H Technical Reference

Transcription

1 Reference H- H Reference... H-2 H-2 H-8 H H H H H-44 /... H H-49 /... H-56 H-

2 H-2 For Selecting a otor that satisfies the specifications required by your equipent is an iportant key to ensuring the desired reliability and econoic efficiency of the equipent. This section introduces the procedure to select the ideal otor, selection calculations, key points of selection and selection exaples. Procedure An overview of the selection procedure is explained below. Check the Required Specifications (Equipent specifications) Check the required specifications for the otor fro the equipent specifications. The general ites are explained below. Confiration of the operation functions Operating tie (Operating pattern) Resolution Stopping accuracy Position holding Power supply voltage and frequency Operating environent Deterining the Drive Deterine the drive echanis. Representative drive echaniss include siple body of rotation, ball screw, belt pulley, and rack-and-pinion. Along with the type of drive echanis, deterine the diensions, ass and coefficient, etc. that are required for the load calculation. The general ites are explained below. Diensions and ass (or density) of the load Diensions and ass (or density) of each part Friction coefficient of the sliding surface of each oving part Calculate the Load Calculate the load torque and inertia at the otor output shaft. Refer to page H-3 for the forula to calculate load torque in representative echaniss. Refer to page H-4 for the forula to calculate the inertia in representative configurations. Select Motor Type Select the optial product fro standard otors, speed control otors, stepper otors or servo otors based on the required specifications. Calculation Deterine the ost suitable otor after checking that the specifications of the selected otor/ gearhead satisfy all of the required specifications, such as echanical strength, acceleration tie and acceleration torque. Since the ites that ust be checked will vary depending on the otor type, check the selection calculations and selection points on page H-5. Sizing and We provide sizing and selection services for otor section fro your application specification requireents. Phone Requests for sizing and section can be ade online by contacting our technical support tea at: USA/Canada: TEL: Mexico: TEL: Website Requests for sizing and section can be ade online by contacting our technical support tea at techsupport@orientalotor.co. Use our online Motor Sizing Tool to calculate the necessary torque, speed, stopping accuracy and the syste inertia that is iportant to consider when selecting a proper otor for the application. H-2 ORIENTAL MOTOR GENERAL CATALOG 205/206

3 Forula for Load Torque TL [N ] for Each Drive Forula for Load Torque Ball Screw Drive Reference H-3 F PB μ0 F0 PB TL + N η i F FA + g sin θ+ μ cos θ N 2 FA Direct Connection θ FA F Pulley Drive μ FA + g D TL i μ FA + g D N 3 2 i ϕd FA Wire and Belt Drive, Rack-and-Pinion Drive F TL F D N η i 2 η i 4 F FA + g sin θ+ μ cos θ N 5 FA F ϕd FA F ϕd Actual Measureent Method FB D TL N 6 2 Spring Balance FB / Equipent ϕd Pulley F : Force of oving direction [N] F0 : Preload [N] ( 3 F ) μ 0 : Internal friction coefficient of preload nut (0. 0.3) : Efficiency ( ) i : Gear ratio (This is the gear ratio of the echanis -and not the gear ratio of an Oriental Motor's gearhead.) PB : Ball screw lead [/rev] FA : External force [N] FB : Force when ain shaft begins to rotate [N] (FB Spring balance value [kg] g [/s 2 ]) : Total ass of table and load [kg] μ : Friction coefficient of sliding surface θ : Inclination angle [ ] D : Final pulley diaeter [] g : Gravitational acceleration [/s 2 ] (9.807) CAD Data Manuals Support TEL: (800) E-ail: techsupport@orientalotor.co H-3

4 H-4 Forula for Inertia J [kg 2 ] Forula for the Inertia Inertia of a Cylinder Jx D 2 ρ L D [kg 2 ] L 2 Jy ( + ) [kg 2 ] D 2 3 D x y L Inertia of a Hollow Cylinder Jx (D 2 + D2 2 ) ρ L (D [kg 2 ] 8 D2 4 ) 32 9 Jy D 2 + D2 2 L 2 ( + )[kg 2 ] D x D2 y L Inertia on Off-Center Axis Jx Jx0 + l 2 (A 2 + B l 2 ) [kg 2 ] 2 x x0 l: Distance Between x and x0 Axes [] C A B Inertia of a Rectangular Pillar Jx (A 2 + B 2 ) ρ A B C (A [kg 2 ] 2 + B 2 ) 2 2 Jy (B 2 + C 2 ) ρ A B C (B [kg 2 ] 2 + C 2 ) 2 3 y A x B C Inertia of an Object in Linear Motion A J ( ) 2 [kg 2 ] 4 A: Unit Moveent [/rev] Conversion forula for the inertia of the otor shaft when using a decelerator J i 2 JL Forula for the relation between J and GD 2 J GD 4 2 Motor Decelerator Gear Ratio i Driven Side Device Inertia JL Inertia of the Motor Shaft Conversion J Density Iron ρ [kg/ 3 ] Stainless steel (SUS304) ρ [kg/ 3 ] Aluinu ρ [kg/ 3 ] Brass ρ [kg/ 3 ] Nylon ρ. 0 3 [kg/ 3 ] Jx : Inertia on x-axis [kg 2 ] Jy : Inertia on y-axis [kg 2 ] Jx0 : Inertia on x0-axis (centered axis) [kg 2 ] : Mass [kg] D : Outer diaeter [] D2 : Inner diaeter [] ρ : Density [kg/ 3 ] L : Length [] H-4 ORIENTAL MOTOR GENERAL CATALOG 205/206

