Formulae

Handbook
Jan Braun

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maxon academy

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Selection process

Step 1
System
Overview

Ambient
conditions
Power
Communicaton
)
v(t), F(t

Ge a r

Motor

oller
Contr

Load

Start
drive selection

Step 2
Load

Overview, system analysis,

preselection of controller & sensor
Chap. A.1

Motion of the load

Chap. A.2

No
Mechanical
transformation?

Step 3
Drive

Step 4
Gearhead

Step 5 + 6
Motor type
Winding

Step 7
Sensor
Controller

When performing a system analysis!" #$%" &'(#" (#%)" *(" #+" ,%(-'*.%" #$%" ,'*/%" 0(" 0" 1$+2%" *3" *#("
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A.1: Overview, system analysis
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3+#"*3-2:,%"0"mechanical transformation.

Yes

Mechanical drives"#'03(8+'4"4%-$03*-02")+1%'"*3#+"4%-$03*-02")+1%'5"E+'"#$%"(%2%-#*+3"+8"#$%"
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Mechanical drives.

Mechanical drive design

Chap. A.3

No
Use of
gearhead?
Yes
Gearhead selection
Chap. 3.4

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chapter 3.4: maxon gearhead

Motor type selection

Chap. 6.5

H3" #$%" .0(*(" +8" #$%" #+'?:%" 03," ()%%," '%?:*'%4%3#(!" #$%" 3%F#" (#%)" *(" #+" (%2%-#" (:*#0.2%" types of
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6.5: Motor selection

Winding selection
Chap. 6.5

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6.5: Motor selection

Verification of controller & sensor

Chap. A.3

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Drive selected

Foreword
This Formulae Handbook lists the most important formulae in relation to all components of
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Numerous illustrations and the clear descriptions of the symbols on the respective page help the
reader to understand the formulae.
Roughly speaking, it is a collection of the most important formulae from the maxon catalog, as
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for engineers, professors, lecturers and students, as a perfect supplement to the above mentioned
book.

Thank you

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have read the manuscript and have given valuable suggestions for improvements. I also received
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Drive selection
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Symbol list for the Formulae Handbook

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A.

A.1

Drive selection

Overview, system analysis

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Velocity v
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Time t

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" ($+:2,".%"0#"2%0(#"8+:'"#*4%("$*;$%'"#$03"#$%"
" ()%-*&%,"0--:'0-9"+8"#$%"-+3#'+2"/0'*0.2%5

E+'",%#0*2%,"*38+'40#*+3!"'%8%'"#+"#$%".++>"<6$%"(%2%-#*+3"+8"$*;$a)'%-*(*+3"4*-'+,'*/%(<!"-$0)#%'"V5

U"

40F+3"E+'4:20%"B03,.++>

1.

Mass, force, torque

1.1

Forces in general

6$%"8+'-%"'%?:*'%,"#+"0--%2%'0#%"0"40(("+8"J">;".9"J"4P("*3"J"("$0("#$%":3*#">;"d"4P(L!"1*#$"#$%"
()%-*02":3*#"304%"e%1#+3"@eA5
Typical component forces in a drive system
E+'-%"8+'"0--%2%'0#*+3"f"
40(("F"0--%2%'0#*+3"
[F] = kg m/sY = kgm/sY = N

Fa

Fa = m a = m !v
!t

G'0/*#0#*+3
@;'0/*#0#*+302"0--%2%'0#*+3
FM = m g
=$[$\,]Z$+^)L$[$\,]Z$_^/=$`$ZG$_^/=A

m
FG

E+'-%("+3"#$%"*3-2*3%,")203%^"
]+13$*22a(2+)%"8+'-%"03,"3+'402"
8+'-%

FH
!
FG

FN

FR

FH = FM$a$)'9 b
FN = FM$a$51) b

E'*-#*+3"8+'-%
I2*,*3;"8'*-#*+3

FR$[$c$a$AN

I)'*3;"8+'-%!"-+4)'%((*+3"03,"
%F#%3(*+3"()'*3;(

FP$ [$/$a$d8

[+4)'%((*/%"8+'-%

Fp$ [$6$a$O

FN

FP

Symbol
O"
F"
Fa"
F M"
F H"
FN"
"
F p"
FR"
F P"

Name
['+(("(%-#*+3"
E+'-%"
O--%2%'0#*+3"8+'-%"
D%*;$#"+8"0".+,9"
]+13$*22a(2+)%"8+'-%"
e+'402"8+'-%"
@8+'-%")%')%3,*-:20'"#+"#$%")203%A"
[+4)'%((*/%"8+'-%"
E'*-#*+3"8+'-%"
I)'*3;"8+'-%"

40F+3"E+'4:20%"B03,.++>"

SI
4L
e
e
e
e
e
e
e
e

Symbol
a"
g"
k"
m"
p"
b"
d8"
d!"
d("
c"

Name
SI
O--%2%'0#*+3"
4P(L
G'0/*#0#*+302"0--%2%'0#*+3"
4P(L
I)'*3;"-+3(#03#"
eP4
=0(("
>;
\'%((:'%"@J"L.$[$J"N/mL"f"JMaZ barA"
\0
O3;2%"+8"#$%"*3-2*3%,")203%"
g
]*()20-%4%3#"
4
]:'0#*+3""
(
T%2+-*#9"-$03;%"
4P(
[+%8&-*%3#"+8"8'*-#*+3"@(%%"#0.2%"-$0)#5"JM5LA

Calculating the total load force consisting of component forces

F1

Fx

F2
FL
F1

FL

Fx

F2

O,,*#*+3"+8"8+'-%("0-#*3;"*3"#$%"(04%"
,*'%-#*+3

FL = FJ + FL + ...+ Fe

O,,*#*+3"+8"8+'-%("0-#*3;"*3"+))+(*#%"
,*'%-#*+3(

FL = FJ$f$AL$f$,,,f$Ae

O,,*#*+3"+8")%')%3,*-:20'"8+'-%(

FL = F1 + F2

F1

FL

Symbol
Name
F L"
X+0,"8+'-%"@+:#):#A"
FJ / FL / Fx" \0'#*02"8+'-%("

JM"

F2

SI
e
e

40F+3"E+'4:20%"B03,.++>

1.2

Torques in general

6$%"#+'?:%"*("0"4%0(:'%"+8"#$%"'+#0#*+302"%88%-#"#$0#"0"8+'-%"%F%'#("+3"0"'+#0#*3;"(9(#%45"b#")209("
#$%"(04%"'+2%"8+'"'+#0#*+3"#$0#"#$%"8+'-%")209("8+'"2*3%0'"4+#*+35
6$%"%?:0#*+3("02109("0))29"8+'"0",%&3%,"0F*("+8"'+#0#*+35
General

6+'?:%"f"8+'-%"F"2%/%'"0'4
gTh$[$_$a$+$[$_+

T$[$A$a$&

Typical component torques in drive systems

6+'?:%"8+'"0--%2%'0#*+3"+8"4+4%3#("+8"*3%'#*0
6+'?:%"f"4+4%3#"+8"*3%'#*0"F"03;:20'"0--%2%'0#*+3
@E+'"*38+'40#*+3"+3"-02-:20#*3;"4+4%3#("+8"*3%'#*0!"
(%%"#$%"3%F#")0;%(A
r

