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Technical Reference

Motor Sizing Calculations

This section describes certain items that must be calculated to find the optimum motor for a particular application.
Selection procedures and examples are given.

 Selection Procedure
Determine the drive ● First, determine certain features of the design, such as drive mechanism, rough dimensions,
mechanism component distances moved, and positioning period.

● Confirm the required specifications for the drive system and equipment (stop accuracy,
Confirm the required specifications
position holding, speed range, operating voltage, resolution, durability, etc.).

● Calculate the value for load torque, load inertia, speed, etc. at the motor drive shaft of the
mechanism. Refer to page 3 for calculating the speed, load torque and load inertia for various
Calculate the speed and load mechanisms.

● Select a motor type from AC Motors, Brushless DC Motors or Stepping Motors based on the
Select motor type
required specifications.

● Make a final determination of the motor after confirming that the specifications of the selected
Check the selected motor motor/gearhead satisfy all of the requirements (mechanical strength, acceleration time,
acceleration torque etc.).

F-2 ORIENTAL MOTOR GENERAL CATALOG 2003/2004

Technical Reference
 Formulas for Calculating Load Torque  Formulas for Calculating Moment of
 Ball Screw Inertia
m Direct Coupling
 Inertia of a Cylinder
F D1

FA x

m
FA

y L

Fan Sizing AC Motors

Motor and Standard Speed Control Stepping
FP B 0F0P B 1
TL  (  )  [oz-in]...................................... 
2π 2π i
F  FA  m (sin   cos ) [oz.] .......................................  1 π
Jx  mD 12  LD 14 [oz-in2] .....................................
8 32
 Pulley
1 D 12 L 2
Jy  m(  ) [oz-in2] ............................................

4 4 3

Systems
D
 Inertia of a Hollow Cylinder
x
D1
D2

FA m y L

FA  m D
TL  · 1 π
2π i Jx  m (D 12  D 2 2 )  L ( D 14
D 24 ) [oz-in2] ............

Motion
Linear
8 32
(FA  m ) D
 [oz-in] ....................................................  1 D 12  D 2 2 L 2
2i Jy  m(  ) [oz-in2] ................................. 

Cooling
4 4 3

Fans
 Wire Belt Mechanism, Rack and Pinion Mechanism  Inertia for Off-center Axis of Rotation
l x0
FA F FA m F x
m

D C

B
A
F πD FD
TL   [oz-in] ..............................................  l Distance between x and x0 axes [in.]
2π i 2i
1
F  FA  m (sin   cos ) [oz.] .......................................  J x  Jx0  m l 2  m ( A2  B 2  12 l 2 )[oz-in2] ............... 
12

 By Actual Measurement  Inertia of a Rectangular Pillar

A x
Spring Balance B

FB
C
y
Machine
D

1 1
Pulley
Jx  m ( A2  B 2 )  A B C ( A 2  B 2 )[oz-in2] ........... 
12 12
FBD
TL  [oz-in] ............................................................... 
2 1 1
Jy  m ( B2  C2 )  A B C ( B 2  C 2 )[oz-in2] ...........
12 12
 Inertia of an Object in Linear Motion
F  Force of moving direction [oz.] 2 A 2
 Pilot pressure weight [oz.] (1/3 F) Jm( ) m( ) [oz-in2] .........................................
F0 2π
0  Internal friction coefficient of pilot pressure nut (0.1 to 0.3)
  Efficiency (0.85 to 0.95) A  Unit of movement [inch/rev]
i  Gear ratio Jx  Inertia on x axis [oz-in2]
PB  Ball screw pitch [inch/rev] Jy  Inertia on y axis [oz-in2]
FA  External force [oz.] Jx0  Inertia on x0 axis [oz-in2]
m  Weight [oz.] Density
FB  Force when main shaft begins to rotate [oz.]
m  Total weight of work and table [oz.] D1  External diameter [inch] Iron  4.64 [oz/in3]
  Frictional coefficient of sliding surfaces (0.05) D2  Internal diameter [inch] Aluminum  1.65 [oz/in3]
  Angle of inclination [°]  Density [oz/in3] Bronze  5 [oz/in3]
D  Final pulley diameter [inch] L  Length [inch] Nylon  0.65 [oz/in3]