5 Reference H-5 Motor The following explains the required forulas for controlling a stepper otor or servo otor based on pulse signal. Operating Pattern For stepper otors, the pattern for acceleration/deceleration operation in the figure on the left is coonly used as operating patterns on pulse speed. The pattern for start/stop operation in the figure on the right can be used when the operating speeds are low and the load inertia is sall. Pulse Speed f2 f A t0 Acceleration/Deceleration Operation Pulse Speed f2 A t0 Start/Stop Operation f: Starting Pulse Speed [Hz] f2: Operating Pulse Speed [Hz] A: Nuber of Operating Pulses t0: Positioning Tie [s] : Acceleration (Deceleration) Tie [s] Forula for the Nuber of Operating Pulses A [Pulse] The nuber of operating pulses is expressed as the nuber of pulse signals that add up to the angle that the otor ust rotate to get the load fro point A to point B. A l lrev 360 θs l : Traveling Aount fro point A to point B [] lrev : Traveling Aount per Motor Rotation [/rev] θs : Step Angle [ ] Forula for the Operating Pulse Speed f2 [Hz] The operating pulse speed can be obtained fro the nuber of operating pulses, the positioning tie and the acceleration (deceleration) tie. For Acceleration/Deceleration Operation The level of acceleration (deceleration) tie is an iportant point in the selection. The acceleration (deceleration) tie cannot be set easily, because it correlates with the acceleration torque and acceleration/deceleration rate. Initially, as a reference, calculate the acceleration (deceleration) tie at roughly 25% of the positioning tie. (The calculation ust be adjusted before the final decision can be ade.) t A f f2 t0 2 For Start/Stop Operation A f2 t0 Forula for the Acceleration/Deceleration Rate TR [s/khz] The acceleration/deceleration rates are the setting values used for the Oriental Motor's controllers. The acceleration/deceleration rate indicates the degree of acceleration of pulse speed and is calculated using the forula shown below. TR f2 f Pulse Speed [khz] f2 f TR Calculate the Load Torque Refer to forulas on page H-3. Forula for the Acceleration Torque Ta [N ] If the otor speed is varied, the acceleration torque or deceleration torque ust always be set. The basic forula is the sae for all otors. However, use the forulas below when calculating the acceleration torque for stepper otors on the basis of pulse speed. <Coon Basic Forula for All > Ta (J0 i 2 + JL) 9.55 NM Operating Speed NM [r/in] J0 : Rotor Inertia [kg 2 ] JL : Total Inertia [kg 2 ] NM : Operating Speed [r/in] : Acceleration (Deceleration) Tie [s] i : Gear Ratio <When Calculating the Acceleration Torque for on the Basis of Pulse Speed> For Acceleration/Deceleration Operation Ta (J0 i 2 θs + JL) 80 2 For Start/Stop Operation Ta f2 f θs (J0 i 2 + JL) f2 80 n 2 n : 3.6 / ( θ s i ) Forula for the Required Torque TM [N ] The required torque is calculated by ultiplying the su of load torque and acceleration torque by the safety factor. TM (TL + Ta) Sf TM : Required Torque [N ] TL : Load Torque [N ] Ta : Acceleration Torque [N ] Sf : Safety Factor Forula for the Effective Load Torque Trs [N ] Calculate the effective load torque when selecting the servo otors and BX Series brushless otors. When the required torque for the otor varies over tie, deterine if the otor can be used by calculating the effective load torque. The effective load torque becoes particularly iportant for operating patterns such as fast-cycle operations where acceleration/ deceleration is frequent. Trs Speed NM [r/in] Torque T [N ] Ta + TL 2 + TL 2 t2 + Td TL 2 t3 Ta tf (Speed Pattern) (Torque Pattern) t0 Tie [s] / Tie [s] Calculate the pulse speed in full step conversion. For this forula, the unit for speed is [khz] and the unit for tie is [s]. Conversion Forula for the Operating Speed NM [r/in] fro the Operating Pulse Speed f2[hz] NM f2 θs TL Td t2 t3 t4 tf Tie [s] CAD Data Manuals Support TEL: (800) E-ail: techsupport@orientalotor.co H-5