M! "#$#%#!#"#$#% &(
&'
"
#%
M! = J

30 #$

E'*-#*+3"+8".022".%0'*3;"03,"
MR = FKL rKL
(*3#%'%,"(2%%/%".%0'*3;"@(*4)2*&%,A

6+'?:%"+8"()*'02"+'"2%;"()'*3;(

TP = km h$di

Calculating the load torque consisting of component torques

M1

Mx

M2
ML
M1

ML
Symbol
F"
FEk"
V"
T"
T L"
TR"
TP"
Tb"
TJ ^TL ^Tx"
k m"

Mx

M2

O,,*#*+3"+8"#+'?:%("0-#*3;"*3"
(04%",*'%-#*+3

TL$[$TJ$j$TL$j$,,,j$Te

O,,*#*+3"+8"#+'?:%("0-#*3;"*3"
+))+(*#%",*'%-#*+3(

TL$[$TJ$f$TL$f$,,,f$Te

Name
E+'-%"
`%0'*3;"2+0,!"0F*02"P"'0,*02"
=+4%3#"+8"*3%'#*0"
6+'?:%"
X+0,"#+'?:%"
E'*-#*+3"#+'?:%"
6+'?:%!"()*'02"()'*3;"
6+'?:%"8+'"0--%2%'0#*+3"
\0'#*02"#+'?:%("
6+'(*+3"-+%8&-*%3#"@()'*3;"-+3(#03#A"

40F+3"E+'4:20%"B03,.++>"

SI
e
e
>;4L
e4
e4
e4
e4
e4
e4
e4

Symbol
r"
rEk"
b"
d!"
di"
dl"
c"

Name
SI
Y0,*:("
4
=%03",*04%#%'".%0'*3;"
4
O3;:20'"0--%2%'0#*+3"
'0,P(L
]:'0#*+3""
(
O3;2%"+8"'+#0#*+3"
'0,
O3;:20'"/%2+-*#9"-$03;%"
'0,P(
[+%8&-*%3#"+8"8'*-#*+3"@(%%"#0.2%"-$0)#5"JM5LA

Symbol
d9"

Name
I)%%,"-$03;%"

maxon
')4

JJ

1.3

Moments of inertia of various bodies with reference

to the principal axes through the center of gravity S

Body type

Illustration

Mass, moments of inertia

Circular cylinder, disc

!"#"$"%"&"%"r 2"%"'
Jx = 1 %"!"%"r 2
2
Jy = Jz = 1 %"!"%"(3r 2 + ' 2)
12

Hollow cylinder

!"#"$"%"&"%"(ra2"'"(i2) %")""
1
2
Jx"#""""%"!"%"(r
+ ri2)
a
2
2
Jy = Jz = 14 %"!"%""(a2 + ri2 + )3

Circular cone

m = 31 !"$"!"%"!"r 2 !"&
3
Jx = 10 !"#"!"r 2
3
Jy = Jz = 80 !"#"!"(4r 2 + h2)

Truncated circular cone

1
2
!"#""""$"%"$"&"$"(r
+ r2r1+ r12) $"'
2
3
r25 !"r15
3
Jx"#""""""$"!"$
10
r23 !"r13

Circular torus

m = 2!"#"$ 2"#"r 2 #"%""

Jx = Jy = 81 #"&"#"(4%2 + 5r 2)
Jz = 41 #"&"#"(4%2 + 3r 2)

Sphere

m = 43 !"#"!"$"!"r 3
Jx = Jy = Jz = 25 !"%"!"r 2

Symbol
Vx"
"
Vy"
"
V S"
"
R"

JL"

Name
=+4%3#"+8"*3%'#*0
1*#$"'%8%'%3-%"#+"#$%"'+#0#*+3"0F*("x"
=+4%3#"+8"*3%'#*0
1*#$"'%8%'%3-%"#+"#$%"'+#0#*+3"0F*("y"
=+4%3#"+8"*3%'#*0
1*#$"'%8%'%3-%"#+"#$%"'+#0#*+3"0F*("S"
Y0,*:("-*'-:20'"#+':("0'+:3,"Sa0F*("

SI Symbol
h"
>;4L m"
r"
>;4L ra"
ri"
>;4L rJ"
4 r L"
m"

Name
B%*;$#"
=0(("
Y0,*:("
H:#%'"'0,*:("
b33%'"'0,*:("
Y0,*:("J"
Y0,*:("L"
]%3(*#9"

SI
4
>;
4
4
4
4
4
>;"P"4S

40F+3"E+'4:20%"B03,.++>

Body type

Illustration

Mass, moments of inertia

4
!"#"""""$"%"$"&"$"(
ra3"'"(i3)
3

Hollow sphere

ra "'"(i
2
Jx = Jy = Jz"#""""$"!"$"
3
3
5
5

ra "'"(i

m = !"#"$"#"%"#"&"
1
Jx = 12 #"'# (%2 + &2)

Cuboid

Thin rod

m !"#"$"%"$"&
1
2
Jx = Jz"!""""""$"'"$"&
12

Square pyramid

1
!"#""""$"%"$"&"$"'"$"("
3
1
2
Jx"#""""""$"!"$"(&
+ ' 2)
20
1
2
Jy"#""""""$"!"$"('
+ 3 ( 2)
20
4

Arbitrary rotation body

m = !"#"$"#"%x1 f 2(x) #"&'"""

x2
1
Jx = 2 #"!"#"$"#"%x1 f 4(x) #"&'

Steiner's theorem
=+4%3#"+8"*3%'#*0"1*#$"'%8%'a
%3-%"#+"0")0'022%2"0F*("+8"'+#0a
tion x 0#"0",*(#03-%"+8 rs"#+"0F*("s
#$'+:;$"#$%"-%3#%'"+8";'0/*#9"I5

Jx = m !"r s2 + Js

x2

Symbol
O"
V s"
"
Vx"
"
Vy"
"
V S"
"
a"
b"

Name
['+(("(%-#*+3"
=+4%3#"+8"*3%'#*0"1*#$"'%8%'%3-%"
#+"0F*("s"#$'+:;$"-%3#%'"+8";'0/*#9$P"
=+4%3#"+8"*3%'#*0"
1*#$"'%8%'%3-%"#+"#$%"'+#0#*+3"0F*("x"
=+4%3#"+8"*3%'#*0"
1*#$"'%8%'%3-%"#+"#$%"'+#0#*+3"0F*("y"
=+4%3#"+8"*3%'#*0"
1*#$"'%8%'%3-%"#+"#$%"'+#0#*+3"0F*("S"
X%3;#$"+8"(*,%"a
X%3;#$"+8"(*,%"b

40F+3"E+'4:20%"B03,.++>"

SI Symbol
4L c"
h"
>;4L l"
m"
>;4L ra"
ri"
>;4L rs"
m"
>;4L xJ"
m x L"
m

Name
SI
X%3;#$"+8"(*,%"c
m
B%*;$#"
4
X%3;#$"
4
=0(("
>;
H:#%'"'0,*:("
4
b33%'"'0,*:("
4
]*(#03-%"+8"0F*("s 8'+4"-%3#%'"+8";'0/*#9"P m
]%3(*#9"
>;P4S
\+*3#"J"+3"#$%"@>0F*("
4
\+*3#"L"+3"#$%"xa0F*("
4

JS

2.

2.1

Kinematics

Linear equations of motion

Uniform movement
Velocity v

!s

!t

v = !#
!"

T%2+-*#9
($[$d)$^$d!"f"-+3(#03#
g(h$[$+^)

d)$[$($a$d!

Time t

Constant acceleration from a standing start

O--%2%'0#*+3
.$[$d($^$d!"f"-+3(#03#
g.h$[$+^)L

Velocity v

d($[$.$h$d!
1
2
!"#$####%#&#%#!t
2

!v

d($[$=$h$d!

