TwinCAT Motion Designer Report. Project Name: TwinCAT Motion Designer Project1. Customer. Application Engineer. Project Description
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1 TwinCAT Motion Designer Report Project Name: Customer Company: Name: Department: Street: City: Country: Application Engineer Company: Name: Department: Street: City: Country: Project Description Exclusion The interpretation of data contained in the report for servo axes is based on the basis data provided by you. Please check if these data are and were complete and correct before taking over of the results. The data have been entered in good faith into our software. For erroneous interpretations which are based on an incorrect or incomplete data base and subsequent product recommendations we cannot accept any liability. The calculated design of servo axes represents a non-binding recommendation. You are obliged to check whether the recommended design is suitable for your intended use. Page 1/38
2 Content TwinCAT Motion Designer Report 1 1. Bill of Materials 2 2. DC Link: DC-link Axis: X-Axis Axis: Y-Axis Axis: Z-Axis 29 Page 2/38
3 1. Bill of Materials DC Link: DC-link 0 Axis: X-Axis Order code qty Product description AX8108-0x One Axis Module 8A, OCT Motor-Gearbox- Combination 1 The following both positions will be mounted at Beckhoff and delivered as one unit. AM8551-0G Servomotor, 400 V AC (max. 480 V AC), M 0 =4,89Nm, I 0 =4,75A, n n = 5000 min-1, Smooth Shaft, OCT 18 Bit Multiturn, No Brake AG2210-+LP090S-MF1-7- xg1-am805x Axis: Y-Axis 1 Planetary Shaft Gearbox, M n = 50,00 Nm, M b = 100,00 Nm, Backlash 8,00 arcmin, i = 7 Order code qty Product description AX One Axis Module 8A, OCT, TwinSAFE (STO, SS1) Motor-Gearbox- Combination 1 The following both positions will be mounted at Beckhoff and delivered as one unit. AM8541-0E Servomotor, 400 V AC (max. 480 V AC), M 0 =2,45Nm, I 0 =3,00A, n n = 6000 min-1, Smooth Shaft, OCT 18 Bit Multiturn, No Brake AG2210-+LP090S- MF1-7-1G1-AM804x 1 Planetary Shaft Gearbox, M n = 50,00 Nm, M b = 100,00 Nm, Backlash 8,00 arcmin, i = 7, Feather Key ZK highly flexible, drag-chain suitable cable with 5 million bending cycles, Cable Length l = 5 m Axis: Z-Axis Order code qty Product description AX One Axis Module 8A, OCT, TwinSAFE (STO, SS1) AM8033-1J Servomotor, 400 V AC (max. 480 V AC), M 0 =3,22Nm, I 0 =6,80A, n n = 9000 min-1, Feather Key, OCT 18 Bit Multiturn, Holding Brake Page 3/38
4 2. DC Link: DC-link 0 Power supply type: 400 V, 3 phase Page 4/38
5 2. DC Link: DC-link 0 Position: X-Axis Position: Y-Axis Position: Z-Axis Page 5/38
6 2. DC Link: DC-link 0 Needed Power: X-Axis Needed Power: Y-Axis Needed Power: Z-Axis Page 6/38
7 2. DC Link: DC-link 0 Infeed Module Bleeder Module Allowed Effective Infeed Power Allowed Maximal Infeed Power Effective Infeed Power Allowed Effective Bleeder Power Allowed Maximal Bleeder Power Effective Bleeder Power Boundaries Capacitive Energy Capacitive Energy Infeed Energy Bleeder Energy Nominal Data Application Data Effective Infeed Power 0 W Effective Needed Infeed Power 262,89 W Maximal Infeed Power 0 W Maximal Needed Infeed Power 2506,41 W Effective Braking Power 0 W Effective Needed Braking Power 67,03 W Maximal Braking Power 0 W Maximal Needed Braking Power 1288,86 W Page 7/38
