Guia de Diseño Seleccion de Motores y Husillos PDF

Technical Reference H-1
Selection Calculations ........................... H-2 Selection

Calculations
H Motors H-2
Linear & Rotary Actuators H-18

Motors
Linear &
Rotary
Actuators
Technical
Cooling
Cooling Fans H-29 Fans
Service Life........................................... H-30 Service
Reference Stepper Motors ................................... H-34

Life
Stepper
Motors
Servo Motors ........................................ H-42 Servo

Motors
Standard
Standard AC Motors ............................ H-44 AC
Motors
Brushless
Brushless Motors/ ................... H-47 Motors/AC
Speed Control
AC Speed Control Motors Motors
Gearheads ............................................ H-49 Gearheads
Cooling Fans ........................................ H-56 Cooling

Fans
H-1
Selection Calculations
H-2 Motors
Selection Calculations For Motors

Selecting a motor that satisfies the specifications required by your equipment is an important key to ensuring the desired reliability and
economic efficiency of the equipment.
This section introduces the procedure to select the ideal motor, selection calculations, key points of selection and selection examples.
Selection Procedure
An overview of the selection procedure is explained below.
Check the required specifications for the motor from the equipment specifications. The general items
are explained below.
Confirmation of the operation functions
Check the Required Operating time (Operating pattern)
Specifications Resolution
(Equipment specifications) Stopping accuracy
Position holding
Power supply voltage and frequency
Operating environment
Determine the drive mechanism. Representative drive mechanisms include simple body of rotation,
ball screw, belt pulley, and rack-and-pinion. Along with the type of drive mechanism, determine the
dimensions, mass and coefficient, etc. that are required for the load calculation. The general items are
Determining the Drive
explained below.
Mechanism
Dimensions and mass (or density) of the load
Dimensions and mass (or density) of each part
Friction coefficient of the sliding surface of each moving part
Calculate the load torque and inertia at the motor output shaft. Refer to page H-3 for the formula to
Calculate the Load calculate load torque in representative mechanisms.
Refer to page H-4 for the formula to calculate the inertia in representative configurations.
Select the optimal product from standard AC motors, speed control motors, stepper motors or servo
Select Motor Type
motors based on the required specifications.
Determine the most suitable motor after checking that the specifications of the selected motor/
gearhead satisfy all of the required specifications, such as mechanical strength, acceleration time and
Selection Calculation
acceleration torque. Since the items that must be checked will vary depending on the motor type,
check the selection calculations and selection points on page H-5.
Sizing and Selection Service

We provide sizing and selection services for motor section from your application specification requirements.
Phone
Requests for sizing and section can be made online by contacting our technical support team at:
USA/Canada: TEL: 800-468-3982
Mexico: TEL: 01-800-681-5309
Website
Requests for sizing and section can be made online by contacting our technical support team at techsupport@orientalmotor.com.
Use our online Motor Sizing Tool to calculate the necessary torque, speed, stopping accuracy and the system inertia that is important
to consider when selecting a proper motor for the application.
ORIENTAL MOTOR GENERAL CATALOG

H-2 2015/2016
Formula for Load Torque TL [Nm] for Each Drive Mechanism

Formula for Load Torque
Ball Screw Drive
F PB 0 F0 PB 1 Direct Connection Selection

TL = + Nm
2 2 i F
Calculations
FA m m
F = FA + m gsin + cos
N FA
Motors
Pulley Drive
Linear &
Rotary
FA + m g D Actuators
TL =
2 i
D

FA + m gD
= Nm Cooling
2i Fans
FA m Service
Life
Wire and Belt Drive, Rack-and-Pinion Drive

Stepper
Motors
F D FD FA F
TL = = Nm m FA m F
2 i 2 i
D
F = FA + m gsin + cos
N Servo
D
Motors
Actual Measurement Method Standard

AC
Motors
FB D Spring Balance
TL = Nm
2 Brushless
Motors/AC
FB Speed Control
Motors
Equip
men
t
D
Gearheads
Pulley
F : Force of moving direction [N] Cooling
1 Fans
F0 : Preload [N] ( 3 F )
0 : Internal friction coefficient of preload nut (0.10.3)
K : Efficiency (0.850.95)
i : Gear ratio (This is the gear ratio of the mechanism -and not the gear ratio of an Oriental Motor's gearhead.)
PB : Ball screw lead [m/rev]
FA : External force [N]
FB : Force when main shaft begins to rotate [N] (FB = Spring balance value [kg]g [m/s2])
m : Total mass of table and load [kg]
: Friction coefficient of sliding surface
: Inclination angle [ ]
D : Final pulley diameter [m]
g : Gravitational acceleration [m/s2] (9.807)
CAD Data www.orientalmotor.com Technical TEL: (800) 468-3982 H-3

Manuals Support E-mail: techsupport@orientalmotor.com
H-4 Motors
Formula for Inertia J [kgm2]

Formula for the Inertia
Inertia of a Cylinder
1 D1
Jx = m D12 = L D14 [kgm2]
8 32 x
2 2
1 D1 L
Jy = m ( + ) [kgm2]
4 4 3
y L
Inertia of a Hollow Cylinder
1 x
Jx = m (D12 + D22) = L (D14 D24) [kgm2] D1
8 32 D2
1 D1 + D 2
2 2
L2
Jy = m( + ) [kgm2]
4 4 3
y L
Inertia on Off-Center Axis
1 x0
Jx = Jx0 + m l 2 = m (A2 + B2 + 12 l 2) [kgm2] x
12
l: Distance Between x and x0 Axes [m] C
B
A
Inertia of a Rectangular Pillar
1 1
A B C (A2 + B2) [kgm2] A x
Jx = m (A2 + B2) = B
12 12
1 1
Jy = m (B2 + C 2) = A B C (B2 + C 2) [kgm2] C
12 12
y
Inertia of an Object in Linear Motion
A
J = m ( 2 )2 [kgm2]
A: Unit Movement [m/rev]
Conversion formula for the inertia of the motor shaft when using a decelerator
Decelerator Driven Side Device
1 Gear Ratio i
Jm = JL Inertia JL
i2
Motor
Formula for the relation between J and GD2
1
J= GD2
4
Inertia of the Motor Shaft Conversion Jm
Density
Iron = 7.9 103 [kg/m3]
Stainless steel (SUS304) = 8.0 103 [kg/m3]
Aluminum = 2.8 103 [kg/m3]
Brass = 8.5 103 [kg/m3]
Nylon = 1.1 103 [kg/m3]
Jx : Inertia on x-axis [kgm ]2
Jy : Inertia on y-axis [kgm2]

Jx0 : Inertia on x0-axis (centered axis) [kgm2]
m : Mass [kg]
D1 : Outer diameter [m]
D2 : Inner diameter [m]
: Density [kg/m3]
L : Length [m]