!s
!t

Time t

E'%%"8022

h = 1 g !t 2
2

Constant acceleration from initial speed

Velocity v

!s
!t

Symbol
a"
g"
h"
d)"

vend

vend = vstart + a h$d!

vstart

1 '#)#!& 2
!"#$#%"&'(&#)#!&#*####
2

Time t

Name
O--%2%'0#*+3"
G'0/*#0#*+302"0--%2%'0#*+3"
]'+)"$%*;$#"
]*(#03-%"

SI
4P(L
4P(L
4
4

Symbol
!?$d!"
(?$d("
vend
vstart"

Name
6*4%!",:'0#*+3"
T%2+-*#9!"/%2+-*#9"-$03;%"
T%2+-*#9"08#%'"0--%2%'0#*+3"
T%2+-*#9".%8+'%"0--%2%'0#*+3"

SI
(
4P(
4P(
4P(

Remarks:
6$%"($0,%,"0'%0("'%)'%(%3#"#$%",*(#03-%"d)"#'0/%2%,",:'*3;"#*4%")%'*+,"d!5

JW"

40F+3"E+'4:20%"B03,.++>

2.2

Rotary equations of motion

General
1m
1rad
2 rad ! 360
1m
1m !
1 rad =
57.2958
1m

[+3/%'(*+3" .%#1%%3" '0,*03"

360
1 rad ! 2!
03,",%;'%%(
@6$%" :3*#" rad" *(" 8'%?:%3#29"
SQMg"!"Ln$&.%
+4*##%,5A
[+3/%'(*+3".%#1%%3"
03;:20'"/%2+-*#9"03,"()%%,"
of rotation

&
30
!"#""""""$"%""""""%"#""""" $"!
30
&

O3;:20'"/%2+-*#9
l$[$di$^$d!$[$-+3(#03#
[l] = rad/s

!"#

Uniform movement
Angular velocity$#,
Speed n
!"

#,n

!t

Time t

$%
$t
$%
!"# 30
&"#""""""""'
($t
I)%%,"+8"'+#0#*+3
30
n = SM"^$n$o$di$^$d!$[$-+3(#5 &"#""""""""'
(
[n] = J/min f"')4

$%
$t
$%
$t

Constant acceleration from a standing start

Angular velocity#$,
Speed n
!$, !n
!"
!t

O--%2%'0#*+3
b$[$dl$^$d!$[$-+3(#03#
[b] = J/sL = rad/sL

Time t

Constant acceleration from initial speed

Angular velocity$#,
Speed n

Symbol
!?$d!"
b"
di"
l?$dl"
lend

#start, nstart

!t

Time t

Name
6*4%!",:'0#*+3"
O3;:20'"0--%2%'0#*+3"
O3;2%"+8"'+#0#*+3"
O3;:20'"/%2+-*#9"@-$03;%A"
O3;:20'"/%2+-*#9"08#%'"0--%2%'0#*+3""

2
11
2
!)#$####&#%#&#!t
!)#$####&#%#&#!t
22
11 (
(
!)#$####&######&#!'#&#!t
!)#$####&######&#!'#&#!t
22 30
30

!
"#"!
"$"%"&"'t
!end
"#"!start
"$"%"&"'t
end
start
30
30
nnend =
"$""""""&"%"&"'t
((
= nnstart
"$""""""&"%"&"'t
end
start
11
2
2
')
"&"'*"$""""&"%"&"'t
') #"!
#"!start
"&"'*"$""""&"%"&"'t
22
start
((
11 ((
')
"&"'*"$""""&""""""&"'n&'t
') #""""""&"+
#""""""&"+
start "&"'*"$""""&""""""&"'n&'t
30
22 30
30 start
30

#end, nend

!"

!"#$#%#&#!t
!"#$#%#&#!t
30
30
!'#$######&#%#&#!t
(
!'#$######&#%#&#!t
(

SI
(
'0,P(L
'0,
'0,P(
'0,P(

Symbol
lstart"

Name
O3;:20'"/%2+-*#9".%8+'%"0--%2%'0#*+3"

Symbol
9?$d9"
nend
nstart"

Name
I)%%,"+8"'+#0#*+3"@-$03;%A"
I)%%,"08#%'"0--%2%'0#*+3"
I)%%,".%8+'%"0--%2%'0#*+3"

SI
'0,P(
maxon
')4
')4
')4

Remarks:
6$%"($0,%,"0'%0("'%)'%(%3#"#$%"03;2%"+8"'+#0#*+3"di"#'0/%2%,",:'*3;"#*4%")%'*+,"d!5
O3;2%"+8"'+#0#*+3"di = L$a$n$a"e:4.%'"+8"'%/+2:#*+3("f"SQMg"h"e:4.%'"+8"'%/+2:#*+3(

40F+3"E+'4:20%"B03,.++>"

JZ

;56+

<=3$&'.+.$*"'#+>)($)*+3#)%."0

:#)%."

General

Symmetrical
6'0/%2"+/%'"2+3;",*(#03-%"0#"
2*4*#%,"/%2+-*#9

Suitability

vmax

vmax
s

Diagram
ta

tb
ttot

s
tc

ta

tb
ttot

ta

Task:
6'0/%2"0",*(#03-%"+8"d)
in time d!tot

!"
!# %'%!#c
!##$#%& a
2
vmax
amax = !#
a

6'0/%2"0",*(#03-%"+8"d) at a
2*4*#%,"/%2+-*#9"+8"vmax

!# $%$!#
!"
!##&# = v + a 2 c
max
vmax
amax = !#
a

vmax =

vmax =

!&
(!""#"$%$!"a)

amax =

!&
(!""#"$%$!"a) !"a

!""#" = v!$ %&!"a

max
vmax
amax =
!"a
%&!"a
!""#" = a !$
!"a
max

6'0/%2"0",*(#03-%"+8"d) at a
2*4*#%,"0--%2%'0#*+3"+8"amax

vmax = amax !"a

!%a#&#!%c
&#!%b vmax
[+4)2%#%"4+#*+3"*3"#$%"#*4%" !"#$
2
v
d!tot"0#"40F*4:4"/%2+-*#9"vmax
amax#$ max
!%a
[+4)2%#%"4+#*+3"*3"#$%"#*4%"
d!tot"0#"40F*4:4"0--%2%'0#*+3"
amax

!"#$#(!%%&%#'#!%a) vmax

vmax
amax = !%
a

!#$%$&max (!""'"$($!"a) !"a

vmax = amax !"a

=+#*+3"0#"2*4*#%,"/%2+-*#9"vmax
03,"2*4*#%,"0--%2%'0#*+3"amax
Symbol
amax"
vmax"
d)"

JQ"

Name
=0F*4:4"0--%2%'0#*+3""
=0F*4:4"/%2+-*#9"
]*(#03-%"

SI
4P(L
4P(
4

Symbol
d!a"
d!b"
d!c"
d!tot"

Name
6*4%"0"
6*4%"."
6*4%"-"
6+#02"#*4%"

SI
(
(
(
(

40F+3"E+'4:20%"B03,.++>

3/3 Trapezoidal

Triangle

H)#*4*_%,"8+'"4*3*4:4")+1%'"
@0#";*/%3"d)"03,"d!A^"
=+(#"0,/03#0;%+:("8'+4"0"#$%'402"
)+*3#"+8"/*%1

H)#*4*_%,"8+'"2*4*#%,"0--%2%'0#*+3"+'"8+'-%
@0#";*/%3"d)"03,"d!A5"
H)#*4*_%,"8+'"4*3*4:4"#*4%"'%?:*'%4%3#"
@0#";*/%3"d)"03,"amaxA5
vmax

vmax
s

ttot

ttot

vmax = 1.5 !$
!""#"