ORIENTAL MOTOR GENERAL CATALOG 2003/2004 F-3

Technical Reference
 Stepping Motors
This section describes in detail the key concerns in the  For Start-Stop Operation
selection procedure, such as the determination of the motion Start-stop is a method of operation in which the operating
profile, the calculation of the required torque and the pulse speed of a motor being used in a low-speed region
confirmation of the selected motor. is suddenly increased without an acceleration period. It is
found by the following equation. Since rapid changes in
 Operating Patterns speed are required, the acceleration torque is very large.
There are 2 basic motion profiles. Operating Pulse Number of Operating Pulses [Pulses]
One is a start/stop operation and the other is an acceleration/ Speed ( f2) [Hz]  Positioning Period [s]
deceleration operation.
A
Acceleration/deceleration operation is the most common. 
t0
When load inertia is small, start/stop operation can be used.
 Calculate the Acceleration/Deceleration Rate TR
Operating Pulse Operating Pulse Calculate the acceleration/deceleration rate from the
Speed Speed
( f 2) ( f 2) following equation.
Number of Operating Pulses
Acceleration/deceleration Acceleration (Deceleration) Period [ms]
Number of (A)

Starting Pulse
Operating Pulses
(A)
rate TR [ms/kHz] Operating Pulse Starting Pulse
Speed
Speed [Hz]
Speed [Hz]
( f 1) Start/Stop Operation (t 0 )

Acceleration Period Deceleration Period t1

(t 1)
Positioning Period
(t 1) 
(t 0) f2
f1
Acceleration/Deceleration Operation
✽ Calculate the pulse speed in full-step equivalents.

Pulse Speed [kHz]

The number of operating pulses is expressed as the number
of pulse signals that adds up to the angle that the motor must TR
move to get the work from point A to point B.
No. of Pulses
Operating Pulse (A) Distance per Movement
  Required for
[Pulses] Distance per Motor Rotation
1 Motor Rotation
t1
l 360°
  s: Step Angle  Calculate the Operating Speed from Operating
lrev s
Pulse speed
 Determine the Operating Pulse Speed f 2 [Hz] Operating Operating Pulse  Step Angle
  60
The operating pulse speed can be found from the number of Speed [r/min] Speed [Hz] 360°
operating pulses, the positioning period and the
acceleration/deceleration period.
 Calculate the Load Torque TL
(See basic equations on pages F-3)
 For Acceleration/Deceleration Operation
Acceleration/deceleration is a method of operation in  Calculate the Acceleration Torque Ta
which the operating pulses of a motor being used in a  For Acceleration/Deceleration Operation
medium- or high-speed region are gradually changed. It is
Acceleration Torque (Ta) [oz-in]
found by the equation below. Usually, the acceleration
(deceleration) period (t1) is set at roughly 25% of the Inertia of Rotor Total Inertia πStep Angle [°]
 [oz-in2]  [oz-in2] 
positioning periods. For gentle speed changes, the 180°
acceleration torque can be kept lower than in start-stop Operating Pulse Starting Pulse
operations. Speed [Hz]
Speed [Hz]

When a motor is operated under an operating pattern like Acceleration (Deceleration) Period [s]
this, the acceleration/deceleration period needs to be π• s f2
f1
calculated using the positioning period.  (J0JL)  
180 t1
 For Start-Stop Operation
Acceleration/Deceleration
Inertia of Rotor Total Inertia
Period [s]Positioning Period [s]0.25 Acceleration Torque (Ta) [oz-in]   [oz-in2]
[oz-in2]
Number of Acceleration
Starting Pulse 
Operating Pulses
(Deceleration) πStep Angle [°](Operating Pulse Speed)2 [Hz]
Speed [Hz] 
Operating Pulse [Pulses] Period [s] 180°Coefficient

Speed f2 [Hz] Positioning
Acceleration (Deceleration) π• s • f22
Period [s] Period [s]  (J0JL) 
180° • n n: 3.6°/ s

