ABB MU 80 Product Manual

Contents

ABB MU 80 Product Manual Manual pdf 71 page image

4.2 Dimensioning gear unitsAcceleration and deceleration valuesTo secure that gear units will not run too hard and damage the gear box, theacceleration and deceleration of the axis on the arm side must be calculated.This calculation will give a maximum value for the system parameters NominalAcceleration and Nominal Deceleration. The value can be lowered if the accelerationis too fast, see Application manual - Additional axes and stand alone controller.Do not use values higher than the recommended maximum acceleration, seeMaximum gearbox torques on page 71.(Tmaxgear - m * g * CoGRmax) / (m * CoGRmax 2 + J0z)xx1100000104J0z is the moment of inertia around the Z axis at the center of gravity (CoG).CoGRmax is the radial distance in X and Y directions between the Z axis and thecenter of gravity (CoG).Define the system parameters Nominal Acceleration and Nominal Deceleration inthe type Acceleration Data in the topic Motion, based on the calculations.Maximum gearbox torquesUse the Tmaxgear values from the table for the calculation.Recommended maximum acceleration anddeceleration (rad/s 2 )Tmaxgear (max torque on armside) (Nm)Gear unit4480MTD 25031,100MTD 50031,950MTD 7500.85,000MTD 20000.511,400MTD 50002.41,950MID 5001.15,000MID 1000Related informationDimensioning of motors is described in Application manual - Additional axes andstand alone controller.Product manual - Motor Units and Gear Units 713HAC040148-001 Revision: K© Copyright 2011 -2018 ABB. All rights reserved.4 Configuration4.2 Dimensioning gear units