!$
vmax = 2 !"
"#"

amax = 4.5 !$2

!" "#"

amax = 4 !$2
!" "#"

!""#" = 1.5 v!$

max
v 2max
amax = 2
!$
!""#" = 3 !$ !"#$%#" !$
2
amax
amax

!$
!""#" = 2 v
max
v 2max
amax =
!$
!$
!""#" = 2 a
max

vmax = % !$% amax !"&$'"" !$%("amax

2
2
!&$% !""#"$ vmax
3
v
amax$%$3 max
!""#"

1
!"#$ 2 !%%&% vmax
vmax
amax = 2
!%%&%

!"#$ 2 amax !t 2tot !"#$&&" amax !t 2tot

9
vmax = 31 amax !t tot !"#$%%" amax !t tot

1
!$%&%%%%% amax !" 2"#"
4
vmax = 1 amax !""#"
2

v 2max
!$%&%2 a
max
vmax
!""#" = 3 a
max

v 2max
!"#$ a
max

Symbol
amax"
vmax"

Name
=0F*4:4"0--%2%'0#*+3""
=0F*4:4"/%2+-*#9"

40F+3"E+'4:20%"B03,.++>"

vmax =

!$% amax

v
!%%&%#$#2 amax

max

SI Symbol
4P(L d)"
4P( d!tot"

Name
]*(#03-%"
6+#02"#*4%"

SI
4
(

JR

;5?+

<=3$&'.+#)('#=+>)($)*+3#)%."0

:#)%."

General

Symmetrical
X+3;"'+#0#*+3"0#"2*4*#%,"()%%,"
of rotation

Suitability

nmax

nmax
!

Diagram

tb
ttot

ta

tc

ta

tb
ttot

ta

Task:
6'0/%2"03"03;2%"+8"di
in time d!tot

6'0/%2"03"03;2%"+8"di
0#"0"2*4*#%,"()%%,"+8"nmax

!&
!" + !"c
!""#"$% a
2
"'
!max =
"# + "#c
"##$#%& a
(%"#a
2
30 !$ !" + !"
!""#" = % n + a 2 c
max
# n
"max = 30 !tmax
a
30
nmax = '

!max =

!&
30

' (!""#"$%$!"a)
"'

("##$#%&%"#a) "#a

30 !$
!""#" = % n + !"a
max
$ n
!max = 30 max
"#a
"##$# =

6'0/%2"03"03;2%"+8"di at a
2*4*#%,"03;:20'"0--%2%'0#*+3"
of bmax
[+4)2%#%"4+#*+3"*3"#$%"#*4%"
d!tot"0#"40F*4:4"()%%,"nmax

nmax =

"%
+ "#a
!max "#a

nmax = 30
$ !max "#a
&
!$ #%#!$
!"#= 30 n'()# a 2 c + !$b
$ nmax
!max = 30 "#
a

(
!"#$##############
#(!%%&%#'#!%a)
30 nmax
$ nmax
!max = 30 "#
a
!"#$#%max#&#(!''('#)#!'a)#&#!'a

[+4)2%#%"4+#*+3"*3"#$%"
time d!tot"0#"40F*4:4"03;:20'"
0--%2%'0#*+3"bmax

nmax = 30
$ !max "#a

=+#*+3"0#"2*4*#%,"()%%,"
of nmax"03,"2*4*#%,"03;:20'"
0--%2%'0#*+3"+8"bmax
Symbol
bmax"
d!a"
d!b"
d!c"
d!tot"

JU"

Name
=0F*4:4"03;:20'"0--%2%'0#*+3"
6*4%"0"
6*4%"."
6*4%"-"
6+#02"#*4%"

SI
'0,P(L
(
(
(
(

Symbol
di"

Name
O3;2%"+8"'+#0#*+3"

Symbol
nmax"

Name
=0F*4:4"()%%,"*3"2+0,"-9-2%"

SI
'0,
maxon
')4

40F+3"E+'4:20%"B03,.++>

3/3 Trapezoidal

Triangle

H)#*4*_%,"8+'"4*3*4:4")+1%'"
@0#";*/%3"di"03,"d!A^"
=+(#"0,/03#0;%+:("8'+4"0"#$%'402"
)+*3#"+8"/*%1

H)#*4*_%,"8+'"2*4*#%,"03;:20'"0--%2%'0#*+3"
+'"#+'?:%"@0#";*/%3"di"03,"d!A"03,"
8+'"4*3*4:4"#*4%"'%?:*'%4%3#"
@0#";*/%3"di"03,"bmaxA5
nmax

nmax
!

ttot

ttot

30 !"
nmax = 2 # !t
tot

30 !$
nmax = 1.5 % !"
"#"
!max = 4.5

"#
!max = 4 "t 2
tot

"#
"t 2tot

30 !$
!""#" = 1.5 % n
max

30 !%
!""#"$= 2 & n
max
n2max $2
!max = "# 2
30

$2 n2max

302 "#
"%
"%
3
! !"#$%#" !
"##$# =
2
max
max
30
1
nmax =
!"# $max !"#$%&" !"# $max
2 %
' !" n
!$%& 2 30
"#"
max
3
% nmax
!max = 3 30 "#
#$#

30
nmax = % !"# $max
!"#= 1 & !$$%$# nmax
2 30
% n
!max = 2 30 "#max
#$#

!"#$ 2 %max# !t 2tot#!"#$%%" %&'(#!t 2tot

9
1
nmax = 30 !max "##$# !"#$%&" !max "##$#
3 %
30 !"
nmax = 2 # !t
tot
"#
!max = 4 "t 2
tot

!"#$###1 %max# !t 2tot

4
nmax = 12 30
! "max #$$%$
30 n 2
"#$= % ! max
max
% nmax
"##$# = 2 30 !
max

!max = 2

Symbol
bmax"
d!tot"
di"

Name
=0F*4:4"03;:20'"0--%2%'0#*+3"
6+#02"#*4%"
O3;2%"+8"'+#0#*+3"

40F+3"E+'4:20%"B03,.++>"

"$$%$ = 2

SI Symbol
'0,P(L nmax"
(
'0,

"#
!max

Name
=0F*4:4"()%%,"*3"2+0,"-9-2%"

maxon
')4

JV

Notes

3.

3.1

Mechanical drives

Mechanical transformation

@.'00$%&'($)*

Output power/transformation, general

Linear

Spindle

Output power, linear motion

Rack and pinion

Lmech$[$($o$A

Ball screw
Conveyor belt

Transformation, general

Trapezoidal screw
Crane

Rover

Eccentric drive

[J]$[$+^)$o$_

Crankshaft

Rotation

Pmech,L =

Pmech,in
!

vL # FL =

"in # Min
!

Output power, rotary motion

Gearhead

Belt

Spur gearhed

Toothed belt

Planetary gearhead

Chain drive

[J] = saJ$o$_+
!
Pmech"#"$"%"&"#"""""""%"'"%"&
30
Transformation, general

Bevel gear
Special design
Worm gear
Cyclo gear
Wolfrom gear
Harmonic Drive

Pmech,L =

Pmech,in
!

"L # M L =

"in # Min
!