H-4 2015/2016
Motor Selection Calculations Calculate the Load Torque

Refer to formulas on page H-3.
The following explains the required formulas for controlling a stepper
Formula for the Acceleration Torque Ta [Nm]
motor or servo motor based on pulse signal.
If the motor speed is varied, the acceleration torque or deceleration
Operating Pattern
torque must always be set.
For stepper motors, the pattern for acceleration/deceleration Selection
The basic formula is the same for all motors. However, use the
operation in the figure on the left is commonly used as operating Calculations
formulas below when calculating the acceleration torque for stepper
patterns on pulse speed. The pattern for start/stop operation in the
motors on the basis of pulse speed.
figure on the right can be used when the operating speeds are low
Motors
and the load inertia is small. <Common Basic Formula for All Motors>
Pulse Speed Operating Speed
f2 Pulse Speed (J0 i2 + JL) NM NM [r/min]
f2 Ta = Linear &
9.55 t1 Rotary
Actuators
A A
f1 Cooling
t1 t1 Fans
t1 t1
t0 t0 t0
Acceleration/Deceleration Operation Start/Stop Operation
J0 : Rotor Inertia [kgm2] Service
f1: Starting Pulse Speed [Hz] JL : Total Inertia [kgm2] Life
f 2: Operating Pulse Speed [Hz] NM : Operating Speed [r/min]
A: Number of Operating Pulses t1 : Acceleration (Deceleration) Time [s]
t0: Positioning Time [s] i : Gear Ratio Stepper
t1: Acceleration (Deceleration) Time [s] Motors
<When Calculating the Acceleration Torque for Stepper Motors on
Formula for the Number of Operating Pulses A [Pulse] the Basis of Pulse Speed>
The number of operating pulses is expressed as the number of pulse For Acceleration/Deceleration Operation Servo
Motors
signals that add up to the angle that the motor must rotate to get the
Ta = (J0 i2 + JL) s f2 f1
load from point A to point B.
180 t1 Standard
l 360 AC
A= For Start/Stop Operation
lrev s l : Traveling Amount from point A to point B [m] Motors
lrev : Traveling Amount per Motor Rotation [m/rev] s
Ta = (J0 i2 + JL) Brushless
s : Step Angle [] f22
180 n n : 3.6/ ( s i ) Motors/AC
Speed Control
Formula for the Operating Pulse Speed f2 [Hz] Formula for the Required Torque TM [Nm] Motors
The operating pulse speed can be obtained from the number The required torque is calculated by multiplying the sum of load
of operating pulses, the positioning time and the acceleration torque and acceleration torque by the safety factor. Gearheads
(deceleration) time.
TM = (TL + Ta) Sf
For Acceleration/Deceleration Operation TM : Required Torque [Nm] Cooling
The level of acceleration (deceleration) time is an important point TL : Load Torque [Nm] Fans
in the selection. The acceleration (deceleration) time cannot be Ta : Acceleration Torque [Nm]
Sf : Safety Factor
set easily, because it correlates with the acceleration torque and
Formula for the Effective Load Torque Trms [Nm]
acceleration/deceleration rate.
Calculate the effective load torque when selecting the servo motors
Initially, as a reference, calculate the acceleration (deceleration) time
and BX Series brushless motors.
at roughly 25% of the positioning time. (The calculation must be
When the required torque for the motor varies over time, determine if
adjusted before the final decision can be made.)
the motor can be used by calculating the effective load torque.
t1 = t0 0.25
The effective load torque becomes particularly important for
A f1 t1
f2 = operating patterns such as fast-cycle operations where acceleration/
t0 t1
For Start/Stop Operation deceleration is frequent.
A
f2 = Ta + TL
2
t1 + TL2 t2 +
Td TL2
t3
t0 Trms =
tf
Formula for the Acceleration/Deceleration Rate TR [ms/kHz]
The acceleration/deceleration rates are the setting values used for Speed NM
the Oriental Motor's controllers. [r/min] (Speed Pattern)
The acceleration/deceleration rate indicates the degree of

acceleration of pulse speed and is calculated using the formula
shown below.
t1 Time [s]
TR = Pulse Speed [kHz]
f2 f1
f2
TR Torque T
[Nm] (Torque Pattern)
f1 Ta
Time [ms]
t1 TL
Calculate the pulse speed in full step conversion. Td
Time [s]
For this formula, the unit for speed is [kHz] and the unit for time is [ms].
Conversion Formula for the Operating Speed NM [r/min] t1 t2 t3 t4
from the Operating Pulse Speed f2[Hz] tf
s
NM = f2 60
360

H-6 Motors
Selection Points Considering Temperature Rise

The stepper motor will have an increase in temperature if operated
Since there are differences in characteristics between standard AC continuously over a long period of time. Exceeding the temperature
motors, brushless motors, stepper motors and servo motors, there of heat-resistant class 130 (B) inside the motor may deteriorate its
will also be differences in points (check items) when selecting a insulating performance. Temperature rise will vary based on the
motor. operating speed, load conditions and installation conditions. The
stepper motor should be used at an operating duty of 50% or less.
Standard AC Motors
If the operating duty exceeds 50%, choose a motor with a sufficient
Speed Variation by Load margin of torque or use methods to lower the running current.
The actual speed of standard AC motors is 220% lower than its
synchronous speed under the influence of the load torque. Running time
Operating Duty = 100
When selecting a standard AC motor, the selection should take this Running + Stopping Time
decrease in speed into account. Check the Acceleration/Deceleration Rate
If the duty region (operating speed NM and the required torque TM) of
Time Rating
the stepper motor falls within the pullout torque curve, the specified
There are differences in continuous rating and short time rating
equipment can be operated. Controllers, when set for acceleration/
depending on the motor type, even for motors with the same output
deceleration, adjust the pulse speed in steps using output pulse
power. Motor selection should be based on the operating time
signals. Sudden acceleration/declaration causes the pulse speed
(pattern).
step to become large. Therefore, if large inertias are present in this
Permissible Load Inertia of the Gearhead condition, there is a possibility that the motor cannot be driven even
If instantaneous stop (with brake pack, etc.), frequent intermittent when sudden acceleration/deceleration direction is given. Check
operations or instantaneous bi-directional operation will be that the reference values are equal to or higher than the acceleration/
performed using a motor with a gearhead, an excessive load inertia deceleration rates shown in the table so that the selected motor can
may damage the gearhead. Selections must be made for these be operated more reliably.
values, so that the load inertia does not exceed the permissible load Acceleration/Deceleration Rate
inertia of the gearhead. (Refer to Page C-16) (Combination reference values with EMP Series)
Brushless Motors Product Frame Size Acceleration/Deceleration Rate TRS [ms/kHz]
Permissible Torque 28 (30), 42, 60, 85 (90) 0.5 or more
Brushless motor combination types with a dedicated gearhead 0.36/0.72 20, 28, 42, 60 20 or more
installed are listed on the permissible torque table based on the Stepper Motors 85 (90) 30 or more
output gear shaft. Select products in which the load torque does not 0.9/1.8 20, 28 (30), 35, 42, 50, 56.4, 60 50 or more
exceed the permissible torque. Stepper Motors 85 (90) 75 or more
When using , this item does not need to be checked. The values in the table represent the
Permissible Inertia lower limit of settings for the EMP Series.
A permissible inertia is specified for the brushless motor for avoiding Also for the geared type, the acceleration/deceleration rates are equal to the values shown above.
However, when using a half step or microstep motor, the conversion below is required.
alarms using regenerative power during deceleration and for
s
TRS
stable speed control. Select products in which the inertia does not B
i
TRS : Acceleration/Deceleration Rate [ms/kHz]
exceed the permissible value. For the combination type, there is a S : Step Angle []
permissible inertia combination type. Select products with values B : Refer to Table Below
that do not exceed the values of the combination types. i : Gear Ratio of Geared Type
Coefficient
Effective Load Torque
Product B
When operating the BX Series with frequent starts and stops,
0.36
make sure the effective load torque does not exceed the rated
0.72 Stepper Motors 0.72
torque. If the rated torque is exceeded, the overload protective
1.8 Stepper Motors 1.8
function activates and stops the motor.
Stepper Motors Check the Inertia Ratio

