2000r/min series
10 - 8
10. CHARACTERISTICS
Ti
m
e
c
o
n
s
t
a
n
t
[
m
s
]
0
0
52
500 1000 1500 2000
202
200
152
102
160
120
80
40
302
Speed[r/min]
HC-LP series
(b) 400V class servo motor
5024
0 1000 2000 3000
75
60
45
30
15
0
90
7024
1524
3524
1024
524
2024
Ti
m
e
c
o
n
s
t
a
n
t
[
m
s
]
Speed[r/min]
Ti
m
e
c
o
n
s
t
a
n
t
[
m
s
]
0 400 800 1200
35
0
30
25
20
15
10
5
Speed[r/min]
8014
15K14
12K14
20K14
6014
HA-SP2000r/min series HA-LP1000r/min series
Ti
m
e
c
o
n
s
t
a
n
t
[
m
s
]
0 500 1000 1500
20
16
12
8
4
0
Speed[r/min]
11K1M4
15K1M4
701M4
22K1M4
Ti
m
e
c
o
n
s
t
a
n
t
[
m
s
]
0
500 1000 1500 20000
40
35
30
25
20
15
10
5
11K24
22K2
15K24
Speed[r/min]
HA-LP1500r/min series HA-LP2000r/min series