6 H-6 Points Since there are differences in characteristics between standard otors, brushless otors, stepper otors and servo otors, there will also be differences in points (check ites) when selecting a otor. Speed Variation by Load The actual speed of standard otors is 2 20% lower than its synchronous speed under the influence of the load torque. When selecting a standard otor, the selection should take this decrease in speed into account. 2 Tie Rating There are differences in continuous rating and short tie rating depending on the otor type, even for otors with the sae output power. Motor selection should be based on the operating tie (pattern). 3 Perissible Load Inertia of the Gearhead If instantaneous stop (with brake pack, etc.), frequent interittent operations or instantaneous bi-directional operation will be perfored using a otor with a gearhead, an excessive load inertia ay daage the gearhead. s ust be ade for these values, so that the load inertia does not exceed the perissible load inertia of the gearhead. (Refer to Page C-6) Perissible Torque otor cobination types with a dedicated gearhead installed are listed on the perissible torque table based on the output gear shaft. Select products in which the load torque does not exceed the perissible torque. 2 Perissible Inertia A perissible inertia is specified for the brushless otor for avoiding alars using regenerative power during deceleration and for stable speed control. Select products in which the inertia does not exceed the perissible value. For the cobination type, there is a perissible inertia cobination type. Select products with values that do not exceed the values of the cobination types. 3 Effective Load Torque When operating the BX Series with frequent starts and stops, ake sure the effective load torque does not exceed the rated torque. If the rated torque is exceeded, the overload protective function activates and stops the otor. Check the Required Torque For stepper otors, select otors whose duty region (operating speed NM ( f2) and the required torque TM) falls within the pullout torque curve. Safety Factor: Sf (Reference Value) Product Safety Factor (Reference Value) Torque TM Duty Region Pullout Torque NM f2 Speed Pulse Speed 2 Considering Teperature Rise The stepper otor will have an increase in teperature if operated continuously over a long period of tie. Exceeding the teperature of heat-resistant class 30 (B) inside the otor ay deteriorate its insulating perforance. Teperature rise will vary based on the operating speed, load conditions and installation conditions. The stepper otor should be used at an operating duty of 50% or less. If the operating duty exceeds 50%, choose a otor with a sufficient argin of torque or use ethods to lower the running current. Running tie Operating Duty Running + Stopping Tie 00 3 Check the Acceleration/Deceleration Rate If the duty region (operating speed NM and the required torque TM) of the stepper otor falls within the pullout torque curve, the specified equipent can be operated. Controllers, when set for acceleration/ deceleration, adjust the pulse speed in steps using output pulse signals. Sudden acceleration/declaration causes the pulse speed step to becoe large. Therefore, if large inertias are present in this condition, there is a possibility that the otor cannot be driven even when sudden acceleration/deceleration direction is given. Check that the reference values are equal to or higher than the acceleration/ deceleration rates shown in the table so that the selected otor can be operated ore reliably. Acceleration/Deceleration Rate (Cobination reference values with EMP Series) Product Frae Size Acceleration/Deceleration Rate TRS [s/khz] 28 (30), 42, 60, 85 (90) 0.5 or ore 0.36 / /.8 When using 20, 28, 42, or ore 85 (90) 30 or ore 20, 28 (30), 35, 42, 50, 56.4, or ore 85 (90) 75 or ore, this ite does not need to be checked. The values in the table represent the lower liit of settings for the EMP Series. Also for the geared type, the acceleration/deceleration rates are equal to the values shown above. However, when using a half step or icrostep otor, the conversion below is required. θs i θ B TRS : Acceleration/Deceleration Rate [s/khz] θs : Step Angle [ ] θb : Refer to Table Below i : Gear Ratio of Geared Type Coefficient Product ϴ B TRS 4 Check the Inertia Ratio Calculate the inertia ratio using the following forula: Inertia Ratio For Geared JL J0 JL Inertia Ratio J0 i 2 i: Gear Ratio Large inertia ratios in stepper otors cause large overshooting and undershooting during starting and stopping, which can affect rise ties and settling ties. Controllers, when set for acceleration/ deceleration, adjust the pulse speed in steps using output pulse signals. Sudden acceleration/deceleration causes the pulse speed step to becoe large. Therefore, if the inertia ratio is large, operation ay not be possible. Check that the reference values are less than or equal to inertia ratios shown in the table so that the selected otor can be operated ore reliably. Inertia Ratio (Reference values) Product Frae Size Inertia Ratio 28, 42, 60, or less 20, 28, 35 5 or less 42, 50, 56.4, 60, 85 0 or less When the values in the table are exceeded, we recoend a geared type otor. H-6 ORIENTAL MOTOR GENERAL CATALOG 205/206