Check the Required Torque Calculate the inertia ratio using the following formula:
For stepper motors, select motors whose duty region (operating JL
Inertia Ratio =
speed NM ( f2) and the required torque TM) falls within the pullout J0
torque curve. For Geared Motors
JL
Safety Factor: Sf (Reference Value) Inertia Ratio =
J0 i2 i: Gear Ratio
Product Safety Factor (Reference Value)
Large inertia ratios in stepper motors cause large overshooting and
1.52
undershooting during starting and stopping, which can affect rise
Stepper Motors 2
times and settling times. Controllers, when set for acceleration/
Torque deceleration, adjust the pulse speed in steps using output pulse
Pullout Torque
signals. Sudden acceleration/deceleration causes the pulse speed
step to become large. Therefore, if the inertia ratio is large, operation
may not be possible. Check that the reference values are less than
or equal to inertia ratios shown in the table so that the selected
TM motor can be operated more reliably.
Duty Region Inertia Ratio (Reference values)
Product Frame Size Inertia Ratio
NM Speed 28, 42, 60, 85 30 or less
20, 28, 35 5 or less
f2 Pulse Speed Stepper Motors
42, 50, 56.4, 60, 85 10 or less
When the values in the table are exceeded, we recommend a geared

type motor.

H-6 2015/2016
Servo Motors Selection Examples
Permissible Inertia
A permissible inertia is specified for the servo motor for stable Ball Screw Mechanism
control. The inertia of the servo motor must be lower than the Using Standard AC Motors
permissible value. (1) Specifications and Operating Conditions of the Drive
Product Permissible Load Inertia Selection
Mechanism Calculations
NX Series 50 times the rotor inertia or less
This selection example demonstrates an electromagnetic brake
Automatic tuning allows operation up to 50 times the rotor inertia; manual tuning allows operation
motor for use on a table moving vertically on a ball screw.
up to 100 times the rotor inertia. Motors
In this case, a motor must be selected that meets the following
Rated Torque required specifications.
Linear &
The motor can be driven when the ratio of load torque TL and rated Motor
Rotary
torque of the servo motor is 1.52 or more. Gearhead Actuators
Coupling
Rated Torque Cooling
1.52 Fans
Load Torque
Ball Screw
Maximum Instantaneous Torque FA
Linear Guide Service
Check that the required torque is less than the maximum Life
instantaneous torque of the servo motor. (Ensure that the safety v
m
factor of required torque Sf is at 1.52 or more.) Stepper
Note that the time that max. instantaneous torque can be used for Motors
varies depending on the motor.
Servo
Maximum Instantaneous Torque and Operating Time Motors
Total mass of the table and load m = 45 [kg]
Product Operating Time Maximum Instantaneous Torque
Table speed V = 152 [mm/s]
NX Series Within approx. 0.5 seconds At 3 times the rated torque (at rated speed) Standard
External force FA = 0 [N] AC
Ball screw tilt angle = 90 [] Motors
Total length of ball screw LB = 800 [mm] Brushless
The motor can be driven when the effective load safety factor, which Motors/AC
Ball screw shaft diameter DB = 20 [mm] Speed Control
is the ratio of an effective load torque and a rated torque of servo
Ball screw lead PB = 5 [mm] Motors
motor, is 1.52 or more.
Distance moved for one rotation of ball screw A = 5 [mm]
Ball screw efficiency = 0.9 Gearheads
Rated Torque
Effective Load Safety Factor = Ball screw material Iron (Density = 7.9 103 [kg/m3])
Internal friction coefficient of preload nut 0 = 0.3 Cooling
Settling Time Friction coefficient of sliding surface = 0.05 Fans
There is a time lag between a position command sent by pulse signal Motor power supply Three-Phase 230 VAC 60 Hz
and the servo motor's actual operation. This difference is called the Operating time Intermittent operation, 5 hours/day
settling time. Load with repeated starts and stops
Therefore, the real positioning time is the sum of the positioning time Required load holding
calculated from the operating pattern and the settling time. (2) Determine the Gear Ratio
V 60 (15 2) 60
Pulse Speed Speed Speed at the gearhead output shaft NG = =
A 5
Motor Speed
= 180 24 [r/min]
Pulse Signal
Because the rated speed for a 4-pole motor at 60 Hz is 1450 to
1550 [r/min], the gear ratio is calculated as follows:
14501550 14501550
Gear ratio i = = = 7.19.9
NG 180 24
Settling Time
Positioning Time
Time This gives us a gear ratio of i = 9.
(3) Calculate the Required Torque TM [Nm]
The factory setting for settling time on the NX Series is 6070 ms. However, the settling time
Force of moving direction F = FA + m g (sin + cos )
varies when the gain parameter is changed by the mechanical rigidity setting switch.
= 0 + 45 9.807 (sin 90 + 0.05 cos 90)
= 441 [N]
F
Ball screw preload F0 = = 147 [N]
3
F PB 0 F0 PB
Load torque T'L = +
2 2
441 5 103 0.3 147 5 103
= +
2 0.9 2
= 0.426 [Nm]
Consider the safety factor Sf = 2.
TL = TL Sf = 0.426 2 = 0.86 [Nm]