8 2.1. Axis: X-Axis Mechanical Data Mechanical Data Pitch Circle Diameter [ d p ] 63,66 mm Pinion Inertia [I P ] 10 kgcm² Load Mass [m L ] 200 kg Friction Coefficient [μ] 0,10 Efficiency [η] 0,90 Page 8/38
9 2.1. Axis: X-Axis Page 9/38
10 2.1. Axis: X-Axis 1. Section: TrajectorySection (VDI Section) Positioning Mode Relative Type om of 5th degree Position 1000 mm Duration 1 s Max speed 1,88 m/s Max acceleration 5,77 m/s² Max jerk 60 m/s³ 2. Section: TrajectorySection (Rest) Duration 1 s Max speed 0 m/s Max acceleration 0 m/s² Max jerk 0 m/s³ 3. Section: TrajectorySection (Third Rule) Positioning Mode Relative Position 1000 mm Duration 2 s Max speed 0,75 m/s Max acceleration 1,13 m/s² Max jerk +unendlich m/s³ Page 10/38
11 2.1. Axis: X-Axis 4. Section: TrajectorySection (Half Rule) Positioning Mode Absolute Position 0 mm Duration 3 s Max speed 1,33 m/s Max acceleration 0,89 m/s² Max jerk +unendlich m/s³ Page 11/38
12 2.1. Axis: X-Axis AG2210-+LP090S-MF1-7-xG1-AM805x Planetary Shaft Gearbox, M n = 50,00 Nm, M b = 100,00 Nm, Backlash 8,00 arcmin, i = 7 Nominal Data Nominal Data Gear Ratio [i] 7 Number of Stages [Z] 1 Efficiency [η] 0,97 Nominal Output Torque [T 2n ] 50 Nm Maximal Output Torque [T 2max ] 100 Nm Emergency Output Torque [T 2emerg ] 190 Nm Nominal Motor Side Speed [ω 1nom ] 3400 rpm Maximal Motor Side Speed [ω 1max ] 6000,00 rpm Motor Side Inertia [I 1 ] 1,47 kgcm² Application Data Application Data Effective torque [T eff ] 2,01 Nm Max torque [T max ] 7,25 Nm Mean speed [ω avg ] 1200,00 rpm Max speed [ω max ] 3937,50 rpm Mean power [P avg ] 209,87 W Max power [P max ] 1903,82 W Documentation Page 12/38
13 2.1. Axis: X-Axis Maximal Limit Curve Nominal Limit Curve Application Curve Effective Application Point Page 13/38
![V AC [T n115 ] 4,80 Nm Rated Speed @ 115 V AC [ω n115 ] 1200 rpm Rated Torque @ 230 V AC [T n230 ] 4,65 Nm Rated Speed @ 230 V AC [ω n230 ] 2700 rpm Rated Torque @ 400 V AC [T n400 ] 4,40 Nm Rated](/docs-images/84/90972975/images/14-1.jpg "Speed @ 400 V AC [ω n400 ] 5000 rpm Rated Torque @ 480 V AC [T n480 ] 4,30 Nm Rated Speed @ 480 V AC [ω n480 ] 5700,00 rpm Standstill Current [I 0 ] 4,75 A Peak Current [I max ] 20,90 A Torque")
14 2.1. Axis: X-Axis AM8551-0G Servomotor, 400 V AC (max. 480 V AC), M 0 =4,89Nm, I 0 =4,75A, n n = 5000 min-1, Smooth Shaft, OCT 18 Bit Multiturn, No Brake Nennwerte Nennwerte Standstill Torque [T 0 ] 4,89 Nm Max torque [T max ] 17,80 Nm Rated 115 V AC [T n115 ] 4,80 Nm Rated 115 V AC [ω n115 ] 1200 rpm Rated 230 V AC [T n230 ] 4,65 Nm Rated 230 V AC [ω n230 ] 2700 rpm Rated 400 V AC [T n400 ] 4,40 Nm Rated 400 V AC [ω n400 ] 5000 rpm Rated 480 V AC [T n480 ] 4,30 Nm Rated 480 V AC [ω n480 ] 5700,00 rpm Standstill Current [I 0 ] 4,75 A Peak Current [I max ] 20,90 A Torque Constant [K e ] 1,03 Nm/A Voltage Constant [K v ] 73,00 mv/rpm Number of Pole Pairs [n p ] 4 Rotor Moment of Inertia [I] 9,48 kgcm² Motor Length [Y] 216,50 mm Applikationskennwerte Applikationskennwerte Effective torque [T eff ] 2,33 Nm Max torque [T max ] 8,46 Nm Mean speed [ω avg ] 1200,00 rpm Max speed [ω max ] 3937,50 rpm Mean power [P avg ] 269,79 W Max power [P max ] 2506,35 W Mean inertia ratio [λ avg ] 4,54 Max inertia ratio [λ max ] 4,54 Documentation Step Model Page 14/38
15 2.1. Axis: X-Axis Voltage Boundary 400 V AC S1 Characteristic Curve Nominal 400 V AC Application Curve Effective Application Point Page 15/38
16 2.1. Axis: X-Axis AX8108-0x One Axis Module 8A, OCT Nominal Data Nominal Data Number of Channels 1 Rated Output Current 8 A Maximal Output Current 20 A Documentation Step Model EPLAN-Macros Page 16/38
17 2.1. Axis: X-Axis Voltage Boundary Curve S1 Characteristic Curve Motor Drive Nominal Current Drive Peak Current Application Curve Effective Application Point Page 17/38
18 2.1. Axis: X-Axis Emergency Brake Investigation Not-Halt Bremsung Application Data Emergency Braking Torque [T b ] 2 Nm Maximale Braking Distance Load Shaft [θ bshaft ] 66,15 rad Application Data Maximal Braking Distance Load Maximal Braking Distance Motor [x b ] 2105,50 mm [θ bmot ] 463,02 rad Braking Time [t b ] 0,75 s Maximal Braking Energy [E b ] 308,68 J Page 18/38
![2.2. Axis: Y-Axis Mechanical Data Mechanical Data Pitch Circle Diameter [ d p ] 63,66 mm Pinion](/docs-images/84/90972975/images/19-0.jpg "Inertia [I P ] 10 kgcm² Load Mass [m L ] 100 kg Friction Coefficient [μ] 0,10 Efficiency [η] 0,90")
19 2.2. Axis: Y-Axis Mechanical Data Mechanical Data Pitch Circle Diameter [ d p ] 63,66 mm Pinion Inertia [I P ] 10 kgcm² Load Mass [m L ] 100 kg Friction Coefficient [μ] 0,10 Efficiency [η] 0,90 Page 19/38
20 2.2. Axis: Y-Axis Page 20/38
21 2.2. Axis: Y-Axis 1. Section: TrajectorySection (Rest) Duration 1 s Max speed 0 m/s Max acceleration 0 m/s² Max jerk 0 m/s³ 2. Section: TrajectorySection (VDI Section) Positioning Mode Relative Type om of 5th degree Position 1000 mm Duration 1 s Max speed 1,88 m/s Max acceleration 5,77 m/s² Max jerk 60 m/s³ 3. Section: TrajectorySection (Rest) Duration 1 s Max speed 0 m/s Max acceleration 0 m/s² Max jerk 0 m/s³ 4. Section: TrajectorySection (Third Rule) Positioning Mode Relative Position 1000 mm Duration 2 s Max speed 0,75 m/s Max acceleration 1,13 m/s² Max jerk +unendlich m/s³ Page 21/38
22 2.2. Axis: Y-Axis 5. Section: TrajectorySection (Half Rule) Positioning Mode Absolute Position 0 mm Duration 3 s Max speed 1,33 m/s Max acceleration 0,89 m/s² Max jerk +unendlich m/s³ 6. Section: TrajectorySection (Rest) Duration 1 s Max speed 0 m/s Max acceleration 0 m/s² Max jerk 0 m/s³ Page 22/38
![2.2. Axis: Y-Axis AG2210-+LP090S-MF1-7-1G1-AM804x Planetary Shaft Gearbox, M n = 50,00 Nm, M b = 100,00 Nm, Backlash 8,00 arcmin, i = 7, Feather Key Nominal Data Nominal Data Gear Ratio [i] 7 Number](/docs-images/84/90972975/images/23-0.jpg "of Stages [Z] 1 Efficiency [η] 0,97 Nominal Output Torque [T 2n ] 50 Nm Maximal Output Torque [T 2max ] 100 Nm Emergency Output Torque [T 2emerg ] 190 Nm Nominal Motor Side Speed [ω 1nom ] 3400 rpm")
