Panasonic Dimensioning

8/12/2019 Panasonic Dimensioning

1/15

1

Mechanical block calculating formula (Rotation Linear motion)

Rotation Linear motion Ball screw horizontal

1. Weight WAin kg

2. Inertia conversion weight WJin kg

3. External force Uin kg

4. Stopped-state holding force Hin kg

5. Friction force Fin kg

6. Velocity coefficient Vin

7. Backlash coefficient B Bin

Receiving data

8. Backlash coefficient A Ain

1. Ball screw density g/cm3

2. Ball screw lead P cm

3. Ball screw diameter D cm

4. Ball screw length L cm

5. Table mass WT kg

6. Friction coefficient

7. Conduction efficiency

Individual

input item

1. Inertia JLout kgcm

2

2. Friction torque TFout Nm

3. Starting torque TUout Nm

4. Stopped-state holding torque THout Nm

5. Velocity coefficient Vout

6. Backlash coefficient B Bout

Passing data

32

LD10J

43

B

=

B2

2

J4

P)WTWJinWAin(JLout +

++=

++

=

2

10PG))WTWAin(Fin(TFout

2

=

2

10PGUinTUout

2

2

10PGHinTHout

2 =

110P

60VinVout

=

AinBout=

Rotation Linear motion Ball screw vertical

1. Weight WAin kg







Receiving data






5. Table mass WT kg



Individual

input item

1. Inertia JLout kgcm2






Passing data

32

LD10J

43

B

=

B2

2

J4

P)WTWJinWAin(JLout +

++=

)2

10PG))WTWAin(Fin((ABSTFout

2

++

=

++=

2

10PG)WTWAinUin(TUout

2

2

10PG)WTWAinHin(THout

2 ++=

110P

60VinVout

=

AinBout=

JB = Ball screw inertia

G = 9.8


2/15

2


Rotation Linear motion Ball screwnut rot. horizontal

1. Weight WAin kg







Receiving data


1. Ball screw density 1 g/cm3

2. Nut density 2 g/cm3


4. Ball screw length L1 cm

5. Ball screw diameter D1 cm

6. Nut length L2 cm

7. Nut external diameter D2 cm

8. Table mass WT kg


Individual

input item



2






Passing data

4

10LDWB

311

2

1

=

32

1

2

222

2

1

2

2 108

DDL

4

D

4

DJN

+

=

JN4

P)WJinWTWBWAin(JLout

2

2

+

+++=

+++

=

2

10PG))WTWBWAin(Fin(TFout

2

=

2

10PGUin

TUout

2

2

10PGHinTHout

2 =

110P

60VinVout

=

AinBout=

Rotation Linear motion Ball screwnut rot. vertical

1. Weight WAin kg







Receiving data


1. Ball screw density 1 g/cm3

2. Nut density 2 g/cm3


4. Ball screw length L1 cm

5. Ball screw diameter D1 cm

6. Nut length L2 cm

7. Nut external diameter D2 cm

8. Table mass WT kg


Individual

input item








Passing data

4

10LDWB

311

2

1

=

32

1

2

222

2

1

2

2 108

DDL

4

D

4

DJN

+

=

JN4

P)WJinWTWBWAin(JLout

2

2

+

+++=

+++

=

2

10PG))WTWBWAin(Fin(TFout

2

+++

=

2

10PG)WTWBWAinUin(TUout

2

2

10PG)WTWBWAinHin(THout

2 +++=

110P

60VinVout

=

AinBout=

WB = Ball screw mass [kg]JN = Nut inertia [kgcm

2]

G = 9.8

WB = Ball screw mass [kg]