H-8 Motors
Select an electromagnetic brake motor and gearhead satisfying the Using Stepper Motors
permissible torque of gearhead based on the calculation results (1) Specifications and Operating Conditions of the Drive
(gear ratio i = 9, load torque TL = 0.86 [Nm]) obtained so far.
Mechanism
Here, 4IK25GN-SW2M and 4GN9SA are tentatively selected as
the motor and gearhead respectively, by referring to the Controller Stepper
"Gearmotor Torque Table" on page C-73. Motors m
Couplings
Next, convert this load torque to a value on the motor output shaft to
obtain the required torque TM, as follows:
TL 0.86
TM = = = 0.118 [Nm]= 118 [mNm]
i G 9 0.81 Driver
(Gearhead efciency G = 0.81)
PB
The starting torque of the 4IK25GN-SW2M motor selected earlier
DB
is 160 [mNm]. Since this is greater than the required torque of
118 [mNm], this motor can start the mechanism in question.
Programmable
Next, check if the gravitational load acting upon the mechanism in Controller
standstill state can be held with the electromagnetic brake.
Here, the load equivalent to the load torque obtained earlier is Total mass of table and load m = 40 [kg]
assumed to act. Friction coefficient of sliding surface = 0.05
Torque T'M required for load holding on the motor output shaft: Ball screw efficiency K = 0.9
Internal friction coefficient of preload nut 0 = 0.3
TL 0.86
T'M = = = 0.0956 [Nm] = 95.6 [mNm] Shaft diameter of ball screw DB = 15 [mm]
i 9
Overall length of ball screw LB = 600 [mm]
The static friction torque generated by the electromagnetic brake of Ball screw material Iron (Density = 7.9 103 [kg/m3])
the 4IK25GN-SW2M motor selected earlier is 100 [mNm], which is Ball screw lead PB = 15 [mm]
greater than 95.6 [mNm] required for the load holding. Required resolution ' l = 0.03 [mm/step]
(Feed per pulse)
(4) Check the Moment of Inertia J [kgm2] Feed l = 180 [mm]
Positioning time t0 = 0.8 seconds max.

Inertia of ball screw JB = LB D B 4 Inclination angle = 0 [ ]
32
=

7.9 103 800 103 (20 103)4
(2) Calculate the Required Resolution S
32
360 l
s =
= 0.993 104 [kgm2] PB
A 2 360 0.03
Inertia of table and load Jm = m ( ) = = 0.72
2 15
5 103 2 AR Series stepper motor and driver package can be used.

= 45 ( ) Changing or specifying the resolution is possible.
2
The factory setting resolution can be changed from 0.36/pulse
= 0.286 104 [kgm2]
0.72/pulse.
(3) Determine an Operating Pattern

Inertia at the gearhead shaft J is calculated as follows:
(Refer to formula on page H-5)
J = JB + Jm = 0.993 104 + 0.286 104 Formula for the number of operating pulses A [Pulse]
= 1.28 104 [kgm2] l 360
A=
PB s
Here, permissible inertia of gearhead 4GN9SA (gear ratio i = 9) JG
180 360
is (Refer to page C-16): = = 6000 [Pulse]
15 0.72
Determine the acceleration (deceleration) time t1 [s]
JG = 0.31 104 92 An acceleration (deceleration) time which is 25% of the positioning
= 25.1 104 [kgm2]
time is ideal.
t1 = 0.8 0.25 = 0.2 [s]
Therefore, J<JG, the inertia is less than the permissible value, so
there is no problem. There is margin for the torque, so the traveling Calculate the operating pulse speed f2 [Hz].
speed is checked with the speed under no load (approximately A f1 t1
f2 =
1750 r/min). t0 t1
6000 0
NM PB 1750 5 = = 10000
Hz
V= = = 16.2 [mm/s] 0.8 0.2
60 i 60 9 NM: Motor speed
Pulse Speed [Hz] t1=0.2
This confirms that the motor meets the specifications.
Based on the above, 4IK25GN-SW2M and 4GN9SA are selected 10000
as the motor and gearhead, respectively.
6000 Pulses
t1 t1 Time [s]
0.8
H-8 2015/2016
Calculate the operating speed NM [r/min] (5) Select a Motor
Tentative motor selection
s
NM = f2 60 Rotor Inertia Required Torque
360 Product Name
[kgm2] [Nm]
0.72
=
360
10000 60 AR66AA-3 380 10-7 0.48
Selection
= 1200
r/min
Determine the motor from the speed torque characteristics Calculations
(4) Calculate the Required Torque TM [Nm] (Refer to page H-5) AR66AA-3
Calculate the load torque TL [Nm] 2.0 Motors
Force of Moving Direction F = FA + m g (sin + cos ) Linear &

1.5
= 0 + 40 9.807 (sin 0 + 0.05 cos 0) Pullout Torque Rotary
Actuators
Torque [Nm]
= 19.6 [N] Duty Region
1.0
F 19.6 Cooling
Preload F0 = = = 6.53 [N] Fans
3 3
F PB 0 F0 PB
Load Torque TL = + 0.5
2 2
Service
19.6 15 10 3
0.3 6.53 15 10 3
Life
= +
2 0.9 2
0
= 0.0567 [Nm] 0 1000 2000 3000 4000
Speed [r/min] Stepper
Motors
Calculate the acceleration torque Ta [Nm] 0 10 20 30 40 50 60 70
-1 Calculate the inertia JL [kgm2] Pulse Speed [kHz]
(Resolution Setting: 1000 P/R) Servo
(Refer to the formula on page H-4) Motors
Since the duty region of the motor (operating speed and required
Inertia of Ball Screw torque) falls within the pullout torque of the speed torque Standard
characteristics, the motor can be used. AC
JB = LB DB4 Motors
32
Brushless
= 7.9 103 600 103 (15 103)4 Motors/AC
32 (6) Check the Inertia Ratio (Refer to page H-6)
Speed Control
= 0.236 104 [kgm2] Motors
JL 2.52 104
PB 2 = 6.6
Inertia of Table and Load JT = m ( ) J0 380 107 Gearheads
2
15 103 2
= 40 (
2
) Since the inertia ratio of AR66AA-3 is 30 or less, if the calculated
inertia ratio is 6.6, then operation of that motor is possible. Cooling
= 2.28 104 [kgm2] Fans
Inertia JL = JB + JT
= 0.236 104 + 2.28 104 = 2.52 104 [kgm2]
-2 Calculate the acceleration torque Ta [Nm]
(J0 + JL) NM
Ta =
9.55 t1
(J0 + 2.52 104) 1200
=
9.55 0.2
= 628 J0 + 0.158 [Nm]
The formula for calculating acceleration torque with pulse speed is

shown below. Calculation results are the same.
s f2 f1
Ta =(J0 + JL)
180 t1
0.72 10000 0
=(J0 + 2.52 104)
180 0.2
= 628 J0 + 0.158Nm
Calculate the required torque TM [Nm]

Safety factor Sf = 2.
TM = (TL + Ta) Sf
= {0.0567 + (628 J0 + 0.158)} 2
= 1256 J0 + 0.429 [Nm]

H-10 Motors
Using Servo Motors (5) Calculate the Inertia JL [kgm2]