23 2.2. Axis: Y-Axis AG2210-+LP090S-MF1-7-1G1-AM804x Planetary Shaft Gearbox, M n = 50,00 Nm, M b = 100,00 Nm, Backlash 8,00 arcmin, i = 7, Feather Key Nominal Data Nominal Data Gear Ratio [i] 7 Number of Stages [Z] 1 Efficiency [η] 0,97 Nominal Output Torque [T 2n ] 50 Nm Maximal Output Torque [T 2max ] 100 Nm Emergency Output Torque [T 2emerg ] 190 Nm Nominal Motor Side Speed [ω 1nom ] 3400 rpm Maximal Motor Side Speed [ω 1max ] 6000,00 rpm Motor Side Inertia [I 1 ] 1,47 kgcm² Application Data Application Data Effective torque [T eff ] 0,91 Nm Max torque [T max ] 3,73 Nm Mean speed [ω avg ] 933,33 rpm Max speed [ω max ] 3937,50 rpm Mean power [P avg ] 83,43 W Max power [P max ] 979,42 W Documentation Page 23/38
24 2.2. Axis: Y-Axis Maximal Limit Curve Nominal Limit Curve Application Curve Effective Application Point Page 24/38
25 2.2. Axis: Y-Axis AM8541-0E Servomotor, 400 V AC (max. 480 V AC), M 0 =2,45Nm, I 0 =3,00A, n n = 6000 min-1, Smooth Shaft, OCT 18 Bit Multiturn, No Brake Nennwerte Nennwerte Standstill Torque [T 0 ] 2,45 Nm Max torque [T max ] 9,14 Nm Rated 115 V AC [T n115 ] 2,43 Nm Rated 115 V AC [ω n115 ] 1300 rpm Rated 230 V AC [T n230 ] 2,39 Nm Rated 230 V AC [ω n230 ] 3000,00 rpm Rated 400 V AC [T n400 ] 2,31 Nm Rated 400 V AC [ω n400 ] 6000,00 rpm Rated 480 V AC [T n480 ] 2,27 Nm Rated 480 V AC [ω n480 ] 6800 rpm Standstill Current [I 0 ] 3 A Peak Current [I max ] 13,60 A Torque Constant [K e ] 0,82 Nm/A Voltage Constant [K v ] 56 mv/rpm Number of Pole Pairs [n p ] 4 Rotor Moment of Inertia [I] 5,27 kgcm² Motor Length [Y] 209,50 mm Applikationskennwerte Applikationskennwerte Effective torque [T eff ] 1,07 Nm Max torque [T max ] 4,40 Nm Mean speed [ω avg ] 933,33 rpm Max speed [ω max ] 3937,50 rpm Mean power [P avg ] 110,59 W Max power [P max ] 1323,90 W Mean inertia ratio [λ avg ] 4,24 Max inertia ratio [λ max ] 4,24 Documentation Step Model Page 25/38
26 2.2. Axis: Y-Axis Voltage Boundary 400 V AC S1 Characteristic Curve Nominal 400 V AC Application Curve Effective Application Point Page 26/38
27 2.2. Axis: Y-Axis AX One Axis Module 8A, OCT, TwinSAFE (STO, SS1) Nominal Data Nominal Data Number of Channels 1 Rated Output Current 8 A Maximal Output Current 20 A Documentation Step Model EPLAN-Macros Page 27/38
28 2.2. Axis: Y-Axis Voltage Boundary Curve S1 Characteristic Curve Motor Drive Nominal Current Drive Peak Current Application Curve Effective Application Point Page 28/38
29 2.2. Axis: Y-Axis Emergency Brake Investigation Not-Halt Bremsung Application Data Emergency Braking Torque [T b ] 5 Nm Maximale Braking Distance Load Shaft [θ bshaft ] 18,48 rad Application Data Maximal Braking Distance Load Maximal Braking Distance Motor [x b ] 588,18 mm [θ bmot ] 129,35 rad Braking Time [t b ] 0,21 s Maximal Braking Energy [E b ] 215,58 J Page 29/38