JN = Nut inertia [kg

cm2

]G = 9.8


3/15

3


Rotation Linear motion Belt conveyor horizontal

1. Weight WAin kg







Receiving data


1. Drivig pulley density 1 g/cm3

2. Driven pulley density 2 g/cm3

3. Driving pulley diameter D1 cm

4. Driving pulley thickness L1 cm

5. Driven pulley diameter D2 cm

6. Driven pulley thickness L2 cm

7. Table mass WT kg

8. Belt mass WB kg


Individual

input item



2






Passing data

4

LD10W 1

2

13

11

=

8

DWJP

2

111

=

4

LD10W 2

2

23

22

=

8

DWJP

2

222

=

2

2

121

21

D

DJPJP

4

D)WJinWTWBWAin(JLout

++

+++=

+++

=

2

10DG))WTWBWAin(Fin(TFout

21

=

2

10DGUin

TUout

21

2

10DGHinTHout

21 =

11 10D

60VinVout

=

AinBout=

Rotation Linear motion Belt conveyor vertical

1. Weight WAin kg







Receiving data


1. Driving pulley density 1 g/cm3

2. Driven pulley density 2 g/cm3

3. Driving pulley diameter D1 cm

4. Driving pulley thickness L1 cm

5. Driven pulley diameter D2 cm

6. Driven pulley thickness L2 cm

7. Table mass WT kg

8. Belt mass WB kg9. Friction coefficient

Individualinput item








Passing data

4

LD10W 1

2

13

11

=

8

DWJP

2

111

=

4

LD10W 2

2

23

22

=

8

DWJP

2

222

=

2

2

121

21

D

DJPJP

4


++

+++=

)2

10DG))WTWBWAinUin(Fin((ABSTFout

2

1

++++=

++

=

2

10DG)WTWAinUin(TUout

21

2

10DG)WTWAinHin(THout

21

++=

11 10D

60VinVout

=

AinBout=

W1 = Driving pulley mass [kg]W2 = Driven pulley mass [kg]JP1 = Driving pulley inertia [kgcm

2]

JP2 = Driven pulley inertia [kgcm2]

G = 9.8

W1 = Driving pulley mass [kg]W2 = Driven pulley mass [kg]

JP1 = Driving pulley inertia [kgcm2]JP2 = Driven pulley inertia [kgcm

2]

G = 9.8


4/15

4


Rotation Linear motion Pinion rack horizontal

1. Weight WAin kg







Receiving data


1. Pinion density g/cm3

2. Pinion diameter D cm

3. Pinion thickness L cm

4. Table mass WT kg



7. Rack mass WB kg

8. Backlash B deg.

Individual

input item


2



4. Stopped-state holding torque

THoutNm



Passing data

32

LD10JP

43 =

JP4


2

++++

=

+++

=

2

10DG))WTWBWAin(Fin(TFout

2

=

2

10DGUinTUout

2

2

10DGHinTHout

2

=

110D

60VinVout

=

Ain60Vin

10DBBout

1

+

=

Rotation Linear motion Pinion rack vertical

1. Weight WAin kg


3. External force Uin kg4. Stopped-state holding force Hin kg




Receiving data





4. Table mass WT kg



7. Rack mass WB kg

8. Backlash B deg.

Individual

input item







Passing data

32

LD10JP

43 =

JP4


2

++++

=

)2

10DG))WTWBWAinUin(Fin((ABSTFout

2

++++

=

+++=

210DG)WTWBWAinUin(TUout

2

2

10DG)WTWBWAinHin(THout

2+++

=

110D

60VinVout

=

Ain60Vin

10DBBout

1

+

=

JP = Driving pulley mass [kgcm2]