A
f1 • t1  Calculate the Required Torque TM

t0
t1 Required Torque  (Load Torque Acceleration Torque) Safety Factor
TM [oz-in] [oz-in] [oz-in]
 (TLTa)Sf
F-4 ORIENTAL MOTOR GENERAL CATALOG 2003/2004
Technical Reference
 Choosing Between Standard AC  Check the Acceleration/Deceleration Rate
Most controllers, when set for acceleration or
Motors and Stepping Motors
deceleration, adjust the pulse speed in steps. For that
 Selection Considerations
reason, operation may sometimes not be possible, even
There are differences in characteristics between standard AC
though it can be calculated.
motors and stepping motors. Shown below are some of the
Calculate the acceleration/deceleration rate from the
points you should know when sizing a motor.
following equation and check that the value is at or above

Fan Sizing AC Motors

Motor and Standard Speed Control Stepping
 Standard AC Motors the acceleration/deceleration rate in the table.
 The speed of Induction Motors and Reversible Motors
Acceleration/Deceleration  Acceleration (Deceleration) Period [ms]
vary with the size of the load torque. So, the selection Rate TR [ms/kHz] Operating Pulse Starting Pulse
should be made between the rated speed and the Speed [Hz]
Speed [Hz]
synchronous speed. t1
 There can be a difference of continuous and short-term 
f2
f1

Systems
ratings, due to the difference in motor specifications,
despite the fact that two motors have the same output ✽ Calculate the pulse speed in full-step equivalents.
power. Motor selection should be based on the operating

time (operating pattern).

Pulse Speed [kHz]

 Each gearhead has maximum permissible load inertia. TR
When using a dynamic brake, changing direction quickly,
or quick starts and stops, the total load inertia must be
less than the maximum permissible load inertia.

Motion
Linear
 Stepping Motors t1
 Checking the Running Duty Cycle Acceleration Rate (Reference Values with EMP Series)
A stepping motor is not intended to be run continuously

Cooling
Fans
Acceleration/
with rated current. Lower than 50% running duty cycle is Model
Motor Frame Size
Deceleration Rate If below the minimum
inch (mm)
recommended. TR [ms/kHz] value, change the
Running Time 1.10(28), 1.65(42), operating pattern’s
Running Duty Cycle   100 A 0.5 Min.
Running Time  Stopping Time 2.36(60), 3.35(85) acceleration
1.65(42), 2.36(60) 20 Min.
 Checking the Inertia Ratio RK Series (deceleration)
3.35(85), 3.54(90) 30 Min.
Large inertia ratios cause large overshooting and period.
undershooting during starting and stopping, which can  Checking the Required Torque
affect start-up times and settling times. Depending on the Check that the required torque falls within the pull-out
conditions of usage, operation may be impossible. torque of the speed-torque characteristics.
Calculate the inertia ratio with the following equation and Safety Factor: Sf (Reference Value)
check that the values found are at or below the inertia
Product Series Safety Factor
ratios shown in the table. A 1.52

Total Inertia of the Machine [oz-in2] RK Series 2

Torque [oz-in]

Inertia Ratio 
Rotor Inertia of the Motor [oz-in2]
JL

J0
Required Torque

Inertia Ratio (Reference Values)

Inertia Ratio When these values are exceeded,
Speed [r/min]
Product Series
(Pulse Speed [kHz])
A 30 we recommend a geared motor.
RK Series 10 Maximum Using a geared motor can
✽ Except geared motor types increase the drivable inertia load.
Total Inertia of the Machine [oz-in2]
Inertia Ratio 
Rotor Inertia of the Motor [oz-in2](Gear Ratio)2
JL

J0 • i2

ORIENTAL MOTOR GENERAL CATALOG 2003/2004 F-5

Technical Reference
 Sizing Example (3) Determine the Operating Pulse Speed ƒ2 [Hz]
 Ball Screw Number of Starting Acceleration
Operating
Pulses  (Deceleration)
Using Stepping Motors (A) Operating pulse Speed [f1]
Pulses [A] Period [t1]

m speed f 2 Positioning Acceleration (Deceleration)

 6000
0  10000 Hz
Stepping
Motor 0.8
0.2
Coupling

Operating Pulse Speed [Hz]