30 2.3. Axis: Z-Axis Mechanical Data Mechanical Data Thread Lead [h] 5 mm Inertia Spindle [I] 1 kgcm² Load Mass [m L ] 10 kg Friction Coefficient [μ] 0,10 Efficiency [η] 0,90 Gravitation [g] 9,81 m/s² Page 30/38
31 2.3. Axis: Z-Axis Page 31/38
32 2.3. Axis: Z-Axis 1. Section: TrajectorySection (Rest) Duration 0,50 s Max speed 0 m/s Max acceleration 0 m/s² Max jerk 0 m/s³ 2. Section: TrajectorySection (VDI Section) Positioning Mode Relative Type om of 5th degree Position 500 mm Duration 2,50 s Max speed 0,38 m/s Max acceleration 0,46 m/s² Max jerk 1,92 m/s³ 3. Section: TrajectorySection (Rest) Duration 1 s Max speed 0 m/s Max acceleration 0 m/s² Max jerk 0 m/s³ 4. Section: TrajectorySection (Third Rule) Positioning Mode Relative Position 500 mm Duration 2 s Max speed 0,38 m/s Max acceleration 0,56 m/s² Max jerk +unendlich m/s³ Page 32/38
33 2.3. Axis: Z-Axis 5. Section: TrajectorySection (Half Rule) Positioning Mode Absolute Position 0 mm Duration 3 s Max speed 0,67 m/s Max acceleration 0,44 m/s² Max jerk +unendlich m/s³ Page 33/38
34 2.3. Axis: Z-Axis AM8033-1J Servomotor, 400 V AC (max. 480 V AC), M 0 =3,22Nm, I 0 =6,80A, n n = 9000 min-1, Feather Key, OCT 18 Bit Multiturn, Holding Brake Nennwerte Nennwerte Standstill Torque [T 0 ] 3,22 Nm Max torque [T max ] 17,20 Nm Rated 115 V AC [T n115 ] 3,05 Nm Rated 115 V AC [ω n115 ] 2700 rpm Rated 230 V AC [T n230 ] 2,70 Nm Rated 230 V AC [ω n230 ] 5900,00 rpm Rated 400 V AC [T n400 ] 2,30 Nm Rated 400 V AC [ω n400 ] 9000 rpm Rated 480 V AC [T n480 ] 2,30 Nm Rated 480 V AC [ω n480 ] 9000 rpm Standstill Current [I 0 ] 6,80 A Peak Current [I max ] 39,80 A Torque Constant [K e ] 0,47 Nm/A Voltage Constant [K v ] 34 mv/rpm Number of Pole Pairs [n p ] 4 Rotor Moment of Inertia [I] 1,46 kgcm² Motor Length [Y] 180 mm Applikationskennwerte Applikationskennwerte Effective torque [T eff ] 0,15 Nm Max torque [T max ] 0,27 Nm Mean speed [ω avg ] 2666,66 rpm Max speed [ω max ] 8000 rpm Mean power [P avg ] 37,25 W Max power [P max ] 175,93 W Mean inertia ratio [λ avg ] 0,73 Max inertia ratio [λ max ] 0,73 Documentation Step Model Page 34/38
35 2.3. Axis: Z-Axis Ausgewählte Passfederoption Voltage Boundary 400 V AC S1 Characteristic Curve Nominal 400 V AC Application Curve Effective Application Point Page 35/38
36 2.3. Axis: Z-Axis AX One Axis Module 8A, OCT, TwinSAFE (STO, SS1) Nominal Data Nominal Data Number of Channels 1 Rated Output Current 8 A Maximal Output Current 20 A Documentation Step Model EPLAN-Macros Page 36/38
37 2.3. Axis: Z-Axis Voltage Boundary Curve S1 Characteristic Curve Motor Drive Nominal Current Drive Peak Current Application Curve Effective Application Point Page 37/38
38 2.3. Axis: Z-Axis Emergency Brake Investigation Not-Halt Bremsung Application Data Emergency Braking Torque [T b ] 2 Nm Maximale Braking Distance Load Shaft [θ bshaft ] 138,22 rad Application Data Maximal Braking Distance Load Maximal Braking Distance Motor [x b ] 109,99 mm [θ bmot ] 138,22 rad Braking Time [t b ] 0,11 s Maximal Braking Energy [E b ] 92,15 J Page 38/38
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