7 Reference H-7 Perissible Inertia A perissible inertia is specified for the servo otor for stable control. The inertia of the servo otor ust be lower than the perissible value. Product Perissible Load Inertia NX Series 50 ties the rotor inertia or less Autoatic tuning allows operation up to 50 ties the rotor inertia; anual tuning allows operation up to 00 ties the rotor inertia. 2 Rated Torque The otor can be driven when the ratio of load torque TL and rated torque of the servo otor is.5 2 or ore. Rated Torque Load Torque Maxiu Instantaneous Torque Check that the required torque is less than the axiu instantaneous torque of the servo otor. (Ensure that the safety factor of required torque Sf is at.5 2 or ore.) Note that the tie that ax. instantaneous torque can be used for varies depending on the otor. Maxiu Instantaneous Torque and Operating Tie Product Operating Tie Maxiu Instantaneous Torque NX Series Within approx. 0.5 seconds At 3 ties the rated torque (at rated speed) 4 Effective Load Torque The otor can be driven when the effective load safety factor, which is the ratio of an effective load torque and a rated torque of servo otor, is.5 2 or ore. Rated Torque Effective Load Safety Factor Effective Load Torque 5 Settling Tie There is a tie lag between a position coand sent by pulse signal and the servo otor's actual operation. This difference is called the settling tie. Therefore, the real positioning tie is the su of the positioning tie calculated fro the operating pattern and the settling tie. Pulse Speed Speed Positioning Tie Motor Speed Pulse Signal Settling Tie The factory setting for settling tie on the NX Series is s. However, the settling tie varies when the gain paraeter is changed by the echanical rigidity setting switch. Tie Exaples Ball Screw Using () Specifications and Operating Conditions of the Drive This selection exaple deonstrates an electroagnetic brake otor for use on a table oving vertically on a ball screw. In this case, a otor ust be selected that eets the following required specifications. Ball Screw v FA Motor Gearhead Coupling Linear Guide Total ass of the table and load 45 [kg] Table speed V 5±2 [/s] External force FA 0 [N] Ball screw tilt angle 90 [ ] Total length of ball screw LB 800 [] Ball screw shaft diaeter DB 20 [] Ball screw lead PB 5 [] Distance oved for one rotation of ball screw A 5 [] Ball screw efficiency 0.9 Ball screw aterial Iron (Density [kg/ 3 ]) Internal friction coefficient of preload nut Friction coefficient of sliding surface 0.05 Motor power supply Three-Phase 230 V 60 Hz Operating tie Interittent operation, 5 hours/day Load with repeated starts and stops Required load holding (2) Deterine the Gear Ratio V 60 (5 ± 2) 60 Speed at the gearhead output shaft NG A 5 80 ± 24 [r/in] Because the rated speed for a 4-pole otor at 60 Hz is 450 to 550 [r/in], the gear ratio is calculated as follows: Gear ratio i NG 80 ± 24 This gives us a gear ratio of i 9. (3) Calculate the Required Torque TM [N ] Force of oving direction F FA + g (sin θ + μ cos θ) (sin cos 90 ) 44 [N] Ball screw preload F0 Load torque T'L F PB η F 3 47 [N] [N ] Consider the safety factor Sf 2. μ0 F0 PB TL T L Sf [N ] / CAD Data Manuals Support TEL: (800) E-ail: techsupport@orientalotor.co H-7

8 H-8 Select an electroagnetic brake otor and gearhead satisfying the perissible torque of gearhead based on the calculation results (gear ratio i 9, load torque TL 0.86 [N ]) obtained so far. Here, 4IK25GN-SW2M and 4GN9SA are tentatively selected as the otor and gearhead respectively, by referring to the "Gearotor Torque Table" on page C-73. Next, convert this load torque to a value on the otor output shaft to obtain the required torque TM, as follows: TM TL i ηg [N ] 8 [N ] (Gearhead efficiency ηg 0.8) The starting torque of the 4IK25GN-SW2M otor selected earlier is 60 [N ]. Since this is greater than the required torque of 8 [N ], this otor can start the echanis in question. Next, check if the gravitational load acting upon the echanis in standstill state can be held with the electroagnetic brake. Here, the load equivalent to the load torque obtained earlier is assued to act. Torque T'M required for load holding on the otor output shaft: T'M TL i [N ] 95.6 [N ] 9 The static friction torque generated by the electroagnetic brake of the 4IK25GN-SW2M otor selected earlier is 00 [N ], which is greater than 95.6 [N ] required for the load holding. (4) Check the Moent of Inertia J [kg 2 ] Inertia of ball screw JB ρ LB DB ( ) [kg 2 ] A Inertia of table and load J ( ) ( ) [kg 2 ] Inertia at the gearhead shaft J is calculated as follows: J JB + J [kg 2 ] Here, perissible inertia of gearhead 4GN9SA (gear ratio i 9) JG is (Refer to page C-6): JG [kg 2 ] Therefore, J<JG, the inertia is less than the perissible value, so there is no proble. There is argin for the torque, so the traveling speed is checked with the speed under no load (approxiately 750 r/in). V NM PB 60 i [/s] NM: Motor speed This confirs that the otor eets the specifications. Based on the above, 4IK25GN-SW2M and 4GN9SA are selected as the otor and gearhead, respectively. Using () Specifications and Operating Conditions of the Drive Controller Prograable Controller Driver Couplings Total ass of table and load 40 [kg] Friction coefficient of sliding surface μ 0.05 Ball screw efficiency 0.9 Internal friction coefficient of preload nut μ Shaft diaeter of ball screw DB 5 [] Overall length of ball screw LB 600 [] Ball screw aterial Iron (Density ρ [kg/ 3 ]) Ball screw lead PB 5 [] Required resolution l 0.03 [/step] (Feed per pulse) Feed l 80 [] Positioning tie t0 0.8 seconds ax. Inclination angle θ 0 [ ] (2) Calculate the Required Resolution θ S θs 360 Δl PB AR Series stepper otor and driver package can be used. Changing or specifying the resolution is possible. The factory setting resolution can be changed fro 0.36 /pulse 0.72 /pulse. (3) Deterine an Operating Pattern (Refer to forula on page H-5) Forula for the nuber of operating pulses A [Pulse] l 360 A PB θs [Pulse] 2 Deterine the acceleration (deceleration) tie [s] An acceleration (deceleration) tie which is 25% of the positioning tie is ideal [s] 3 Calculate the operating pulse speed f2 [Hz]. A f f2 t Hz Pulse Speed [Hz] 0000 DB PB Pulses Tie [s] H-8 ORIENTAL MOTOR GENERAL CATALOG 205/