Direct
Connection 10000
Pulse Driver
Generator
6000 Pulses

PB
DB
0.2 t1 t 1 0.2 Period [sec]
Programmable t 0 =0.8
Controller
(4) Calculate the Operating Speed N [r/min]
 Determine the Drive Mechanism S  60
Operating Speed  f 2 
Total mass of the table and work: m  90 lb. (40 kg) 360
Frictional coefficient of sliding surfaces:   0.05  10000  0.72  60  1200 [r/min]
Ball screw efficiency:   0.9 360
Internal frictional coefficient of pilot pressure nut: 0  0.3  Calculate the Required Torque TM [oz-in]
Ball screw shaft diameter: D B  0.6 inch (1.5 cm) (see page F-4)
Total length of ball screw: L B  23.6 inch (60 cm) (1) Calculate the Load Torque TL [oz-in]
Material of ball screw: Iron [density  4.64 oz/in3
Load in Shaft Direction F  F A  m (sin    cos )
(7.910-3 kg /cm3)]  0  90 (sin 0  0.05 cos 0)
Pitch of ball screw: P B  0.6 inch (1.5 cm)  4.5 lb.
Desired Resolution (feed per pulse): l  0.001 inch (0.03 mm)/step
Feed: l  7.01 inch (180 mm) Pilot Pressure Load F 0  F  4.5  1.5 lb.
3 3
Positioning period: t 0  0.8 sec.
Load Torque T L  F • P B   0 • F 0 • P B
2π 2π
 Calculate the Required Resolution
 4.5  0.6  0.3  1.5  0.6
360°  Desired Resolution (l) 2π  0.9 2π
Required Resolution S 
Ball Screw Pitch (PB )  0.52 lb-in  8.3 oz-in
 360°0.001  0.72°
15 (2) Calculate the Acceleration Torque Ta [oz-in]
A can be connected directly to the application.  Calculate the total moment of inertia JL [oz-in2]
(See page F-3 for basic equations)
 Determine the Operating Pattern Inertia of Ball Screw J B 
π
• • L B • D B4
(see page F-4, see basic equations on pages F-3) 32
π
(1) Finding the Number of Operating Pulses (A)   4.64  23.6  0.6 4
32
[pulses]  1.39 oz-i n 2
Feed per Unit (l) 360°
Operating pulses (A)   Inertia of Table and Work J T  m P B  90  0.6
2 2

Ball Screw Pitch (PB ) Step Angle ( S ) 2π 2π

 7.01  360°  6000 pulses  0.82 lb-in2  13.1 oz-in2
0.6 0.72°

(2) Determine the Acceleration (Deceleration) Total Inertia J L  J B  J T  1.39  13.1  14.5 oz- in2
Period t1 [sec]  Calculate the acceleration torque Ta [oz-in]
An acceleration (deceleration) period of 25% of the Acceleration
 J0  J L  π • S  f 2
f 1
positioning period is appropriate. torque Ta g 180° t1
Acceleration (deceleration) period (t 1)  0.8  0.25  0.2 sec π  0.72
 J 0  14.5   10000
0
386 180 0.2
 1.63 J0  23.6 oz-in

(3) Calculate the Required Torque TM [oz-in]

Required torque
TM [oz-in]  (  a )  2
TL T

 {8.3  (1.63 J 0  23.6) }  2

 3.26 J 0  63.8 oz-in

F-6 ORIENTAL MOTOR GENERAL CATALOG 2003/2004

Technical Reference
 Select a Motor  Determine the Gear Ratio
(1) Provisional Motor Selection Speed at the gearhead output shaft: NG
V • 60 (0.60.06)  60
Model
Rotor Inertia Required Torque NG    18218 r/min
[oz-in2] oz-in N•m PB 0.197
AS66AA 2.2 71 0.5 Because the rated speed for a 4-pole motor at 60 Hz is
14501550 r/min, the gear ratio (i ) is calculated as follows:
(2) Determine the Motor from the Speed-Torque 14501550 14501550
i   7.29.5

Characteristics

Motor and Standard Speed Control Stepping

NG 18218
AS66AA From within this range a gear ratio of i = 9 is selected.
2.0
250

1.5
 Calculate the Required Torque
200
F, the load weight in the direction of the ball screw shaft, is
Torque [oz-in]
Torque [N·m]

150
1.0 obtained as follows:
F  FAm (sin     cos  )  0100 (sin 90  0.05  cos 90 )

Systems
100
0.5
50  100 lb.
0 0
1000 2000 3000 4000

Speed [r/min] F
0 10 20 30 40 50 60 F0   33.3 lb.
Pulse Speed [kHz] 3
(Resolution Setting: 1000 P/R)
Select a motor for which the required torque falls within the FPB 0F0PB 1000.197 0.333.30.197
pull-out torque of the speed-torque characteristics. TL    
2π 2π 2π0.9 2π
 3.8 lb-in
 Ball Screw

Motion
Linear
This value is the load torque at the gearhead drive shaft, and
Using Standard AC Motors must be converted into load torque at the motor output shaft.