(1) Specifications and Operating Conditions of the Drive Inertia of Ball Screw
Mechanism
JB = LB DB4
32
The following is an example of how to select a servo motor to drive a

single axis table: = 7.9 103 1000 103 (25 103)4
32
Servo Motors External
Force FA 3.03 104 [kgm2]
Controller Driver m PB 2
Inertia of Table and Load Jm = m ( )
2
10 103 2
= 100 ( )
Programmable 2
Controller Ball Screw
2.53 104 [kgm2]
Inertia JL = JB + Jm
= 3.03 104 + 2.53 104 = 5.56 104 [kgm2]
Max. table speed VL = 0.2 [m/s]
(6) Tentative Servo Motor Selection
Resolution ' l = 0.02 [mm]
Safety factor Sf = 1.5.
Motor power supply Single-Phase 115 VAC
Load torque T' L =Sf TL
Total mass of table and load m = 100 [kg]
= 1.5 0.13 = 0.195 [Nm]
External FA = 29.4 [N]
Friction coefficient of sliding surface = 0.04 Inertia JL = 5.56 104 [kgm2]
Ball screw efficiency K = 0.9
Therefore, select the servo motor which has a speed of 1200 [r/min],
Internal friction coefficient of preload nut 0 = 0.3
outputs the rated torque 0.195 [Nm] or more and whose permissible
Shaft diameter of ball screw DB = 25 [mm]
inertia is 5.56 10 4 [kgm2] or more.
Overall length of ball screw LB = 1000 [mm]
Ball screw lead PB = 10 [mm] NX620AA-3
Ball screw material Iron (Density = 7.9 103 [kg/m3]) Rated speed N = 3000 [r/min]
Operating cycle Operation for 2.1 seconds/stopped for 0.4 seconds (repeated) Rated torque TM = 0.637 [Nm]
Acceleration/deceleration time t1 = t3 = 0.1 [s] Rotor inertia J0 = 0.162 104 [kgm2]
Permissible inertia J = 8.1 104 [kgm2]
(2) Calculate the Required Resolution
Max. instantaneous torque TMAX = 1.91 [Nm]
Calculate the motor resolution from the resolution required for the
is ideal.
table drive.
360

l 360 0.02
(7) Calculate the Acceleration Torque Ta [Nm] and Deceleration
= = = 0.72
PB 10 Torque Td [Nm]
The resolution of the NX Series, M = 0.36/pulse (factory setting) Calculate the acceleration/deceleration torque using the formula
satisfies this requirement. below.
(3) Determine an Operating Pattern (JL + J0) NM

Ta= Td=
9.55 t1
Calculate the motor speed NM from the formula below.
(5.56 104 + 0.162 104) 1200
60 VL 60 0.2 = 0.72 [Nm]
NM = = = 1200
r/min 9.55 0.1
PB 10 103
(8) Calculate the Required Torque T [Nm]
Determine the speed pattern using NM, the operating cycle and the
T = T a + TL
acceleration/deceleration time.
= 0.72 + 0.13 = 0.85 [Nm]
Speed t1=t3=0.1
[r/min]
The required torque is less than the max. instantaneous torque of
1200
NX620AA-3 of 1.91 [Nm], so the NX620AA-3 can be used.
(9) Determine a Torque Pattern
Determine a torque pattern using operating cycle, acceleration/
t1 (1.9) t3 0.4 Time [s] deceleration torque, load torque and acceleration time.
t1=t3=0.1
2.1 Speed
[r/min]
(2.5)
(4) Calculate the Load Torque TL [Nm]

Operation direction load F = FA + m g (sin + cos )
Time [s]
= 29.4 + 100 9.807 (sin 0 + 0.04 cos 0)
= 68.6 [N]
Torque [Nm]
Load Torque of the Motor Shaft Conversion
F PB 0 F0 PB 0.72
TL = +
2 2
68.6 10 103 0.3 22.9 10 103 0.13
= +
2 0.9 2 0.72 Time [s]
0.13
Nm t1 (1.9) t3 0.4
1
Here F0 = F represents the ball screw preload. (2.5)
3

H-10 2015/2016
(10) Calculate the Effective Load Torque Trms [Nm] Belt and Pulley Mechanism
Calculate the effective load torque Trms using the torque pattern and When Using AC Motor
formula below.
(1) Specifications and Operating Conditions of the Drive
Mechanism
Ta + TL2 t1 + TL2 t2 +
Td TL2 t3
Trms = The following is an example of how to select an induction motor to
tf Selection
drive a belt conveyor: Calculations
0.72 + 0.13 0.1 + 0.13 1.9 +
2 2
0.72 0.13 0.1
2
A motor that meets the following required specifications is selected.
=
2.5
V
Motors
Load
0.24
Nm
Linear &
Here, t1 + t2 + t3 = 2.1 [s] from the operating cycle and t1 = t3 = 0.1
Rotary
for acceleration and deceleration time. Therefore, t2 = 2.1 0.1 2 Actuators
= 1.9 [s] Belt Conveyor
D
The ratio (effective load safety factor) of Trms and the rating torque of Cooling
Fans
servo motor TM is expressed by the formula below. Motor
Gearhead
TM 0.637
= = 2.65 Total mass of belt and load m1 = 25 [kg] Service
Trms 0.24 Life
External force FA = 0 [N]
Generally a motor can operate at an effective load safety factor of Friction coefficient of sliding surface = 0.3
Stepper
1.52 or more. Roller diameter D = 90 [mm] Motors
Roller mass m2 = 1 [kg]
Belt and roller efficiency K = 0.9
Servo
Belt Speed V = 150 [mm/s]10% Motors
Motor power supply Single-Phase 115 VAC, 60 Hz
Operating time 8 hours operation per day Standard
AC
Motors
(2) Determine the Gear Ratio of Gearhead
Brushless
Motors/AC
V 60 (150 15) 60 Speed Control
Gearhead Output Shaft Speed NG = =
D 90 Motors
= 31.8 3.2 [r/min]
Gearheads
Since the rated speed for an induction motor (4-pole) at 60 Hz is
14501550 [r/min], select a gearhead gear ratio within this range.
Cooling
Fans
14501550 14501550
Gearhead Gear Ratio i = = = 41.454.2
NG 31.8 3.2
Select a gear ratio of i = 50 from within this range.
(3) Calculate the Required Torque TM [Nm]
Friction Coefcient of Sliding Surface F = FA + m g (sin + cos )

= 0 + 25 9.807 (sin 0 + 0.3 cos 0)
= 73.6 [N]
FD 73.6 90 103
Load Torque T'L = = = 3.68 [Nm]
2 2 0.9
Consider the safety factor Sf = 2.
TL = T' L Sf = 3.68 2 = 7.36 [Nm]
Select the motor that satisfies the rated torque based on the
calculation results so far (Gear ratio i =50, load torque
TL = 7.36 [Nm]).
At this time, refer to the specifications table on page C-126 and
tentatively select motor 5IK40UA-50A.