Designations in the formulae

6$%"2+0,a(*,%"/0'*0.2%("0#"#$%"+:#):#"0'%"*,%3#*&%,".9"#$%"*3,%F"L5
6$%"*3):#a(*,%"/0'*0.2%("@:(:0229"#$%"4+#+'A"0'%"*,%3#*&%,".9"#$%"*3,%F"in5
Symbol
F"
F L"
T"
T L"
Tin"
Lmech"
Lmech,in"
Lmech,L"
v"

Name
E+'-%"
X+0,"8+'-%"@+:#):#A"
6+'?:%"
X+0,"#+'?:%"
b3):#"#+'?:%"
=%-$03*-02")+1%'"
=%-$03*-02"*3):#")+1%'"
=%-$03*-02"+:#):#")+1%'"
T%2+-*#9"

40F+3"E+'4:20%"B03,.++>"

SI
e
e
e4
e4
e4
D
D
D
4P(

Symbol
v L"
p$"
l"
l L"
lin"

Name
X+0,"/%2+-*#9"
K8&-*%3-9
O3;:20'"/%2+-*#9"
O3;:20'"/%2+-*#9"2+0,"
O3;:20'"/%2+-*#9"*3):#"

Symbol
n"

Name
I)%%,"+8"'+#0#*+3"

SI
4P(
'0,P(
'0,P(
'0,P(
maxon
')4

LJ

3.2

Transformation of mechanical drives, linear

Spindle drive
60
I)%%,"+8"'+#0#*+3 nin = p vL

JS
p

6+'?:%

p FL

2! "

Min =

O,,*#*+302"#+'?:%"8+'"-+3(#03#"0--%2%'0#*+3"
@()%%,"-$03;%"d9in ,:'*3;")%'*+,"d!aA
,
-#in
mL&)&+S p 2
&&&*&&&&&&&&*&&&&&&&&&
M"#$%&'&&&(in&)&(S&)&&&&&&&&&&&&&&&&*&&&&&&
30 -.a
4, 2
!
\209!"
)+(*#*+3"%''+'

2!
"#in$%$"&L ! p

Belt drive/conveyor belt/crane

J1

mB

d1

J2
d2

I)%%,"+8"'+#0#*+3 nin =
6+'?:%

Min =

J1

M&%'( = J&% + J1 +
\209!"
)+(*#*+3"%''+'

LL"

d1 FL
!
2 !

O,,*#*+302"#+'?:%"8+'"-+3(#03#"0--%2%'0#*+3"
@()%%,"-$03;%"d9in ,:'*3;")%'*+,$d!aA
d1

Symbol
F L"
Vin"
"
V P"
VX"
VJ"
VL"
Tin"
T'9?b"
d X"
dJ"
d L"
mN"

60 vL
!
! d1

Name
X+0,"8+'-%"@+:#):#A"
=+4%3#"+8"*3%'#*0!"*3):#
@4+#+'!"%3-+,%'!".'0>%A""
=+4%3#"+8"*3%'#*0!"()*3,2%"
=+4%3#"+8"*3%'#*0!",%i%-#+'"):22%9"X"
=+4%3#"+8"*3%'#*0!",'*/*3;"%3,"
=+4%3#"+8"*3%'#*0!",%i%-#+'"):22%9"L"
b3):#"#+'?:%"
6+'?:%"8+'"0--%2%'0#*+3"
]*04%#%'!",%i%-#+'"):22%9"X
]*04%#%'!",'*/%"):22%9"
]*04%#%'!",%i%-#+'"):22%9"L"
=0((!".%2#"

J2 d12 JX d12 mL + mB d12

" #%&%
+
!
!
!
+
!
!
!
30 #$a
! d22 ! dX2
4
!"in#$#!%L ! 2
d1

SI Symbol
e m L"
mP"
>;4L p"
>;4L vL"
>;4L d)L"
>;4L d!a"
>;4L diin"
e4 q"
e4
m Symbol
4 nin"
4 d9in"
>;

Name
=0(("+8"#$%"2+0,"
=0((!"()*3,2%"
I)*3,2%"2%0,"@)*#-$A"
X+0,"/%2+-*#9"
=%-$03*-02")209!"+:#):#"
O--%2%'0#*+3"#*4%"
=%-$03*-02")209!"*3):#"
K8&-*%3-9
Name
b3):#"()%%,"
I)%%,"-$03;%!"*3):#"

SI
>;
>;
4
4P(
4
(
'0,
maxon
')4
')4

40F+3"E+'4:20%"B03,.++>

Rack-and-pinion drive
J P, z

60
I)%%,"+8"'+#0#*+3 nin = p !"z !"vL

mz

6+'?:%

Min =

p !"z FL
!
"
2!

O,,*#*+302"#+'?:%"8+'"-+3(#03#"0--%2%'0#*+3"
@()%%,"-$03;%"d9in ,:'*3;")%'*+,$d!aA
Min,! = Jin + JP +

# $&in
mL + mZ p2 !"z2
!
!
!
30 $%a
"
4# 2

\209!"
)+(*#*+3"%''+'

"#in = "$L !

2!
p !"z

Rover
I)%%,"+8"'+#0#*+3 nin =
JW
mF

6+'?:%

Min =

60 vL
!
! d
d FL
!
2 !

O,,*#*+302"#+'?:%"8+'"-+3(#03#"0--%2%'0#*+3
@()%%,"-$03;%"d9in ,:'*3;")%'*+,$d!aA
#%&%
"
m + mF d 2
M&%'( = J&% + JW + L
! 4 ! 30 ! #$
!
a
\209!"
)+(*#*+3"%''+'
Symbol
F L"
Vin"
"
VL"
V J"
"
Tin"
T'9?b"
d"
mF"
m L"
m Z"
p"

Name
X+0,"8+'-%"@+:#):#A"
=+4%3#"+8"*3%'#*0!"*3):#
@4+#+'!"%3-+,%'!".'0>%A""
=+4%3#"+8"*3%'#*0!")*3*+3"
=+4%3#"+8"*3%'#*0!
022"1$%%2("#+;%#$%'"
b3):#"#+'?:%"
6+'?:%"8+'"0--%2%'0#*+3"
]*04%#%'!",'*/%"1$%%2"
=0((!"'+/%'"
=0(("+8"#$%"2+0,"
=0((!";%0'"'0->"
\*#-$"

40F+3"E+'4:20%"B03,.++>"

!"in = !sL ! 2
d

SI Symbol
e v L"
S"
>;4L d)L"
>;4L d!a"
diin"
>;4L q"
e4
e4 Symbol
4 nin"
>; d9in"
>;
>;
4

Name
X+0,"/%2+-*#9"
e:4.%'"+8"#%%#$!")*3*+3
=%-$03*-02")209!"+:#):#"
O--%2%'0#*+3"#*4%"
=%-$03*-02")209!"*3):#"
K8&-*%3-9
Name
b3):#"()%%,"
I)%%,"-$03;%!"*3):#"

SI
4P(
4
(
'0,
maxon
')4
')4

LS

Eccentric drive
e
JE

I*3:(+*,02"/%2+-*#9"-:'/%"+8"#$%"2+0,"
@0((:4)#*+3^"-+3(#03#"4+#+'"()%%,"ninA
vL (t) = ! nin e sin ! nin t
30
30
O3;2%a,%)%3,%3#")%'*+,*-"0--%2%'0#*+3"8+'-%"8+'"2+0,!"
)*(#+3("03,"'+,("@mLA
Fa#$!%#&#'a#(#)*+!#&#,L !

