搜索
1B-65262EN/150%/2/3/TrmsTc4Tmrs5Ton63Mitsubishi2.5B-65262ENii21Wkgf=1000kgf=0.05=0.9fgkgf=50kgfFckgf=100kgfFcfkgf=30kgfZ1/Z2=1/1Db=32mmLb=1000mmP=8mmTakgf.cmVm:(mm-1)=3000mm-1ta:(s)=0.10sJm:(kgf.cm.sec2)Jl:(kgf.cm.sec2)ks:(sec-1)=30sec-11.1Tm=+TfTm:(Nm)F:()(kgf)L:=P(Z1/Z2)=8mmTf:FFFL2Tm=Fd(1/)+Tf=F(L/2)(1/)+Tfd3F(Tf==2kgf.cm=0.2Nm)F=W+fgF=0.05(1000+50)=52.5(kgf)Tm=(52.50.8)/(20.9)+2=9.4(kgf.cm)=0.9(Nm):F=Fc+(W+fg+Fcf):F=100+0.05(1000+50+30)=154(kgf)Tmc=(1540.8)/(20.9)+2=21.8(kgf.cm)=2.1(Nm)10.9Nm3000min-1/2/30002.0Nm?fgFcFcfL=8mm=0.8cm4?Jb=Db4Lbkgf.Cm.s2Jb:(kgf.cm.s2)kg/cm3DbcmLbcm7.810-3kg/cm3,Jb=0.7810-6Db4Lbkgf.cm.s2:Db32mmLb1000mmJbJb=0.7810-63.24100=0.0082(kgf.cm.s2)1kg.m2=100/9.8kgf.cm.s2?(,)JW=()2(kgf.cm.s2)W:(kgf)L:(cm)32980W980L21Jb=1/2MR2MKgRcm2M=W/gW(Kgf)g980cm/s2M=(1/g)(1/4)Db2Lb=/4gDb2Lb3Jb=/32gDb4LbJW=MLi2MKgLi(cm/rad)5?J0J=()J0(kgf.cm.s2)J0:(kgf.cm.s2)?J=J0*R2(kgf.cm.s2)J0:(kgf.cm.s2)M:(kgf)R:(cm)JJBJWJLJL=0.00820.0165=0.0247(kgf.cm.s2)Z1Z2M9806?/363FANUC121NC/+?/Ta=2Jm1-e-ksta++2JL1-e-kstaVr=Vm{1-(1-e-ksta)}Ta:(kgf?cm)Vm:(min-1)ta:(sec)Jm:(kgf.cm.s2)JL:(kgf.cm.s2)Vr:(Vm)(min-1)Ks:(sec-1):Vm601taVm601ta1Ta?ks3Ta7/2/3000Jm0.0061(kgf.cm.s2)Vm3000(min-1)ta0.1(s),ks30(sec-1)JL=0.0247(kgf.cm.s2)Ta=3000/6021/0.10.00611-e-300.1++3000/6021/0.10.02471-e-300.10.9=100.1(kgf.cm.)=9.81(Nm)2/3000-9.81Nm2/30003/3000Jm0.02kgf.cm.s2Ta=123.7(Kg.cm)=12.1(Nm)Vr=2049(min-1)2049(min-1)12.1Nm-3/300023/3000130mm130mm?/VmTaVmta8Ta=2Jm+JLTa=2TTaTmT=Ta+TmT=12.1(Nm)+0.9(Nm)=13.0(Nm)32T-1VrTVr2049(min-1)T13.0(Nm)3/3000-2Vm601ta1ks1.2T2.1Vr-913--Trms/-3Trms=TaTmToTrmsTs90%3/3000Ts=31kgf.cm=3.0NmTa=12.1Nm,Tm=To=0.9Nmt1=0.1st2=1.8st3=7.0sTrms==2.02NmTs0.9=3.00.9=2.7Nm3/30003/-Trms4Ta+Tm2t1+Tm2t2+Ta-Tm2t1+To2t3t012.1+0.920.1+0.921.8+(12.1-0.9)20.1+0.927t01014TmcON51.TmcTc100%2.TmcTc1Tmc1.1(Tc)1.1Tmc=21.8kgf.cm=2.1NmTc=31kgf.cm=3.0Nm3.00.9=2.7Nm2.1Nm=TmcTmcTmcTc(on)tonTmcton0.9TcTs11tontoff1.3Tmc=100%Tmc=4.0NmTm=0.9Nm3x0.9(=2.7Nm)1.6100=38.5%3/300015tontonT4.02ton+0.92tofton+toftontoff11.6tonT3/3000Tc=3Nm