H-12 Motors
(4) Check the Inertia J [kgm2] Using Low-Speed Synchronous Motors (SMK Series)
D 2
Inertia of Belt and Load Jm1 = m1 ( 2 )
Mechanism
90 103 2
= 25 ( 2 ) The mass of load is selected that can be driven with
SMK5100A-AA when the belt-drive table shown in Fig. 1 is driven in
= 507 104 [kgm2]
the operation pattern shown in Fig. 2.
1
Inertia of Roller Jm2 = m2 D 2
8 Load
1
= 1 (90 103)2 V m
8 Roller 2
= 10.2 104 [kgm2] F
Roller 1
Calculate the load inertia for the gearhead output shaft J.
Take into account that there are 2 rollers (Jm2). Motor
J = Jm1 + 2Jm2
Fig. 1 Example of Belt Drive
= 507 104 + 10.2 104 2
= 528 104 [kgm2] Total mass of belt and load m1 = 1.5 [kg]
Roller diameter D = 30 [mm]
The value of the permissible inertia JG for the 5IK40UA-50A can be Mass of roller m2 = 0.1 [kg]
found on the specifications table on page C-18. Frictional coefficient of sliding surfaces = 0.04
Belt and pulley efficiency K = 0.9
JG = 2750 104 [kgm2] (During instantaneous stop) Frequency of power supply 60 Hz (Motor speed: 72 r/min)
Therefore, since J < JG, the inertia is less than the permissible value, Motor speed [r/min]
so there is no problem. Since the motor selected has a rated torque 72
of 11.2 [Nm], which is larger than the actual load torque, the motor
will operate at a higher speed than the rated speed. 15 [sec]
5 10
Therefore, use the speed that is without load (approx. 1750 r/min) to 72
calculate belt speed, and check whether the selected product meets
Fig. 2 Operating Pattern
the required specifications.
Low-speed synchronous motors share the same basic operating
NM D 1750 90 principle with 1.8 stepper motors. Accordingly, the torque for a low-
V = = = 165 [mm/s]
60 i 60 50 NM : Motor Speed
speed synchronous motor is calculated in the same manner as for a
This confirms that the motor meets the specifications. 1.8 stepper motor.
Therefore, the 5IK40UA-50A motor is selected. (2) Belt Speed V [mm/s]
Check the belt (load) speed
V = D N = 30 72 = 113 [mm/s]
60 60
(3) Calculate the Required Torque T L [Nm]

Frictional coefficient of sliding surfaces F = FA + m1 g (sin + cos )
= 0 + 1.5 9.807 (sin 0 + 0.04 cos 0)
= 0.589 [N]
3
Load Torque TL = F D = 0.589 30 10 = 9.82 103 [Nm]
2 2 0.9
(4) Calculate the Moment of Inertia JG [kgm2]

Inertia of belt and load Jm1 = m1 ( D)2
2
3
= 1.5 ( 30 10 )2
2
= 3.38 104 [kgm2]
Inertia of Roller Jm2 = 1 m2 D2

8
= 1 0.1 (30 103)2

8
= 0.113 104 [kgm2]
The inertia JL is calculated as follows:

Take into account that there are two rollers (Jm2).
JL = Jm1 + 2 Jm2 = 3.38 104 + 0.113 104 2 = 3.5 104 [kgm2]

H-12 2015/2016
(5) Calculate the Acceleration Torque Ta [Nm] Using Brushless Motors
Calculate the start acceleration torque. (1) Specifications and Operating Conditions of the Drive
Ta = (J0 + JL) s 2 = (J0 + 3.5 104) 7.2 602
f Mechanism
180 n 180 0.5
Here is an example of how to select a brushless motor to drive a belt
= 905 J0 + 0.32 [Nm] conveyor.
Selection
Here, s = 7.2, f = 60 Hz, n = 3.6/ s = 0.5 V Calculations
Load D
J0: Rotor Inertia
Motors
(6) Calculate the Required Torque TM [Nm] (Safety factor Sf = 2.) Roller
Required Torque TM = (TL + Ta) Sf Linear &

= (9.82 103 + 905 J0 + 0.32) 2 Rotary
Actuators
= 1810 J0 + 0.66 [Nm]
Cooling
(7) Select a Motor Motor Fans
Select a motor that satisfies both the required torque and the Belt speed V = 0.051 [m/s]
permissible inertia. Motor power supply Single-Phase 115 VAC
Belt conveyor drive Service
Rotor Inertia Permissible Inertia Output Torque Life
Motor Roller diameter D = 0.1 [m]
[kgm2] [kgm2] [Nm]
SMK5100A-AA 1.4104 7104 1.12 Roller mass m2 = 1 [kg]
Stepper
Total mass of belt and load m1 = 7 [kg] Motors
When the required torque is calculated by substituting the rotor
External force FA = 0 [N]
inertia, T M is obtained as 0.914 [Nm], which is below the output
Friction coefficient of sliding surface = 0.3
torque. Next, check the permissible inertia. Since the inertia Servo
Belt and roller efficiency = 0.9 Motors
calculated in (4) is also below the permissible inertia,
SMK5100A-AA can be used in this application. (2) Find the Required Speed Range Standard
For the gear ratio, select 15:1 (speed range: 5.3200) from the AC
Motors
Gearmotor Torque Table of Combination Type on page D-28 so
Brushless
that the minimum/maximum speed falls within the speed range. Motors/AC
60 VL Speed Control
NG = NG: Speed at the gearhead shaft Motors
D
60 0.05
Belt speed 0.015 [m/s] .......... = 9.55 [r/min] (Minimum speed) Gearheads
0.1
60 1
1 [m/s] ................. = 191 [r/min] (Maximum speed)
0.1 Cooling
Fans
(3) Calculate the Moment of Inertia JG [kgm2]
D 2 0.1 2
Inertia of belt and load Jm1 = m1 ( ) =7( )
2 2
= 175 104 [kgm2]
1 2
Inertia of roller Jm2 = m2 D
8
1
= 1 0.12 = 12.5 104 [kgm2]
8
The inertia JG is calculated as follows:

Take into account that there are two rollers (Jm2).
JG = Jm1 + 2 Jm2 = 175 104 + 12.5 104 2
= 200 104 [kgm2]
From the specifications on page D-29, the permissible load inertia of

BMU5120A-15A-3 is 225 104 [kgm2].
(4) Calculate the Load Torque TL [Nm]

Friction coefcient of sliding surface F = FA + m g (sin + cos )
= 0 + 7 9.807 (sin 0 + 0.3 cos 0)
= 20.6 [N]
FD 20.6 0.1
Load torque TL = = = 1.15 [Nm]
2 2 0.9
Select BMU5120A-15A-3 from the Gearmotor Torque Table of

Combination Type on page D-28.
Since the permissible torque is 5.2 [Nm], the safety factor is
TM / TL = 5.2 / 1.15 4.5.
Usually, a motor can operate at the safety factor of 1.52 or more.