G = 9.8

JP = Driving pulley mass [kg

cm

2

]G = 9.8


5/15

5


Rotation Linear motion Roller feeding

1. Weight WAin kg







Receiving data


1. Driving roller density 1 g/cm3

2. Driven roller density 2 g/cm3

3. Driving roller diameter D1 cm

4. Driving roller thickness L1 cm

5. Driven roller diameter D2 cm

6. Driven roller thickness L2 cm

7. Workpiece tension U kg

8. Workpiece mass W kg


Individual

input item


2






Passing data

4

LD10W 1

2

13

11

=

8

DWJP

2

111

=

4

LD10W 2

2

23

22

=

8

DWJP

2

222

=

2

2

121

21

D

DJPJP

4

DWJLout

++

=

=

2

10DGFinTFout

21

+

=

2

10DG)UinU(

TUout

21

2

10DG)HinU(THout

21 +=

11 10D

60VinVout

=

AinBout=

Rotation Linear motion Running bogie

1. Weight WAin kg







Receiving data


1. Bogie total mass W kg

2. Wheel external shape D1 cm

3. Wheel total mass W1 kg

4. Axle external shape D2 cm

5. Axle total mass W2 kg



Individual

input item







Passing data

8

DWJP

2

111

=

8

DWJP

2

222

=

21

2

1 JPJP4

D)WWJinWAin(JLout ++

++=

++

=

2

10DG))WWAin(Fin(TFout

21

=

2

10DGUinTUout21

2

10DGHinTHout

21 =

11 10D

60VinVout

=

AinBout=

W1 = Driving pulley mass [kg]W2 = Driven pulley mass [kg]JP1 = Driving roller inertia [kgcm

2]

JP2 = Driven roller inertia [kgcm2]

G = 9.8

JP1 = Wheel total inertia [kgcm2]

JP2 = Wheel total inertia [kg

cm

2

]G = 9.8


6/15

6


Rotation Linear motion Coupling

1. Inertia JLin kgcm2

2. Friction torque TFin Nm

3. Starting torque TUin Nm

4. Stopped-state holding torque THin Nm



Receiving data

1. Density g/cm3

2. External diameter D cm

3. Length L cm

4. Internal diameter d cm

Individual

input item


2






Passing data

32222

C 108

dDL

4

d

4

DJ

+

=

JcJLinJLout +=

TFinTFout=

TUinTUout=

THinTHout=

VinVout=

BinBout=

Rotation Linear motion Reduction gear







Receiving data

1. Input axis inertia Jg kgcm2

2. Input axis friction torque Tg Nm

3. Reduction ratio i

4. Conduction efficiency g

5. Backlash B deg.Individual

input item







Passing data

g

2

Ji

1JLinJLout +

=

g

g

Ti

1TFinTFout +

=

gi

1TUinTUout

=

iTHinTHout g

=

iVinVout =

BinVin

BBout +=

Jc = Coupling inertia [kgcm2]


7/15

7


Rotation Linear motion Gear







Receiving data

1. Gear density g/cm

2. Input side gear thickness D1 cm

3. Input side gear diameter L1 cm

4. Loading side gear thickness D2 cm

5. Loading side gear diameter L2 cm

6. Conduction efficiency g

7. Backlash B deg.

Individual

input item


2






Passing data

4

LD10W 1

2

13

1

=

8

DWJg

2

111

=

4

LD10W 2

2

23

2

=

2

2

1

2

222

D

D

8

DWJg

=

21

2

2

1 JgJgD

DJLinJLout ++

=

g2

1

D

DTFinTFout

=

g2

1

DDTUinTUout

=

2

g1

D

DTHinTHout

=

=

1

2

D

DVinVout Bin

Vin

BBout +=

Rotation Linear motion Timing belt







Receiving data

1. Pulley density g/cm3

2. Driving pulley thickness D1 cm

3. Driving pulley diameter L1 cm

4. Driven pulley thickness D2 cm

5. Driven pulley diameter L2 cm


7. Mass of the belt WB kg

Individual

input item




4. Stopped-state holding torque

THoutNm



Passing data

4

LD10W 1

2

13

1

=

8

DWJP

2

111

=

4

LD10W 2

2

23

2

=

2

2

1

2

222

D

D

8

DWJP

=

=

2

1

D

DTFinTFout

=

2

1

D

DTUinTUout

2

1

D

DTHinTHout

=

=

1

2

D

DVinVout BinBout=

W1 = Input side gear mass [kg]W2 = Loading side gear mass [kg]Jg1 = Input side gear inertia [kgcm