Cooling
This example demonstrates how to select an AC motor with The required torque at the motor output shaft (TM) is given by:

Fans
an electromagnetic brake for use on a tabletop moving TL 3.8
TM    0.52 [lb-in]  8.32 oz-in
vertically on a ball screw. In this case, a motor must be i · G 90.81
selected that meets the following basic specifications. (Gearhead transmission efficiency G  0.81)
Look for a margin of safety of 2 times.
Required and Structural Specifications
8.322 = 16.64 oz-in
Motor
To find a motor with a start-up torque of 16.64 oz-in or more,
Coupling select motor 5RK40GN-AWMU. This motor is equipped
with an electromagnetic brake to hold a load. A gearhead
Ball Screw with a gear ratio of 9:1 that can be connected to the motor
FA
Slide Guide 5RK40GN-AWMU is 5GN9KA.
v The rated motor torque is greater than the required torque,
m1
so the speed under no-load conditions (1740 r/min) is used
to confirm that the motor produces the required speed.
 Load Inertia Check
Ball Screw π  LBDB4 π 4.6431.5(0.787)4
Total weight of table and work ............................ m  100 lb. J1 
Moment of Inertia 32 32
Table speed ............................................. V  0.6 in./s10%
5.5 oz-in2
Ball screw pitch .............................................. P B  0.197 in.
Ball screw efficiency ..................................................   0.9 Table and Work A 2 0.197 2
2 m  100  16
Ball screw friction coefficient .................................... 0  0.3 Moment of Inertia J 2π 2π

Friction coefficient of sliding surface (Slide guide) .....   0.05 1.57 oz-in2
Motor power supply ................ Single-Phase 115 VAC 60 Hz Gearhead shaft total load inertia J5.51.577.07 [oz-in2]
Ball screw total length ....................................... L B  31.5 in.
Here, the 5GN9KA permitted load inertia is (see page A-12):
Ball screw shaft diameter ............................... D B  0.787 in. JG JM i2  492  324 oz-in2
Ball screw material .................. Iron (density  4.64 oz/in.3) Therefore, J < JG, the load inertia is less than the permitted
Distance moved for one rotation of ball screw .... A  0.197 in. inertia, so there is no problem. There is margin for the
External force ......................................................... FA  0 lb. torque, so the rotation rate is checked with the no-load
Ball screw tilt angle ...................................................   90° rotation rate (about 1750 r/min).
Movement time ....................................................5 hours/day NM · P
Brake must provide holding torque V   0.64 in./s (where NM is the motor speed)
60 · i
This confirms that the motor meets the specifications.