H-14 Motors
Index Mechanism Pulse Speed [Hz] t1=0.1

Mechanism 3334
Geared stepper motors are ideal for systems with big inertia, such as
index tables.
DT =300 mm
=120 mm
t1 t1 Time [s]
t0=0.25
(3) Calculate the Required Torque TM [Nm] (Refer to page H-5)

Calculate the load torque TL [Nm]
Controller Friction load is negligible and therefore omitted. Load torque is
assumed as 0.
Driver
TL = 0 [Nm]
Calculate the acceleration torque Ta [Nm]

-1 Calculate the inertia JL [kgm2]
Programmable
(Refer to page H-4 for the formula)
Controller
Geared Stepper Motor

Table diameter DT = 300 [mm] Inertia of Table JT =
32
LT DT4
Table thickness LT = 5 [mm]
Table material Aluminum (Density = 2.8 103 [kg/m3]) = 2.8 103 (5 103) (300 103)4
32
Load diameter DW = 40 [mm]
= 1.11 102 [kgm2]
Load thickness LW = 30 [mm]
Number of loads 10 (1 every 36)
Inertia of Load JW1 = LW DW4
Load material Aluminum (Density = 2.8 103 [kg/m3]) (Around Center of Load Rotation)
32
Distance from central axis of table to central axis of load l = 120 [mm] =

2.8 103 (30 103) (40 103)4
32
Positioning angle = 36
Positioning time t0 =0.25 seconds = 0.211 104 [kgm2]
The RK Series PS geared type (Gear ratio 10, resolution/pulse

= 0.072) can be used. Load Mass mW = LW DW2
4
The PS geared type can be used at the maximum starting/stopping
= 2.8 103 (30 103) (40 103)2
torque in the inertial drive. 4
Gear ratio i = 10 = 0.106 [kg]
Resolution/pulse T s = 0.072
Inertia of load JW [kgm2] relative to the center of rotation can be
(2) Determine the Operating Pattern (Refer to formula on page
calculated from distance l [mm] between the center of load and
H-5)
center of table rotation, mass of load mW [kg], and inertia of load
Calculate the number of operating pulses A [Pulse]
around the center of load JW1 [kgm2].

A=
s
36 Since the number of loads, n = 10 [pcs],
=
0.072
Inertia of Load JW = n (JW1 + mW l2)
= 500 [Pulse]
(Around Center of Table Rotation)
Determine the acceleration (deceleration) time t1 [s] = 10 {(0.211 104) + 0.106 (120 103)2}
An acceleration (deceleration) time of 25% of the positioning time is = 1.55 102 [kgm2]
appropriate.
Inertia JL = JT + JW
Here, we shall let
= (1.11 + 1.55) 102
t1 = 0.1 [s].
= 2.66 102 [kgm2]
Calculate the operating pulse speed f2 [Hz].
A 500
f2 = =
t0 t1 0.25 0.1
3334
Hz
Calculate the operating speed NM [r/min].
S
NM = f2 60
360
0.072
= 3334 60
360
40
r/min
The permissible speed range for the PS geared motor with a gear
ratio of 10 is 0300 [r/min].

H-14 2015/2016
-2 Calculate the acceleration torque Ta [Nm] (6) Check the Acceleration/Deceleration Rate (Refer to page
Calculate the acceleration torque of the output gear shaft. H-5)
Note when calculating that the units for acceleration/deceleration
J0 i2 + JL NM
Ta = rate TR are [ms/kHz].
9.55 t1
J0 102 + 2.66 102 40
= t1 0.1
s
9.55 0.1 TR = =
Selection
f2 f1 3334
Hz 0Hz Calculations
= 4.19 103 J0 + 1.11Nm 100
ms
=
3.334
kHz 0
kHz
The formula for calculating acceleration torque with pulse speed is Motors
30
ms/kHz
shown below. Calculation results are the same.
The RKS566AAD-PS10-3 motor is the equivalent of the Linear &
s f2 f1 Rotary
Ta =
J0 i2 + JL RKS566AAD-3 and it has an acceleration/deceleration rate of
180 t1 Actuators
20[ms/kHz] or more. Since the acceleration/deceleration rate is
0.072 3334 0
=
J0 102 + 2.66 102
30[ms/kHz] the operation of the motor is possible.
180 0.1 Cooling
Fans
= 4.19 10 J0 + 1.11
Nm3
Calculate the required torque TM [Nm] Service

Life
Calculate safety factor Sf = 2.
TM =(TL + Ta)Sf Stepper

= {0 + (4.19 103 J0 + 1.11)} 2 Motors
= 8.38 103 J0 + 2.22 [Nm]
Servo
(4) Select a Motor Motors
Tentative motor selection
Rotor Inertia Required Torque Standard
Product Name AC
[kgm2] [Nm]
Motors
RKS566AAD-PS10-3 270 10-7 2.45
Brushless
Motors/AC
Determine the motor from the speed torque characteristics Speed Control
RKS566AAD-PS10-3 Motors
15
Gearheads
Pullout Torque
Cooling
10
Fans
Torque [Nm]
Permissible Torque
5
Duty Region
0
0 100 200 300
Speed [r/min]
0 5 10 15 20 25 Resolution 1
(0) (50) (100) (150) (200) (250) (Resolution 10)
Pulse Speed [kHz]
The PS geared type can use acceleration torque up to the maximum

torque range to start and stop inertia loads.
Since the duty region of the motor (operating speed and required
torque) falls within the pullout torque of the speed torque
characteristics, the motor can be used.
Check the inertia ratio and acceleration/deceleration rate to ensure
that the selection is correct.
(5) Check the Inertia Ratio (Refer to page H-6)

The RKS566AAD-PS10-3 has a gear ratio of 10, therefore, the
inertia ratio is calculated as follows.
JL 2.66 102
=
J0 i2 270 107 102
9.85
RKS566AAD-PS10-3 motor is the equivalent of the

RKS566AAD-3 motor. Since the inertia ratio is 10 or less, if the
inertia ratio is 9.85, motor operation is deemed to be possible.

H-16 Motors
Winding Mechanism
This example demonstrates how to select winding equipment when
Calculate the Required Torque
a torque motor is used.
Calculate the torque T1 required at the start of winding.
F D1 4 0.015
T1= = = 0.03 [Nm]
2 2
Calculate the torque T2 required at the end of winding.

F F D2 4 0.03
T2= = = 0.06 [Nm]
2 2
V This winding motor must meet the following conditions:

D3
Start of Winding:
Speed N1 = 1000 [r/min], Torque T1 = 0.03 [Nm]
End of Winding:
D Speed N2 = 500 [r/min], Torque T2 = 0.06 [Nm]
Select a Motor
Tensioning Motor
Check the Speed Torque Characteristics
Select a motor that meets the required conditions specified above.
Winding Motor If the required conditions are plotted on the Speed Torque
Characteristics for 4TK10A-AW2U, it is clear that the conditions
roughly correspond to the characteristics at a torque setting voltage
Mechanism
of 60 VAC.
Winding roller diameter D
Diameter at start of winding .......................D1 = 15 [mm] = 0.015 [m]
Speed Torque Characteristics
Diameter at end of winding ..........................D2 = 30 [mm] = 0.03 [m]
4TK10A-AW2U
Tensioning roller diameter ...............................D3 = 20 [mm] = 0.02 [m]
[oz-in]
[Nm]
Winding speed ............................................. V = 47 [m/min] (constant)
Tension ..................................................................F = 4 [N] (constant) 0.35
Power .............................................................. Single-phase 115 VAC 60 Hz
115 VAC
Operating time ...................................................................Continuous 0.30
40
(2) Select a Winding Motor 0.25 110 VAC
In general, a winding motor must satisfy the following conditions: Wind up end
30
Able to provide a constant winding speed 0.20
Torque
Able to apply a constant tension to prevent slackening of material 80 VAC

0.15 Wind up start
20
To meet the above conditions, the following points must be given
consideration when selecting a motor: 0.10 60 VAC
Since the winding diameter is different between the start and 10

end of winding, the motor speed must be varied according to the 0.05 40 VAC
winding diameter to keep the winding speed constant.

