SUMBU - X

1. Driver Mechanism

Total mass of the table and work

: W = 2.8 kg
Frictional coefficient of sliding surfaces
:u=0
Ball screw efficiency
:n=1
Internal frictional coefficient of pilot pressure nut: uo = 0
Ball screw shaft diameter
: DB = 12 mm
Total length of ball screw
: LB = 530 mm
Material of ball screw (iron)
: = 7.9 x 10 kg/cm = 7.9
-3

x 10-6

kg/mm3

Pitch of ball screw

Resolution (feed per pulse)
Feed
Positioning period
(58125x0,67/1000)

: p = 4 mm
: 0.72o
: 465 mm
:
34.875

2. Required Resolution
0.72o
3. Operating Pulse

Operatin g Pulse=

Feed per unit

360
465 360

=58125
Pitch
step angle
4
0.72

Acceleration (Deceleration) period = 34.875 x 25% = 8.71 sec

Operating PulseStarting pulse speed . Acc ( Dcc ) Period

Positioning Period Acc ( Dcc ) Period
581250
58125
Operating Pulse Speed =
=
=2222 Hz
34.8758.71 26.165

Operating Pulse Speed =

4. Required Torque
(1) Load Torque

sec

= FA + W (sin + u. cos ) = 0 + 2.8 (sin 0 + 0.cos 0) = 2.8 kg

F 2.8
F= =
=0.93 kg
3
3
T=

F . P B u o . Fo PB
2.8 4
0 0.93 4

=1.78 kg
2
2
2 3.14 1
2 3.14

(2) Acceleration Torque

J=

2
6
2
LB DB = 7.9 10 530 12 = 0.05
32
32
2
2
PB
4
kg
J =W
=2.8
=1.13
3
2
2
mm

( )

J Total =J o + J table =0.05+1.13=1.18

kg
mm3

( )

kg
3
mm
J o+ 1.18

J o +J total + step f of 1
+0.72 22220

=( J o +1.18 ) 3.27 104

3
g
180
t1
180
8.71
9.8 10
4
4
= 3.27 10 J o+ 3.85 10
T a=

(3) Required Torque

1.78+
Tm=( T +Ta ) 2=
Tm

3.27 J o 104 + 3.85 104 2

4

= 1.78 + 3.27 J o 10

kg
3
mm

Autonics

Tm

= 1.78 + 3.27 27 10 10 =1.78

kg
mm3

SUMBU - Y
1. Driver Mechanism

Total mass of the table and work

: W = 12 kg
Frictional coefficient of sliding surfaces
:u=0
Ball screw efficiency
:n=1
Internal frictional coefficient of pilot pressure nut: uo = 0
Ball screw shaft diameter
: DB = 12 mm
Total length of ball screw
: LB = 445 mm
Material of ball screw (iron)
: = 7.9 x 10 kg/cm = 7.9
-3

x 10-6

kg/mm3

Pitch of ball screw

Resolution (feed per pulse)
Feed
Positioning period
(47500x0.67/1000)

: p = 4 mm
: 0.72o
: 380 mm
:
31.825

2. Required Resolution
0.72o
3. Operating Pulse

Operating Pulse=

Feed per unit

360
380 360

=47500
Pitch
step angle
4
0.72

Acceleration (Deceleration) period = 31.825 x 25% = 7.95 sec

Operating PulseStarting pulse speed . Acc ( Dcc ) Period

Positioning Period Acc ( Dcc ) Period
475000
58125
Operating Pulse Speed =
=
=1989 Hz
31.8257.95 26.165

Operating Pulse Speed =

sec

4. Required Torque
(1) Load Torque

= FA + W (sin + u. cos ) = 0 + 12 (sin 0 + 0.cos 0) = 12 kg

F 12
F= = =4 kg
3 3
T=

F . P B u o . Fo PB
12 4
044

=7.64 kg
2
2
2 3.14 1 2 3.14

(2) Acceleration Torque

J=

LB D B 2= 7.9 106 445 122 = 0.05

32
32
2
2
PB
4
kg
J =W
=12
=4.86
3
2
2
mm

( )

J Total =J o + J table =0.05+ 4.86=4.91

T a=

kg
3
mm

( )

kg
mm3
J o + 4.91

J o +J total + step f of 1
+0.72 19890

3
g
180
t1
180
7.95
9.8 10
4
4
= 5.47 10 J o+ 26.8 104
T a=( J o + 4.91 ) 5.4 7 10

(3) Required Torque

7.64 +
Tm=( T +Ta ) 2=

Tm

5.47 J o 104 + 2.68 104 2

4

= 7.64 + 5.47 J o 10

kg
mm3

Autonics

Tm

= 7.64 + 5.47 27 10 10 =7.64

kg
mm3