2]

Jg2 = Loading side gear inertia [kgcm2]

W1 = Driving pulley mass [kg]

W2 = Driven pulley mass [kg]JP1 = Driving pulley inertia [kgcm

2]

JP2 = Driven pulley inertia [kgcm2]

+++

=

4

DWBJPJP

D

DJLinJLout

2

121

2

2

1


8/15

8

Mechanical block calculating formula (Linear motion Rotation )

Linear motion Rotation Rack pinion horizontal







Receiving data




4. Rack mass WA kg



7. Rack mass WB kg

8. Backlash B deg.

Individual

input item

1. Weight WAout kg2. Inertia conversion weight WJout kg

3. External force Uout kg

4. Stopped-state holding force Hout kg

5. Friction force Fout kg



Passing data

8. Backlash coefficient A Aout

32

LD10JP

43 =

2D

4)JPJLin(WJout

+=

WAWAout=

=

G10D

2TFinFout

2

=

G10D

2TUinUout

2

G10D

2THinHout

2

=

60

10DVinVout

1=

Vin

BBinAout +=

Vin360

DBBout

=

Linear motion Rotation Ball screw horizontal







Receiving data





5. Table mass WT kg

6. Conduction efficiency Individual

input item

1. Weight WAout kg

2. Inertia conversion weight

WJoutkg






Passing data


32

LD10JB

43 =

2

2

P

4)JBJLin(WJout

+=

WTWAout=

=

G10P

2TFinFout

2

=

G10P

2TUinUout

2

G10P

2THinHout

2

=

60

10PVinVout

1=

BinAout= 0Bout=

JP = Pinion inertia [kgcm2]

G = 9.8

JB = Ball screw inertia [kgcm2]

G = 9.8


9/15

9

Mechanical block calculating formula (Rotating load)

Rotating load Cylinder inertia load







Receiving data

1. Density g/cm3


3. Thickness L cm

Individual

input item


2






Passing data

4

10LDW

32 =

8

DWJW

2=

JWJLinJLout +=

TFinTFout=

TUinTUout=

THinTHout=

VinVout= BinBout=

Rotating load Eccentric cylinder inertia load







Receiving data

1. Density g/cm3


3. Thickness L cm

4. Eccentricity S cm

Individual

input item







Passing data

4

10LDW

32 =

22

SW8

DWJW +

=

JWJLinJLout +=

TFinTFout=

TUinTUout=

THinTHout=

VinVout= BinBout=

W = Workpiece mass [kg]

JW = Workpiece inertia [kgcm2]


JW = Workpiece inertia [kg

cm

2

]


10/15

10


Rotating load Multi stage cylinder inertia load







Receiving data

1. Density g/cm3

2. First stage external diameter D1 cm

3. First stage thickness L1 cm

4. Second stage external shape D2 cm

5. Second stage thickness L2 cm

6. Third stage external shape D3 cm

7. Third stage thickness L3 cm

Individual

input item


2






Passing data

4

10LDW

31

2

11

=

4

10LDW

32

2

22

=

4

10LDW

33

2

33

=

8

DW

8

DW

8

DWJW

2

33

2

22

2

11 +

+

=

JWJLinJLout +=

TFinTFout=

TUinTUout= THinTHout=

VinVout= BinBout=

Rotating load Prism inertia load







Receiving data

1. Density g/cm3

2. Horizontal dimension a cm

3. Vertical dimension b cm

4. Thickness c cm

Individual

input item







Passing data

310cbaW =

12

)ba(WJW

22 +=

JWJLinJLout +=

TFinTFout=

TUinTUout=

THinTHout=

VinVout= BinBout=

W1 = First stage workpiece mass [kg]W2 = Second stage workpiece mass [kg]W3 = Third stage workpiece mass [kg]