9 Reference H-9 4 Calculate the operating speed NM [r/in] θs NM f r/in (4) Calculate the Required Torque TM [N ] (Refer to page H-5) Calculate the load torque TL [N ] (5) Select a Motor Tentative otor selection Rotor Inertia Product Nae [kg 2 ] Required Torque [N ] AR66AA Deterine the otor fro the speed torque characteristics AR66AA Force of Moving Direction F FA + g (sin θ+ μ cos θ) Preload F0 F (sin cos 0 ) 9.6 [N] 6.53 [N] F PB μ0 F0 PB Load Torque TL + η [N ] 2 Calculate the acceleration torque Ta [N ] 2- Calculate the inertia JL [kg 2 ] (Refer to the forula on page H-4) Inertia of Ball Screw JB ρ LB DB (5 0 3 ) [kg 2 ] PB ) 2 Inertia of Table and Load JT ( ( ) [kg 2 ] Inertia JL JB + JT [kg 2 ] 2-2 Calculate the acceleration torque Ta [N ] Torque [N ] Pullout Torque Duty Region Speed [r/in] Pulse Speed [khz] (Resolution Setting: 000 P/R) Since the duty region of the otor (operating speed and required torque) falls within the pullout torque of the speed torque characteristics, the otor can be used. (6) Check the Inertia Ratio (Refer to page H-6) JL J Since the inertia ratio of AR66AA-3 is 30 or less, if the calculated inertia ratio is 6.6, then operation of that otor is possible. / (J0 + JL) NM 9.55 (J ) J [N ] Ta The forula for calculating acceleration torque with pulse speed is shown below. Calculation results are the sae. θs f2 f Ta (J0 + JL) (J ) J N Calculate the required torque TM [N ] Safety factor Sf 2. TM (TL + Ta) Sf { (628 J )} J [N ] CAD Data Manuals Support TEL: (800) E-ail: techsupport@orientalotor.co H-9

10 H-0 Using () Specifications and Operating Conditions of the Drive The following is an exaple of how to select a servo otor to drive a single axis table: Prograable Controller Controller Driver Ball Screw External Force FA Max. table speed VL 0.2 [/s] Resolution l 0.02 [] Motor power supply Single-Phase 5 V Total ass of table and load 00 [kg] External FA 29.4 [N] Friction coefficient of sliding surface μ 0.04 Ball screw efficiency 0.9 Internal friction coefficient of preload nut μ Shaft diaeter of ball screw DB 25 [] Overall length of ball screw LB 000 [] Ball screw lead PB 0 [] Ball screw aterial Iron (Density ρ [kg/ 3 ]) Operating cycle Operation for 2. seconds/stopped for 0.4 seconds (repeated) Acceleration/deceleration tie t3 0. [s] (2) Calculate the Required Resolution θ Calculate the otor resolution fro the resolution required for the table drive. θ 360 PB l The resolution of the NX Series, θ M 0.36 /pulse (factory setting) satisfies this requireent. (3) Deterine an Operating Pattern Calculate the otor speed NM fro the forula below. 60 VL NM 200 r/in PB Deterine the speed pattern using NM, the operating cycle and the acceleration/deceleration tie. Speed t30. [r/in] 200 (.9) t3 0.4 Tie [s] 2. (2.5) (5) Calculate the Inertia JL [kg 2 ] Inertia of Ball Screw JB ρ LB DB ( ) [kg 2 ] Inertia of Table and Load J ( ) ( ) 2 PB [kg 2 ] Inertia JL JB + J [kg 2 ] (6) Tentative Motor Safety factor Sf.5. Load torque T' L Sf TL [N ] Inertia JL [kg 2 ] Therefore, select the servo otor which has a speed of 200 [r/in], outputs the rated torque 0.95 [N ] or ore and whose perissible inertia is [kg 2 ] or ore. NX620AA-3 Rated speed N 3000 [r/in] Rated torque TM [N ] Rotor inertia J [kg 2 ] Perissible inertia J [kg 2 ] Max. instantaneous torque TMAX.9 [N ] is ideal. (7) Calculate the Acceleration Torque Ta [N ] and Deceleration Torque Td [N ] Calculate the acceleration/deceleration torque using the forula below. Ta Td (JL + J0) NM 9.55 ( ) [N ] (8) Calculate the Required Torque T [N ] T Ta + TL [N ] The required torque is less than the ax. instantaneous torque of NX620AA-3 of.9 [N ], so the NX620AA-3 can be used. (9) Deterine a Torque Pattern Deterine a torque pattern using operating cycle, acceleration/ deceleration torque, load torque and acceleration tie. Speed [r/in] t30. (4) Calculate the Load Torque TL [N ] Operation direction load F FA + g (sin θ + μ cos θ) (sin cos 0 ) 68.6 [N] Load Torque of the Motor Shaft Conversion Torque [N ] Tie [s] TL F PB + η 0 F0 PB Tie [s] Here F N F represents the ball screw preload. (.9) (2.5) t3 0.4 H-0 ORIENTAL MOTOR GENERAL CATALOG 205/206