0 0
If the tension is constant, the required motor torque is different 0 500 1000 1500 1800
between the start and end of winding. Accordingly, the torque must Speed [r/min]
be varied according to the winding diameter. Check the Operation Time

Torque motors have ideal characteristics to meet these conditions. 4TK10A-AW2U has a five-minute rating when the voltage is
115VAC and a continuous rating when it is 60 VAC. Under the
Calculate the Required Speed conditions given here, the voltage is 60 VAC max., meaning that the
Calculate the speed N1 required at the start of winding. motor can be operated continuously.
V 47 Note
N1= = = 997.9 [r/min] 1000 [r/min]
D1 0.015 If a torque motor is operated continuously in a winding application, select conditions where
the service rating of the torque motor remains continuous.
Calculate the speed N2 required at the end of winding.

V 47
N2= = = 498.9 [r/min] 500 [r/min]
D2 0.03

H-16 2015/2016
(3) Select a Tensioning Motor
If tension is not applied, the material slackens as it is wound and
cannot be wound neatly. Torque motors also have reverse-phase
brake characteristics and can be used as tensioning motors.
How to select a tensioning motor suitable for the winding
equipment shown on page H-16 is explained below. Selection
Calculations
Calculate the Required Speed N3

V 47 Motors
N3= = = 748.4 [r/min] 750 [r/min]
D3 0.02
Linear &
Rotary
Calculate the Required Torque T3 Actuators
F D3 4 0.02
T3= = = 0.04 [Nm] Cooling
2 2 Fans
Select a Motor Service

Life
Select a motor that meets the required conditions specified above.
If the required conditions are plotted on the speed brake torque
characteristics for the 4TK10A-AW2U reverse-phase brake, it is Stepper
Motors
clear that the conditions roughly correspond to the characteristics at
a torque setting voltage of 40 VAC.
Servo
Motors
Speed Brake Torque Characteristics with Reverse-Phase Brake
0.40 Standard
4TK10A-AW2U
115 VAC AC
50 110 VAC
0.35 Motors
Brushless
40 0.30
Motors/AC
Brake Torque [oz-in]
Brake Torque [Nm]
Speed Control
0.25 Motors
30 80 VAC
0.20
Gearheads
20 0.15
60 VAC
0.10 50 VAC Cooling
10 40 VAC Fans
0.05
0 0
0 500 1000 1500
Speed [r/min]
Note
If a torque motor is operated continuously in a brake application, how much the motor
temperature rises varies depending on the applicable speed and torque setting voltage. Be
sure to keep the temperature of the motor case at 90C max.
From the above checks, the 4TK10A-AW2U can be used both as a

winding motor and tensioning motor.
Please contact the nearest Oriental Motor sales office or customer support center for
information on the speed brake torque characteristics of each product.


Guia de Diseño Seleccion de Motores y Husillos PDF

Transféré par

Informations du document

Titre original

Copyright

Formats disponibles

Partager ce document

Partager ou intégrer le document

Options de partage

Avez-vous trouvé ce document utile ?

Ce contenu est-il inapproprié ?

Droits d'auteur :

Formats disponibles

Guia de Diseño Seleccion de Motores y Husillos PDF

Transféré par

Droits d'auteur :

Formats disponibles

Technical Reference H-1

Selection Calculations ........................... H-2 Selection

Linear & Rotary Actuators H-18

Service Life........................................... H-30 Service

Reference Stepper Motors ................................... H-34

Servo Motors ........................................ H-42 Servo

Gearheads ............................................ H-49 Gearheads

Cooling Fans ........................................ H-56 Cooling

Selection Calculations For Motors

Sizing and Selection Service

ORIENTAL MOTOR GENERAL CATALOG

Formula for Load Torque TL [Nm] for Each Drive Mechanism

F PB 0 F0 PB 1 Direct Connection Selection

Wire and Belt Drive, Rack-and-Pinion Drive

Actual Measurement Method Standard

CAD Data www.orientalmotor.com Technical TEL: (800) 468-3982 H-3

Formula for Inertia J [kgm2]

Inertia of a Hollow Cylinder

Inertia on Off-Center Axis

l: Distance Between x and x0 Axes [m] C

Inertia of a Rectangular Pillar

Inertia of an Object in Linear Motion

A: Unit Movement [m/rev]

Inertia of the Motor Shaft Conversion Jm

Jy : Inertia on y-axis [kgm2]

ORIENTAL MOTOR GENERAL CATALOG

Motor Selection Calculations Calculate the Load Torque

The acceleration/deceleration rate indicates the degree of

CAD Data www.orientalmotor.com Technical TEL: (800) 468-3982 H-5

Selection Points Considering Temperature Rise

Stepper Motors Check the Inertia Ratio

When the values in the table are exceeded, we recommend a geared

ORIENTAL MOTOR GENERAL CATALOG

TL = TL Sf = 0.426 2 = 0.86 [Nm]

CAD Data www.orientalmotor.com Technical TEL: (800) 468-3982 H-7

5 103 2 AR Series stepper motor and driver package can be used.

(3) Determine an Operating Pattern

Force of Moving Direction F = FA + m g (sin + cos ) Linear &

-2 Calculate the acceleration torque Ta [Nm]

= 628 J0 + 0.158 [Nm]

The formula for calculating acceleration torque with pulse speed is

Calculate the required torque TM [Nm]

CAD Data www.orientalmotor.com Technical TEL: (800) 468-3982 H-9

Using Servo Motors (5) Calculate the Inertia JL [kgm2]

(3) Determine an Operating Pattern (JL + J0) NM

(4) Calculate the Load Torque TL [Nm]

ORIENTAL MOTOR GENERAL CATALOG

Select a gear ratio of i = 50 from within this range.

(3) Calculate the Required Torque TM [Nm]

Friction Coefcient of Sliding Surface F = FA + m g (sin + cos )

Consider the safety factor Sf = 2.

TL = T' L Sf = 3.68 2 = 7.36 [Nm]

CAD Data www.orientalmotor.com Technical TEL: (800) 468-3982 H-11

(3) Calculate the Required Torque T L [Nm]

(4) Calculate the Moment of Inertia JG [kgm2]

= 3.38 104 [kgm2]

Inertia of Roller Jm2 = 1 m2 D2

= 1 0.1 (30 103)2

= 0.113 104 [kgm2]

The inertia JL is calculated as follows:

ORIENTAL MOTOR GENERAL CATALOG

Required Torque TM = (TL + Ta) Sf Linear &

= 175 104 [kgm2]