" !
!"e !"cos!
30 nin

O3;2%a,%)%3,%3#"#+'?:%(",:%"#+",*88%'%3#"2+0,"-+3,*#*+3(
TinJ$IiK$[$#$a$IALJ$a$)'9$i$j$AaJ$a$51)iK$
TinL$IiK$[$#$a$IALL$a$)'9$i$j$AaL$a$51)iK$

M$r$i$r$n
n$r$i$r$Ln

O/%'0;%"#+'?:%"2+0,
Min,RMS =

e
!
2 !"!

FL1 2 + Fa1 2 + FL2 2 + Fa2 2

O,,*#*+302"#+'?:%"8+'"0--%2%'0#*+3"+8"#$%"%--%3#'*-",*(@()%%,"-$03;%"d9in ,:'*3;")%'*+,$d!aA
M%$&'()((*%$(+(*E(((!(
Symbol
FLJ"
FLL"
Fa
Fa IiK"
"
FaJ"
FaL"
Vin"
"
VX"
T'9?UTP"
T'9?b"
TinJIiK"

LW"

Name
X+0,"8+'-%"J(#"$028"-9-2%"
X+0,"8+'-%"L3,"$028"-9-2%"
O--%2%'0#*+3"8+'-%"
\%'*+,*-"0--%2%'0#*+3"8+'-%"0("0"
8:3-#*+3"+8"#$%"03;2%"+8"'+#0#*+3"
O--%2%'0#*+3"8+'-%!"J(#PL3,"$028"-9-2%"
O--%2%'0#*+3"8+'-%!"J(#PL3,"$028"-9-2%"
=+4%3#"+8"*3%'#*0!"*3):#"
@4+#+'!"%3-+,%'!".'0>%A""
=+4%3#"+8"*3%'#*0!"%--%3#'*-",*(-"
Y=I"#+'?:%"
6+'?:%"8+'"0--%2%'0#*+3"
6+'?:%!"J(#"$028"-9-2%"

! "$%$
!
30 "#a
SI
e
e
e

Symbol
TinLIiK"
e"
m L"
vLI!K"
e t"
e d!a"
e i"
q"
>;4L
>;4L Symbol
e4 nin"
e4 d9in"
e4

Name
6+'?:%!"L3,"$028"-9-2%"
K--%3#'*-*#9"
=0(("+8"#$%"2+0,"
I*3:(+*,02"/%2+-*#9"-:'/%"+8"#$%"2+0,"
6*4%"
O--%2%'0#*+3"#*4%"
O3;2%"+8"'+#0#*+3"
K8&-*%3-9
Name
b3):#"()%%,"
I)%%,"-$03;%!"*3):#"

SI
e4
4
>;
4P(
(
(
'0,
maxon
')4
')4

40F+3"E+'4:20%"B03,.++>

3.3

Transformation of mechanical drives, rotation

Gearhead
iG

I)%%,"+8"'+#0#*+3

nin = nL iM

6+'?:%

Min =

J1

J2

ML
iG !

O,,*#*+302"#+'?:%"8+'"-+3(#03#"0--%2%'0#*+3"
@()%%,"-$03;%"d9in ,:'*3;")%'*+,$d!aA
M$#&'= J$#+ J1+

JL
JL + J2
% !#$#
% !#

$#

30 !"a = J$#)+ JG + iG2 ( 30 !"a

iG2 (

\209!")+(*#*+3"%''+'

diin$[$diL$o$'M

Y%,:-#*+3"'0#*+
)203%#0'9";%0'$%0,

iG =

I)%%,"+8"'+#0#*+3

nin = nL

6+'?:%

Min =

z 1+ z 3
z1

Belt drive
mR

d1
J1

J2
d2

d2
d1

d1 ML

d2 !

O,,*#*+302"#+'?:%"8+'"-+3(#03#"0--%2%'0#*+3"
@()%%,"-$03;%"d9in ,:'*3;")%'*+,$d!aA
2

M!"#$ = Jin + J1 +

\209!")+(*#*+3"%''+'
Symbol
V M"
"
Vin"
"
V L"
Vx"
VJ"
VL"
Tin"
T'9?b"
T L"
d x"
dJ"
d L"

Name
=+4%3#"+8"*3%'#*0!
;%0'$%0,"#'03(8+'4%,"
=+4%3#"+8"*3%'#*0!"*3):#
@4+#+'!"%3-+,%'!".'0>%A""
=+4%3#"+8"*3%'#*0!"2+0,"
=+4%3#"+8"*3%'#*0!",%i%-#+'"):22%9"X"
=+4%3#"+8"*3%'#*0!",'*/*3;"%3,"
=+4%3#"+8"*3%'#*0!"+:#):#"
b3):#"#+'?:%"
6+'?:%"8+'"0--%2%'0#*+3"
X+0,"#+'?:%"
]*04%#%'!",%i%-#+'"):22%9"X
]*04%#%'!",'*/%"):22%9"
]*04%#%'!"2+0,"):22%9"

40F+3"E+'4:20%"B03,.++>"

Jx d1
m d1
JL + J2 d1
2 + 4R %
2+
%
% dx
d2

&
'n
30 't in
a

!"in = !" L d 2
d1

SI Symbol
i M"
>;4L mR"
SJ"
>;4L SS"
>;4L d!a"
>;4L diin"
>;4L diL"
>;4L q"
e4
e4 Symbol
e4 nin"
m nL"
4" d9in"
4

Name
Y%,:-#*+3"'0#*+!";%0'$%0,"@-0#02+;"/02:%A
=0((!".%2#"
e:4.%'"+8"#%%#$!"(:3"1$%%2
e:4.%'"+8"#%%#$!"*3#%'302";%0'"
O--%2%'0#*+3"#*4%"
=%-$03*-02")209!"*3):#"
=%-$03*-02")209!"+:#):#"
K8&-*%3-9
Name
b3):#"()%%,"
X+0,"()%%,"
I)%%,"-$03;%!"*3):#"

SI
>;
(
'0,
'0,

maxon
')4
')4
')4

LZ

3.4

maxon gear

A/"*($%&'($)*+0=0(">+,)#+>'B)*CD"'#-"'/0
Gearhead design type
GS
GP
KD

GP

Spur gearhead
Planetary gearhead
Koaxdrive

22

Diameter
in mm

Version
A
B
C
HD
HP
K
L
M
S
V
Z

Metal version
Version with enlarged internal gear
Ceramic version
Heavy Duty for applications in oil
High power version
Plastic version
Low-cost version
Sterilizable version for medical application
Spindle drive with axial bearing
Reinforced version
Low backlash version

Operating ranges of gearheads

40F+3a;%0'$%0,("0'%",%(*;3%,"8+'"03"+)%'0#*3;"2*8%"+8"0#"2%0(#"JMMM"$+:'("0#"#$%";*/%3"40F*4:4"
-+3#*3:+:(" #+'?:%" 03," 40F*4:4" *3):#" ()%%," '0#*3;(5" H)%'0#*+3" .%2+1" #$%(%" 2*4*#(" 1*22"
(*;3*&-03#29"*3-'%0(%"+)%'0#*3;"2*8%5"b8"#$%"2*4*#("0'%"%F-%%,%,!"#$%":(%8:2"2*8%"+8"#$%";%0'$%0,"
409".%"'%,:-%,5
Load speed nL
nmax,L

Max. load speed

(determined by gearhead input speed)
nmax,L =

nmax,in
iG

nmax,in

nmax,L
Continuous operation Short-term operation

Load torque ML
MG,cont

Symbol
TM?519!"
"
TM?+.@"
"
i M"

LQ"

MG,max

Name
SI Symbol
nmax,in"
=0F5"-+3#*3:+:("#+'?:%!";%0'$%0,"
@-0#02+;"/02:%A"
e4 nmax,L"
b3#%'4*##%3#29")%'4*((*.2%"#+'?:%!"
;%0'$%0,"@-0#02+;"/02:%A"
e4
Y%,:-#*+3"'0#*+!";%0'$%0,"@-0#02+;"/02:%A

Name
=0F*4:4"*3):#"()%%,"
=0F*4:4"2+0,"()%%,"

maxon
')4
')4

40F+3"E+'4:20%"B03,.++>

4.