11 Reference H- (0) Calculate the Effective Load Torque Trs [N ] Calculate the effective load torque Trs using the torque pattern and forula below. Trs Ta + TL 2 + TL 2 t2 + Td TL 2 t N tf Here, + t2 + t3 2. [s] fro the operating cycle and t3 0. for acceleration and deceleration tie. Therefore, t [s] The ratio (effective load safety factor) of Trs and the rating torque of servo otor TM is expressed by the forula below. TM Trs Generally a otor can operate at an effective load safety factor of.5 2 or ore. Belt and Pulley When Using Motor () Specifications and Operating Conditions of the Drive The following is an exaple of how to select an induction otor to drive a belt conveyor: A otor that eets the following required specifications is selected. V Load D Gearhead Belt Conveyor Motor Total ass of belt and load 25 [kg] External force FA 0 [N] Friction coefficient of sliding surface μ 0.3 Roller diaeter D 90 [] Roller ass 2 [kg] Belt and roller efficiency 0.9 Belt Speed V 50 [/s]±0% Motor power supply Single-Phase 5 V, 60 Hz Operating tie 8 hours operation per day (2) Deterine the Gear Ratio of Gearhead V 60 (50 ± 5) 60 Gearhead Output Shaft Speed NG D ± 3.2 [r/in] Since the rated speed for an induction otor (4-pole) at 60 Hz is [r/in], select a gearhead gear ratio within this range Gearhead Gear Ratio i NG 3.8 ± 3.2 Select a gear ratio of i 50 fro within this range. (3) Calculate the Required Torque TM [N ] / Friction Coefficient of Sliding Surface F FA + g (sin θ+ μ cos θ) (sin cos 0 ) 73.6 [N] Load Torque T'L F D [N ] 2 η Consider the safety factor Sf 2. TL T' L Sf [N ] Select the otor that satisfies the rated torque based on the calculation results so far (Gear ratio i 50, load torque TL 7.36 [N ]). At this tie, refer to the specifications table on page C-26 and tentatively select otor 5IK40UA-50A. CAD Data Manuals Support TEL: (800) E-ail: techsupport@orientalotor.co H-

12 H-2 (4) Check the Inertia J [kg 2 ] D Inertia of Belt and Load ( ) 2 J ( ) [kg 2 ] Inertia of Roller J2 2 D2 8 8 ( ) [kg 2 ] Calculate the load inertia for the gearhead output shaft J. Take into account that there are 2 rollers (J2). J J + 2J [kg 2 ] The value of the perissible inertia JG for the 5IK40UA-50A can be found on the specifications table on page C-8. JG [kg 2 ] (During instantaneous stop) Therefore, since J < JG, the inertia is less than the perissible value, so there is no proble. Since the otor selected has a rated torque of.2 [N ], which is larger than the actual load torque, the otor will operate at a higher speed than the rated speed. Therefore, use the speed that is without load (approx. 750 r/in) to calculate belt speed, and check whether the selected product eets the required specifications. V NM D 60 i [/s] NM : Motor Speed This confirs that the otor eets the specifications. Therefore, the 5IK40UA-50A otor is selected. Using Low-Speed Synchronous (SMK Series) () Specifications and Operating Conditions of the Drive The ass of load is selected that can be driven with SMK500A-AA when the belt-drive table shown in Fig. is driven in the operation pattern shown in Fig. 2. V F Roller Load Motor Fig. Exaple of Belt Drive Roller 2 Total ass of belt and load.5 [kg] Roller diaeter D 30 [] Mass of roller 2 0. [kg] Frictional coefficient of sliding surfaces μ 0.04 Belt and pulley efficiency 0.9 Frequency of power supply 60 Hz (Motor speed: 72 r/in) Motor speed [r/in] Fig. 2 Operating Pattern 5 [sec] Low-speed synchronous otors share the sae basic operating principle with.8 stepper otors. Accordingly, the torque for a lowspeed synchronous otor is calculated in the sae anner as for a.8 stepper otor. (2) Belt Speed V [/s] Check the belt (load) speed V D N [/s] (3) Calculate the Required Torque TL [N ] Frictional coefficient of sliding surfaces F FA + g (sin + cos ) (sin cos 0 ) [N] Load Torque TL F D 2 η [N ] (4) Calculate the Moent of Inertia JG [kg 2 ] Inertia of belt and load J ( D )2.5 ( ) [kg 2 ] Inertia of Roller J2 8 2 D ( ) [kg 2 ] The inertia JL is calculated as follows: Take into account that there are two rollers (J2). JL J + 2 J [kg 2 ] H-2 ORIENTAL MOTOR GENERAL CATALOG 205/206