JW = Workpiece total inertia [kgcm2]


JW = Workpiece inertia [kg

cm2

]


11/15

11


Rotating load Eccentric prism inertia load







Receiving data

1. Density g/cm3

2. Horizontal dimension a cm

3. Vertical dimension b cm

4. Thickness c cm

5. Eccentricity S cmIndividual

input item


2






Passing data

310cbaW

=

222

SW12

)ba(WJW +

+=

JWJLinJLout +=

TFinTFout=

TUinTUout=

THinTHout=

VinVout= BinBout=

Rotating load Rotational external force factor







Receiving data

1. Working point distance L cm

2. External force U kg

Individual

input item







Passing data

JLinJLout=

TFinTFout=

TUin10LUGTUout 2 +=

THin10LUGTHout 2 +=

VinVout=

BinBout=


JW = Workpiece inertia [kgcm2]


12/15

12


Rotating load Rotational friction factor







Receiving data

1. Working point distance L cm

2. Friction force F kg

Individual

input item


2






Passing data

JLinJLout=

TFin10LFGTFout 2 +=

TUinTUout=

THinTHout=

VinVout=

BinBout=

Rotating load Index table







Receiving data

1. Table density g/cm3

2. Table external shape D cm

3. Table thickness L cm

4. Table support diameter d cm


6. Workpiece external shape DW cm

7. Workpiece mass W kg

8. Workpiece positional eccentricity S cm

9. Workpiece quantity pc pc.

Individual

input item







Passing data

4

10LDWT

32 =

8

DWTJT

2=

22

SWpc8

DWWpcJTJLinJLout +

++=

2

10dG)WpcWT(TFinTFout

2++=

TUinTUout=

THinTHout=

VinVout=

BinBout=

WT = Table mass [kg]

JT = Table inertia [kg

cm

2

]


13/15

13


Rotating load Direct input of inertia







Receiving data

1. Inertia JL kgcm2

Individual

input item


2






Passing data

JLJLinJLout +=

TFinTFout=

TUinTUout=

THinTHout=

VinVout=

BinBout=


14/15

14

Mechanical block calculating formula (Linear motion load)

Linear motion load Simple linear motion load

1. Weight WAin kg







Receiving data


1. Workpiece total mass W kg

Individual

input item







Passing data


WWAinWAout +=

WJinWJout=

UinUout=

HinHout=

FinFout=

VinVout=

BinBout=

AinAout=

Linear motion load Vertical linear motion load with balancer

1. Weight WAin kg







Receiving data


1. Pulley density g/cm3

2. Pulley diameter D cm

3. Pulley thickness L cm

4. Balancer mass WB kg

5. Workpiece total mass W kg

6. Coefficient of friction

Individual

input item

1. Weight WAout kg

2. Inertia conversion weight WJout kg






Passing data


32

10LDJP

34 =

2D

4JPWP

=

WBWPWJinWJout ++=

WWAinWAout +=

WBUinUout =

WBHinHout =

))(( ++= WBWFinFout

VinVout=

BinBout= AinAout=

JP = Pulley inertia [kgcm2]

WP = Pulley inertia conversion weight [kg]


15/15

15

Mechanical block calculating formula (Linear motion load)

Linear motion load Linear motion external force factor

1. Weight WAin kg







Receiving data


1. External force U kg

Individual

input item







Passing data


WAinWAout=

WJinWJout=

UUinUout +=

UHinHout +=

FinFout=

VinVout=

BinBout=

AinAout=

Linear motion load Linear motion friction factor

1. Weight WAin kg







Receiving data


1. Friction force F kg

Individual

input item

1. Weight WAout kg

2. Inertia conversion weight WJout kg






Passing data


WAinWAout=

WJinWJout=

UinUout=

HinHout=

FFinFout +=

VinVout=

BinBout=

AinAout=

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Panasonic Dimensioning