4.1

Bearing

Comparison of characteristics of sintered sleeve bearings and ball bearings

Sintered sleeve bearings

Ball bearings

Operating [+3#*3:+:("+)%'0#*+3
modes
Speed
range

Radial /
axial load

"
"

""

"b,%02"0.+/%"0))'+F5"ZMM"')4"
@'03;%"8+'"$9,'+,9304*-"
2:.'*-0#*+3A
D*#$"()%-*02"40#%'*02")0*'*3;"03,
2:.'*-0#*+3"%/%3"0#"2+1%'"()%%,(
H329"(4022".%0'*3;"2+0,(

"

"

I:*#0.2%"8+'"022"#9)%("+8"+)%'0#*+3
K()%-*0229"8+'" (#0'#a(#+)" +)%'0#*+3(" 03,"
2+1a()%%,"0))2*-0#*+3(
j)"#+"0))'+F5"JM"MMM"')4
b3"()%-*02"-0(%(":)"#+"JMM"MMM"')4"
03,"$*;$%'

"
"
Additional 69)*-02"*3"(4022".':($%,"]["4+#+'("
operating " :)"#+"0))'+F5"SM"44",*04%#%'"03," "
criteria

" *3"():'";%0'$%0,(
"
e+#"(:*#0.2%"8+'"'+#0#*3;"2+0,
"
e+#"(:*#0.2%"8+'"/0-::4"
" 0))2*-0#*+3("@+:#;0((*3;A
e+#"(:*#0.2%"8+'"2+1"#%4)%'0#:'%("
" @k"aLMg[A
Bearing
OF*02^"#9)*-0229"M5MZ"555"M5JZ"44

play
Y0,*02^"#9)*-0229"M5MJW"44
"

@)",%&$"*(+ M5MMJ"l"M5MJ"

of friction " @$9,'+,9304*-"2:.'*-0#*+3A

B*;$%'"2+0,(
\'%2+0,%,".022".%0'*3;(^
OF*02"2+0,*3;":)"#+"#$%"/02:%"+8"#$%"
)'%2+0,
69)*-02"*3"]["4+#+'("0.+/%"JM"44"
,*04%#%'"03,"*3")203%#0'9";%0'$%0,(
\'%2+0,%,".022".%0'*3;("+88%'"0"/%'9"
2+3;"2*8%"03,"(4++#$"+)%'0#*+3^
69)*-02"*3".':($2%(("]["4+#+'(

Lubrication

"

"
"
"

"
"

6%4)%'0#:'%"'03;%"8+'"(#03,0',"
2:.'*-0#*+3^"#9)*-0229"aLM"l"JMM"g[
I)%-*02"2:.'*-0#*+3")+((*.2%"8+'"/%'9"
$*;$"+'"/%'9"2+1"+)%'0#*3;"#%4)%'0#:'%(
I%02*3;")+((*.2%"@.:#"$*;$%'"8'*-#*+3!"
($+'#%'"2*8%"03,"2+1%'"()%%,"2*4*#A

Costs

K-+3+4*-02

B9,'+,9304*-"2:.'*-0#*+3"+329"0#"
$*;$"()%%,(
I$08#".%0'*3;"40#%'*02"/%'9"*4)+'#03#!"
)+'%"(*_%"+8"#$%"(*3#%'%,".%0'*3;"03,"
/*(-+(*#9"+8"#$%"2:.'*-03#"0#"+)%'0#*3;"
#%4)%'0#:'%"0'%"-'*#*-02
I)%-*02^"I*3#%'%,"*'+3".%0'*3;("1*#$"
-%'04*-"($08#"8+'"$*;$"'0,*02"2+0,("
03,"2+3;"+)%'0#*3;"2*8%

40F+3"E+'4:20%"B03,.++>"

"

"

"

OF*02^"#9)*-0229"M5MZ"l"M5JZ"44"
@3+"0F*02")209"*8")'%2+0,%,A
Y0,*02^"#9)*-0229"M5MLZ"44
M5MMJ"l"M5J

=+'%"%F)%3(*/%
LR

Notes

5.

5.1

Electrical principles

Principles of DC (Direct Current)

Electric power
\+1%'^
P = U I = R I2 =

j3*#^
[L]$ [$s$a$O$[sO
$
[$J$[$V^)

U2
R

\+1%'"2+((^
LV = R d I L

Power adjustment

P/Pmax

O#"RL = Ri"#$%"40F*4:4")+1%'"*(",'013"8'+4"0"/+2#0;%"(+:'-%5
1.0

Linear source

0.8

Ri
U0

0.6

Consumer load

Ukl

RL

0.4
b
0.2
0.0
0.01

0.1

10

100
RL/Ri

U2
I2 R
Pmax = 4 0R = 4 i
i

Ohm's law
D$[$U$a$U
I=
R
U
R= I

A
V

Symbol
I"
L"
Lmax"
LV"
R"

Name
[:''%3#"
\+1%'"
=0F*4:4")+1%'"
\+1%'"2+((%("
K2%-#'*-02"'%(*(#03-%"

40F+3"E+'4:20%"B03,.++>"

SI
O
D
D
D
m

Symbol
Ri"
R L"
D"
D 0"
D kl"

Name
b33%'"'%(*(#03-%!"/+2#0;%"(+:'-%"
X+0,"'%(*(#03-%"
T+2#0;%"
I+:'-%"/+2#0;%"
6%'4*302"/+2#0;%"

SI
m
m
T
T
T

LV

Electrical time constant

100
%
63%

Uout 60
U 40
in

20
0

!el

2!el
t

3!el

4!el 5!el

6$%"%2%-#'*-02"#*4%"-+3(#03#" [:''%3#"-$03;%"1*#$"
,%(-'*.%("#$%"'%0-#*+3"#*4%"+8" *3,:-#*/%"2+0,
#$%"-:''%3#"1$%3"(1*#-$*3;" ! = L
el
R
+3"+'"+88"0"/+2#0;%5
T+2#0;%"-$03;%"1*#$"
[tel]$[$u$d$A$[$u$d$O)$^$s$[$) -0)0-*#*/%"2+0,
[tel]$[$B$^$u$[$s)$^$O$^$u$[$) !el = R C

Pull-up / pull-down
+V

Ru

Pull-up:"@'%20#*/%29"$*;$a*4)%,03-%A"'%(*(#+'
[+33%-#("(*;302"2*3%"1*#$"$*;$%'"/+2#0;%")+#%3#*02
\:22("#$%"2*3%":)"#+"#$%"$*;$%'")+#%3#*02!"*8"3+"%F#%'302
" /+2#0;%"0-#*/%29"):22("#$%"2*3%"#+"0"2+1%'")+#%3#*02

Pull-up

Logic
Logic

Rd

Pull-down:"@'%20#*/%29"$*;$a*4)%,03-%A"'%(*(#+'
[+33%-#("(*;302"2*3%"1*#$"2+1%'"/+2#0;%")+#%3#*02
\:22("#$%"2*3%",+13"#+"#$%"2+1%'")+#%3#*02!"*8"3+"%F#%'302"
" /+2#0;%"0-#*/%29"):22("#$%"2*3%"#+"0"$*;$%'")+#%3#*02