ORIENTAL MOTOR GENERAL CATALOG 2003/2004 F-7

Technical Reference
 Belt and Pully  Calculate the Required Torque
Using Standard AC Motors On a belt conveyor, the greatest torque is needed when
starting the belt. To calculate the torque needed for start-up,
Here is an example of how to select an induction motor to
the friction coefficient (F) of the sliding surface is first
drive a belt conveyor.
determined:
In this case, a motor must be selected that meets the
following basic specifications. F  m1  0.330  9 lb.  144 oz.
Load torque (TL) is then calculated by:
Required Specifications and Structural Specifications F • D 1444
TL    320 oz-in
V 2• 20.9
The load torque obtained is actually the load torque at the
gearhead drive shaft, so this value must be converted into
load torque at the motor output shaft. If the required torque at
D Belt Conveyor the motor output shaft is TM, then:
TL 320
Motor TM    9.7 oz-in
i · G 500.66
(Gearhead transmission efficiency G  0.66)
Total weight of belt and work ............................... m1  30 lb. Look for a margin of safety of 2 times, taking into
Friction coefficient of sliding surface .........................   0.3 consideration commercial power voltage fluctuation.
Drum radius .......................................................... D  4 inch
9.72  19.4 oz-in
Weight of drum ...............................................m2  35.27 oz.
The suitable motor is one with a starting torque of 19.4 oz-in or
Belt roller efficiency ...................................................   0.9 more. Therefore, motor 5IK40GN-AWU is the best choice.
Belt speed ............................................... V  7 inch/s10% Since a gear ratio of 50:1 is required, select the gearhead
Motor power supply ................ Single-Phase 115 VAC 60 Hz 5GN50KA which may be connected to the 5IK40GN-AWU
motor.
 Determine the Gear Ratio
Speed at the gearhead output shaft:  Load Inertia
V · 60 (70.7)60 Roller Moment of Inertia
NG    33.43.3 r/min
π·D π4 1 1
J1 m 2D 22 35.27422141 oz-in2
8 8
Because the rated speed for a 4-pole motor at 60 Hz is
14501550 r/min, the gear ratio (i ) is calculated as follows: Belt and Work Moment of Inertia
2 2
πD π4
14501550 14501550 J 2 m1  3016 1920 oz-in2
i    39.551.5 2π 2π
NG 33.43.3
From within this range a gear ratio of i  50 is selected.
JJ1J 214119202061 oz-in2

Here, the 5GN50KA permitted load inertia is: J G4502

10000 oz-in2
(See page A-12)
Therefore, J < JG, the load inertia is less than the permitted
inertia, so there is no problem.

Since the motor selected has a rated torque of 36.1 oz-in,

which is somewhat larger than the actual load torque, the
motor will run at a higher speed than the rated speed.
Therefore the speed is used under no-load conditions
(approximately 1740 r/min) to calculate belt speed, and thus
determine whether the selected product meets the required
specifications.
NM • π • D 1740π4
V    7.3 in/s
60 • i 6050
(Where NM is the motor speed)
The motor meets the specifications.

F-8 ORIENTAL MOTOR GENERAL CATALOG 2003/2004

Technical Reference
 Conveyor  Index Table
Using Brushless DC Motors Using Stepping Motors
Here is an example of how to select a speed control motor to Geared stepping motors are suitable for systems with high
drive a belt conveyor. inertia, such as index tables.

Work  Determine the Drive Mechanism

DT11.8 inch (300 mm)

Fan Sizing AC Motors

Motor and Standard Speed Control Stepping
l4.92 inch (125 mm)

● Performance
Belt speed VL is 0.6 in./s40 in./s
● Specifications for belt and work

Systems
Condition: Motor power supply ...... Single-Phase 115 VAC
Belt conveyor drive
Roller diameter .................................. D  4 inch

Mass of roller ................................. m1  2.2 lb.
Total mass of belt and work ............ m2  33 lb.
Friction coefficient of sliding surface ....   0.3
Pulse Generator
Belt roller efficiency ..............................   0.9
Programmable
Controller
 Find the Required Speed Range

Motion
Linear
For the gear ratio, select 15:1 (speed range: 2200) from the Diameter of index table: D T 11.8 inch (300 mm)
permissible torque table for combination type on page B-14 Index table thickness: LT 0.39 inch (10 mm)
so that the minimum/maximum speeds fall within the speed Thickness of work: LW 1.18 inch (30 mm)

Cooling
Fans
range. Diameter of work: D W 1.57 inch (40 mm)
60VL Material of table and load: Iron [density 4.64 oz/in3
NG  NG: Speed at the gearhead output shaft
πD (7.910
3 kg /cm3)]
Belt Speed Number of loads: 12 (one every 30°)
600.6 Distance from center of index table
0.6 inch/s ......... 2.87 r/min (Minimum Speed)
π4 to center of load: l 4.92 inch (125 mm)
6040 Positioning angle: 30˚
40 inch/s .......... 191 r/min (Minimum Speed)
π4 Positioning period: t0 0.3 [sec]