13 Reference H-3 (5) Calculate the Acceleration Torque Ta [N ] Calculate the start acceleration torque. Ta (J0 + JL) θs 2 f (J ) 80 n 905 J [N ] Here, s 7.2, f 60 Hz, n 3.6 / s 0.5 J0: Rotor Inertia (6) Calculate the Required Torque TM [N ] (Safety factor Sf 2.) Required Torque TM (TL + Ta) Sf ( J ) 2 80 J [N ] (7) Select a Motor Select a otor that satisfies both the required torque and the perissible inertia. Motor Rotor Inertia [kg 2 ] Perissible Inertia [kg 2 ] Output Torque [N ] SMK500A-AA When the required torque is calculated by substituting the rotor inertia, T M is obtained as 0.94 [N ], which is below the output torque. Next, check the perissible inertia. Since the inertia calculated in (4) is also below the perissible inertia, SMK500A-AA can be used in this application. Using () Specifications and Operating Conditions of the Drive Here is an exaple of how to select a brushless otor to drive a belt conveyor. Load V Motor Belt speed V 0.05 [/s] Motor power supply Single-Phase 5 V Belt conveyor drive Roller diaeter D 0. [] Roller ass 2 [kg] Total ass of belt and load 7 [kg] External force FA 0 [N] Friction coefficient of sliding surface 0.3 Belt and roller efficiency 0.9 D Roller (2) Find the Required Speed Range For the gear ratio, select 5: (speed range: ) fro the Gearotor Torque Table of Cobination Type on page D-28 so that the iniu/axiu speed falls within the speed range. 60 VL NG NG: Speed at the gearhead shaft D Belt speed 0.05 [/s] [r/in] (Miniu speed) 0. [/s] [r/in] (Maxiu speed) 0. (3) Calculate the Moent of Inertia JG [kg 2 ] D Inertia of belt and load J ( ) ( ) [kg 2 ] / Inertia of roller J2 8 2 D [kg 2 ] The inertia JG is calculated as follows: Take into account that there are two rollers (J2). JG J + 2 J [kg 2 ] Fro the specifications on page D-29, the perissible load inertia of BMU520A-5A-3 is [kg 2 ]. (4) Calculate the Load Torque TL [N ] Friction coefficient of sliding surface F FA + g (sin θ + μ cos θ) (sin cos 0 ) 20.6 [N] Load torque TL F D [N ] 2 η Select BMU520A-5A-3 fro the Gearotor Torque Table of Cobination Type on page D-28. Since the perissible torque is 5.2 [N ], the safety factor is TM / TL 5.2 / Usually, a otor can operate at the safety factor of.5 2 or ore. CAD Data Manuals Support TEL: (800) E-ail: techsupport@orientalotor.co H-3

14 H-4 Index () Specifications and Operating Conditions of the Drive Geared stepper otors are ideal for systes with big inertia, such as index tables. DT 300 Pulse Speed [Hz] Tie [s] t00.25 Controller (3) Calculate the Required Torque TM [N ] (Refer to page H-5) Calculate the load torque TL [N ] Friction load is negligible and therefore oitted. Load torque is assued as 0. Driver TL 0 [N ] Prograable Controller Geared Motor Table diaeter DT 300 [] Table thickness LT 5 [] Table aterial Aluinu (Density ρ [kg/ 3 ]) Load diaeter DW 40 [] Load thickness LW 30 [] Nuber of loads 0 ( every 36 ) Load aterial Aluinu (Density ρ [kg/ 3 ]) Distance fro central axis of table to central axis of load l 20 [] Positioning angle θ 36 Positioning tie t seconds The RK Series PS geared type (Gear ratio 0, resolution/pulse ) can be used. The PS geared type can be used at the axiu starting/stopping torque in the inertial drive. Gear ratio i 0 Resolution/pulse s (2) Deterine the Operating Pattern (Refer to forula on page H-5) Calculate the nuber of operating pulses A [Pulse] θ A θs [Pulse] 2 Deterine the acceleration (deceleration) tie [s] An acceleration (deceleration) tie of 25% of the positioning tie is appropriate. Here, we shall let 0. [s]. 3 Calculate the operating pulse speed f2 [Hz]. A 500 f2 t Calculate the acceleration torque Ta [N ] 2- Calculate the inertia JL [kg 2 ] (Refer to page H-4 for the forula) Inertia of Table JT ρ LT DT (5 0 3 ) ( ) [kg 2 ] Inertia of Load JW (Around Center of Load Rotation) ρ LW DW ( ) ( ) [kg 2 ] Load Mass W ρ LW DW ( ) ( ) [kg] Inertia of load JW [kg 2 ] relative to the center of rotation can be calculated fro distance l [] between the center of load and center of table rotation, ass of load W [kg], and inertia of load around the center of load JW [kg 2 ]. Since the nuber of loads, n 0 [pcs], Inertia of Load JW n (JW + W l 2 ) (Around Center of Table Rotation) 0 {( ) ( ) 2 } [kg 2 ] Inertia JL JT + JW (. +.55) [kg 2 ] 3334 Hz 4 Calculate the operating speed NM [r/in]. θ S NM f r/in The perissible speed range for the PS geared otor with a gear ratio of 0 is [r/in]. H-4 ORIENTAL MOTOR GENERAL CATALOG 205/206

