User's Manual

Configuring the motor
5.2 Example(s)
General conditions for positioning within a defined period
● Moment of inertia in kgm
2
: J = 5.1 kg m
2
;
moving cylindrical mass m = 30 kg with substitute radius r = 0.583 m; rotary axes of
moving mass and motor are identical;
calculated from:
Figure 5-7 Moments of inertia of moving cylindrical mass and torque motor
● Rotation angle in ° or rad: φ = 120° = 2/3 π
● Traversing time in s: t
1
= 0.4 s
● Constant frictional torque in Nm: M
r
= 100
The following must be determined:
● Suitable torque motor
● Angular velocity ω in rad/s or speed n in rpm
● Angular acceleration α in rad/s
2
or acceleration in rev/s
2
The shape of the traversing profile is not stipulated, but the angle to be traversed and the
duration are specified for this.
Provided that no restrictive requirements regarding angular acceleration and/or angular
velocity have been specified, the most straightforward suitable traversing operation simply
involves acceleration followed by deceleration.
1FW6 Built-in torque motors
72 Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3