 Calculate the Load Inertia JG The A PN geared (gear ratio 7.2:1) can be used.
Load Inertia of Roller : Jm1 Gear Ratio: i 7.2
1 1 Resolution: s0.05°
J m1  m1D  2.2164270.4 oz-in2
2
8 8
Speed Range (Gear Ratio 7.2:1) is 0416 r/min
Load inertia of belt and work : Jm2
πD 2 π4 2  Determine the Operating Pattern
Jm2  m2( )  33( ) 132 oz-in2
2π 2π (see page F-4, see basic equations on page F-3)
The load inertia JG is calculated as follows: (1) Find the Number of Operating Pulses (A) [pulses]
JGJm12Jm2270.4132273 oz-in2 Operating pulses (A) 
Angle rotated per movement ( )
From the specifications on page B-15, the permissible load Gear output shaft step angle ( s)
inertia for BX5120A-15 is 2300 oz-in2 (4.210
2 kg•m2)  30°  600 Pulses
0.05°
 Calculate the Load Torque TL (2) Determine the Acceleration (Deceleration)
Friction Coefficient of the Sliding Surface: F •m20.3339.9 lb. Period t1 [sec]
F•D 9.94 An acceleration (deceleration) period of 25% of the
Load Torque TL   22 lb-in
2 20.9 positioning period is appropriate.
Select BX5120A-15 from the permissible torque table on Acceleration (deceleration) period (t 1)  t 00.25
page B-14.  0.30.25  0.075 sec

Since the permissible torque is 47 lb-in (5.4 N•m), the safety (3) Calculate the Operation Speed
60 60 30
margin is Operating N    
360 t0
t1 360 0.3
0.075
TM/TL50/222.3
Usually, a motor can operate at the safety margin of 1.52 or  22.2 [r/min]
more.

ORIENTAL MOTOR GENERAL CATALOG 2003/2004 F-9

Technical Reference
(4) Determine the Operating Pulse Speed ƒ2 [Hz]  Calculating the Acceleration Torque Ta [oz-in]
Num ber of Starting Acceleration (J 0 · i 2JL) π · s f2
f1
Acceleration Torque Ta  · ·
Operating
Pulses  (Deceleration) g 180 t1
Operating Pulse Pulses [A] Speed [f1] Period [ t 1]
 (J 07.226560) π0.05 2667
0
Speedf2 Positioning Acceleration (deceleration)   

386 180 0.075
Period [t 0 ] Period [t 1]
600
0  4.16J 0527 [oz-in]
  2667 [Hz]
0.3
0.075
(3) Calculate the Required Torque TM [oz-in]
Safety Factor Sf2
Required Torque
5000  (T L  T a )  2
Operating Pulse Speed [Hz]

T M [oz-in]
 {0  (4.16 J 0  527) }  2
 8.32 J 0  1054 [oz-in]

 Select a Motor
(1) Provisional Motor Selection
0.075 t1 t1 0.075 Period [sec] Rotor Inertia Required Torque
Model
oz-in2 lb-in [N•m]
t 0 =0.3 AS66AA-N7.2 J02.2 67 7.6

 Calculate the Required Torque TM [oz-in] (2) Determine the Motor from the Speed-Torque
(See page F-4) Characteristics
(1) Calculate the Load Torque TL [oz-in] AS66AA-N7.2
(See page F-3 for basic equations) 25
200
Frictional load is omitted because it is negligible. Load torque 20
is considered 0. 150

Torque [lb-in]
Torque [N·in]
15

100

5 50

(See page F-4 for basic equations) Permissible Torque

π 0 0
Inertia of Table J T  • • L T • D T4 50 100 150 200 250 300
Speed [r/min]
350 400 450
32
0 5 10 15 20 25 30 35 40 45 50
π
  4.64  0.3911.84 Pulse Speed [kHz]
32 (Resolution Setting: 1000P/R)

 3442 oz-in2 Select a motor for which the required torque falls within the
π pull-out torque of the speed-torque characteristics.
Inertia of Work J C  • • L W • D W4
(Center of gravity) 32 PN geared type can operate inertia load up to acceleration
π torque less than Maximum torque.
  4.64 1.18 1.574
32
 3.3 oz-in2
DW 2
Weight of Work m  π ( ) • LW •
2
1.57 2
 π( )  1.18  4.64
2
 10.6 oz.
The center of the load is not on the center of rotation, so
since there are 12 pieces of work:
Inertia of Work JW  12 (JCml 2)
(Center of rotation)
 12(3.310.64.922)
 3118 [oz-in2]
Total Inertia JL  JTJW  34423118
 6560 oz-in2