15 Reference H Calculate the acceleration torque Ta [N ] Calculate the acceleration torque of the output gear shaft. Ta J0 i2 + JL 9.55 NM J J0 +. N The forula for calculating acceleration torque with pulse speed is shown below. Calculation results are the sae. Ta J0 i 2 + JL s 80 J J0 +. N f2 f Calculate the required torque TM [N ] Calculate safety factor Sf (6) Check the Acceleration/Deceleration Rate (Refer to page H-5) Note when calculating that the units for acceleration/deceleration rate TR are [s/khz]. TR f2 f 0. s 3334 Hz 0 Hz 00 s khz 0 khz 30 s/khz The RKS566AAD-PS0-3 otor is the equivalent of the RKS566AAD-3 and it has an acceleration/deceleration rate of 20 [s/khz] or ore. Since the acceleration/deceleration rate is 30 [s/khz] the operation of the otor is possible. TM (TL + Ta)Sf {0 + ( J0 +.)} J [N ] (4) Select a Motor Tentative otor selection Rotor Inertia Product Nae [kg 2 ] Required Torque [N ] RKS566AAD-PS Deterine the otor fro the speed torque characteristics RKS566AAD-PS0-3 5 / Torque [N ] 0 5 Perissible Torque Duty Region Pullout Torque Speed [r/in] 0 (0) 5 (50) 0 (00) 5 (50) Pulse Speed [khz] 20 (200) 25 Resolution (250) (Resolution 0) The PS geared type can use acceleration torque up to the axiu torque range to start and stop inertia loads. Since the duty region of the otor (operating speed and required torque) falls within the pullout torque of the speed torque characteristics, the otor 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-PS0-3 has a gear ratio of 0, therefore, the inertia ratio is calculated as follows. JL J0 i RKS566AAD-PS0-3 otor is the equivalent of the RKS566AAD-3 otor. Since the inertia ratio is 0 or less, if the inertia ratio is 9.85, otor operation is deeed to be possible. CAD Data Manuals Support TEL: (800) E-ail: techsupport@orientalotor.co H-5

16 H-6 Winding This exaple deonstrates how to select winding equipent when a torque otor is used. 2 Calculate the Required Torque Calculate the torque T required at the start of winding. F D T 0.03 [N ] 2 2 D3 F V ϕd Calculate the torque T2 required at the end of winding. F D T [N ] 2 2 This winding otor ust eet the following conditions: Start of Winding: Speed N 000 [r/in], Torque T 0.03 [N ] End of Winding: Speed N2 500 [r/in], Torque T [N ] Tensioning Motor Winding Motor () Specifications and Operating Conditions of the Drive Winding roller diaeter ϕd Diaeter at start of winding...d 5 [] 0.05 [] Diaeter at end of winding...d2 30 [] 0.03 [] Tensioning roller diaeter...d3 20 [] 0.02 [] Winding speed... V 47 [/in] (constant) Tension...F 4 [N] (constant) Power... Single-phase 5 V Operating tie...continuous (2) Select a Winding Motor In general, a winding otor ust satisfy the following conditions: Able to provide a constant winding speed Able to apply a constant tension to prevent slackening of aterial To eet the above conditions, the following points ust be given consideration when selecting a otor: Since the winding diaeter is different between the start and end of winding, the otor speed ust be varied according to the winding diaeter to keep the winding speed constant. If the tension is constant, the required otor torque is different between the start and end of winding. Accordingly, the torque ust be varied according to the winding diaeter. Torque otors have ideal characteristics to eet these conditions. Calculate the Required Speed Calculate the speed N required at the start of winding. V 47 N [r/in] 000 [r/in] D Select a Motor Check the Speed Torque Characteristics Select a otor that eets the required conditions specified above. If the required conditions are plotted on the Speed Torque Characteristics for 4TK0A-AW2U, it is clear that the conditions roughly correspond to the characteristics at a torque setting voltage of 60 V. Speed Torque Characteristics 4TK0A-AW2U Torque [oz-in] 30 0 [N ] V V V V V Wind up end 60 Hz Wind up start Speed [r/in] Check the Operation Tie 4TK0A-AW2U has a five-inute rating when the voltage is 5 V and a continuous rating when it is 60 V. Under the conditions given here, the voltage is 60 V ax., eaning that the otor can be operated continuously. Note If a torque otor is operated continuously in a winding application, select conditions where the service rating of the torque otor reains continuous. Calculate the speed N2 required at the end of winding. V 47 N [r/in] 500 [r/in] D H-6 ORIENTAL MOTOR GENERAL CATALOG 205/206

17 Reference H-7 (3) Select a Tensioning Motor If tension is not applied, the aterial slackens as it is wound and cannot be wound neatly. Torque otors also have reverse-phase brake characteristics and can be used as tensioning otors. How to select a tensioning otor suitable for the winding equipent shown on page H-6 is explained below. Calculate the Required Speed N3 V 47 N [r/in] 750 [r/in] D Calculate the Required Torque T3 F D T [N ] Select a Motor Select a otor that eets the required conditions specified above. If the required conditions are plotted on the speed brake torque characteristics for the 4TK0A-AW2U reverse-phase brake, it is clear that the conditions roughly correspond to the characteristics at a torque setting voltage of 40 V. Speed Brake Torque Characteristics with Reverse-Phase Brake Brake Torque [oz-in] Brake Torque [N ] TK0A-AW2U 5 V 0 V 80 V 60 V 50 V 40 V / Speed [r/in] Note If a torque otor is operated continuously in a brake application, how uch the otor teperature rises varies depending on the applicable speed and torque setting voltage. Be sure to keep the teperature of the otor case at 90 C ax. Fro the above checks, the 4TK0A-AW2U can be used both as a winding otor and tensioning otor. Please contact the nearest Oriental Motor sales office or custoer support center for inforation on the speed brake torque characteristics of each product. CAD Data Manuals Support TEL: (800) E-ail: techsupport@orientalotor.co H-7