Date 2020-11-24 1/2

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Result of the selected DSR

Selected code
DSR120-100FA20-H
Specification of DynaStation
DSR120-100
Gear ratio z 100
Permissible output speed NGm 30 rpm
Permissible mean output speed NGr 20 rpm
Static rated torque Ts 2387.3 Nm
Dynamic rated torque Top 1472.4 Nm / 11rpm
Friction torque of Input shaft Tx 2.5 Nm
Output shaft moment of inertia Jo 0.2240000 kgm2
Internal moment of inertia reflected to input shaft JG 0.0013000 kgm2

Specification of servo motor

HG-SR152
Manufacturer MITSUBISHI
Type HG-SR152
Max speed NMm 3000 rpm
Rated speed NMr 2000 rpm
Max torque TMm 21.5 Nm
Rated torque TMr 7.2 Nm
Moment of inertia of motor JMo 0.0016 kgm2

Operation Timing
Cam curve(t1,t3) CA Constant acceleration
Phase Section Time[sec] Output angle[deg]
Acceleration t１ 0.500 22.500
Constant velocity t２ 0.500 45.000
Deceleration t３ 0.500 22.500
Dwell t４ 18.000 0.000
Cycle time t6 19.500 90.000
16
14
Output speed[rpm]

12
10
8
6
4
2
0
0 5 10 15 20 25
Time[sec]

DSR Series selection ver.04

Techno Dynamics Inc.

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Operating condition details

Items Symbol Value Unit Remark
Output angle τ 90 deg
Load moment of inertia J 84.375000 kgm2
Output shaft moment of inertia Jo 0.2240000 kgm2
Internal moment of inertia reflected to input shaft JG 0.0013000 kgm2
Work load torque Tw 0 Nm
Friction load torque Tf 0 Nm
Friction torque of Input shaft Tx 2.5 Nm
Acceleration time t1 0.500 sec
Deceleration time t3 0.500 sec
Positioning time t5 1.500 sec
Dwell time t4 18.000 sec
Cycle time t6 19.500 sec
Gear ratio z 100
Max output speed Nm 15.000 rpm
Mean output speed(Cycle time) Nav 0.829 rpm
Mean output speed(Positioning time) Nav_pt 10.775 rpm
Max motor speed NmM 1500.000 rpm
Mean motor speed NavM 82.885 rpm
Output max load torque Tm 318.931 Nm
Output load torque RMS Tr 259.052 Nm
Estimated life time of DSR Ｌｈ >12,000 hours
Ly >20.000 years
Motor instantaneous peak torque TmM 6.458 Nm
Motor rated torque RMS TrM 1.133 Nm
Motor load factor 15.7 %
Permissible ratio of inertia moment
Load moment of inertia reflected to input shaft JM 0.0097375 kgm2
(load / motor) (Recommended by the
Ratio of inertia moment (load / motor) 6.1 Times manufacturer)
17 times or less

Notes DSR Judgement

Max output speed OK
Mean output speed(Cycle time) OK
Max load torque OK
Load torque RMS OK
Estimated life time(hour) OK
Motor Judgement
Max motor speed OK
Mean motor speed OK
Max load torque OK
Load torque RMS OK
Load factor OK
Ratio of inertia moment (load / motor) OK
Motor shaft diameter upper limit OK
eries selection ver.04 DSR Series selection ver.04

Techno Dynamics Inc.