Pull-down

Open-collector output
Open-collector output (OC):

+V
Ru
Iout

Open
Collector
Output

Collector
Logic

Base
Uout
Emitter

Symbol
H"
Iout"
L"
R"
Rd"
R u"

SM"

Name
[0)0-*#03-%"
H:#):#"-:''%3#"
b3,:-#03-%"
K2%-#'*-02"'%(*(#03-%"
\:22a,+13"'%(*(#03-%"
\:22a:)"'%(*(#03-%"

"

"
"

H:#):#"+8"03"*3#%;'0#%,"-*'-:*#"1*#$"0".*)+20'"#'03(*(#+'"
1*#$"03"+)%3"-+22%-#+'"+:#):#5
j(:0229"#$%"+:#):#("0'%":(%,"*3"-+4.*30#*+3"1*#$"
0"):22a:)"'%(*(#+'"1$*-$"'0*(%("#$%"+:#):#"/+2#0;%"#+"0
$*;$%'")+#%3#*02"*3"#$%"*30-#*/%"(#0#%5

Dout$[$js$v$@Iout RuA
Hall sensors":(:0229"$0/%"03"+)%3a-+22%-#+'"+:#):#"
1*#$+:#"):22a:)"'%(*(#+'5"6$%'%8+'%"*#"*("*3#%;'0#%,"*3#+"#$%"
40F+3"-+3#'+22%'(5
SI
E
O
B
m
m
m

Symbol
t"
Din"
Dout"
+V"
tel"

Name
6*4%"
b3):#"/+2#0;%"
H:#):#"/+2#0;%"
I:))29"/+2#0;%"
K2%-#'*-02"#*4%"-+3(#03#"

SI
(
T
T
T
(

40F+3"E+'4:20%"B03,.++>

5.2

Electrical resistive circuits

Series resistor circuits

I
+

D$[$DJ$j$DL +...
R1

U1

b"f"-+3(#03#

R = RJ + RL + ...

U1

U
R2

U2

U2

R1

R2

Parallel resistor circuits

I = IJ + IL +...

I
+
I1

R1

1 1
1
= + + ...
R R1 R 2

I2

j"f"-+3(#03#

R2

R=

I1 R2
=
I2 R1

Symbol
I"
IJ, IL"
R"

R1 R2
R1 + R2

Name
6+#02"-:''%3#"
\0'#*02"-:''%3#("
K?:*/02%3#"'%(*(#03-%"

40F+3"E+'4:20%"B03,.++>"

SI
O
O
m

Symbol
RJ, RL"
D"
DJ?$DL"

Name
\0'#*02"'%(*(#03-%("
6+#02"/+2#0;%"
\0'#*02"/+2#0;%("

SI
m
T
T

SJ

Voltage divider, no-load

R2

I
+

U2 = U
R1

U1

R1 + R2

U1 R1
=
U2 R2

U
R2

U2

I=

U2
U
=
R1 + R2
R2

Voltage divider, under load

+

R1 R1

R1 R1
IL

IL

U
IR2 IR2
UL UL

R2 R2

RL RL

Rx Rx

Rx
Rx + R1
RL R2

UL = U

Rx =

RL + R2
R2
IL = I
RL + R2
RL
IR2 = I
RL + R2

Potentiometer
+

1
x
0

A: Start
S: Wiper
E: End

R0

R=

UL

RL

j3,%'"2+0,

(x R0) + RL

UL = U

e+a2+0,

x R0 RL

UL = U

R
R + (1 x) R0
x
R0
(x x2) +1
RL

Winding resistance
RT = Rmot @J"j$bH0$a$d< A

6%4)%'0#:'%a,%)%3,03-%
Symbol
I"
IL"
IRL"
R"
R M"
RJ, RL"
R L"
Rmot"
R F"

SL"

Name
6+#02"-:''%3#"
X+0,"-:''%3#"
[:''%3#"#$'+:;$"'%(*(#+'"YL"
K?:*/02%3#"'%(*(#03-%"
Y%(*(#03-%!")+#%3#*+4%#%'"
\0'#*02"'%(*(#03-%("
X+0,"'%(*(#03-%"
6%'4*302"'%(*(#03-%!"4+#+'"@-0#02+;"/02:%A"
K?:*/02%3#"'%(*(#03-%"+8"RL"03,"RL"

SI
O
O
O
m
m
m
m
m
m

Symbol
R T"
D"
DJ?$DL"
DL"
d<"
x"

Name
Y%(*(#03-%"0#"#%4)%'0#:'%"T"
6+#02"/+2#0;%"
\0'#*02"/+2#0;%("
X+0,"/+2#0;%"
6%4)%'0#:'%",*88%'%3-%"
\+#%3#*+4%#%'")+(*#*+3"

Symbol
bH0"

Name
Y%(*(#03-%"-+%8&-*%3#!"-+))%'"

SI
m
T
T
T
n
M555J
Value
M5MMSV"naJ

40F+3"E+'4:20%"B03,.++>

5.3

Principles of AC (Alternating Current)

Alternating quantities

[f] = J"^$)$[$BS
[l] = J"/ s =
rad / s

1
f= T
l$[$Ln$o$2

Ohm's law
I

D@tA$[$w$o$-@tA
U(t)
I(t) = Z
U(t)
Z = I(t)

A
V

Resistances
Reactance
XL
XL

~
~
~
~

XC
XC

b3,:-#*/%^

XL$[$l$o$k$[$Ln$o$2$o$k

[0)0-*#*/%^

1 =
1
XC = !"#"$
2%"#"&"#"$

Impedance (AC resistance)

Z = R2 + X 2

E+'"(%'*%("-+33%-#*+3"+8"R"03,"L, or R"03,"H

Symbol
H"
I"
L"
R"
T"
D"

Name
[0)0-*#03-%"
[:''%3#"
b3,:-#03-%"
K2%-#'*-02"'%(*(#03-%"
\%'*+,"
T+2#0;%"

40F+3"E+'4:20%"B03,.++>"

SI
E
O
B
m
(
T

Symbol
X"
XH"
X L"
Z"
f"
t"
l"

Name
I#03,("8+'"XH or X L"
Y%0-#03-%!"-0)0-*#*/%"
Y%0-#03-%!"*3,:-#*/%"
b4)%,03-%"
E'%?:%3-9"
6*4%"
O3;:20'"8'%?:%3-9"

SI
m
m
m
m
B_
(
'0,P(

SS

G5?+

2$>3."+%.("#0

General
1
f = R
2! R C or C 2! L

[:#a+88"8'%?:%3-9 fH

fC =

\$0(%"($*8#

!"#$%&

Uout
Uin

E)FC3'00+%.("#01+$*("D#'.+".">"*(
O22+1"8'%?:%3-*%("#+")0(("/*'#:0229":3088%-#%,".%2+1"#$%*'"-:#a+88"8'%?:%3-9"fH5
B*;$%'"8'%?:%3-*%("0'%",04)%3%,5
O))2*-0#*+3(^"40F+3"-+3#'+22%'"*3):#(!"-+44:#0#*+3"(*;302"4%0(:'%4%3#"+8"40F+3"4+#+'(5
R

0.707

0.5
Uin

! Uout

Uout
Uin

Uout 0.2
Uin 0.1

Uin
R

Uout
I

1 + ( f / fC )2

Uout = Uin

45

UL

f = fC

90

L
Uin

Uout
=
Uin

1.0

UR

0
0.1 0.2 0.5

Uout

10

Uout = Uin

f/fC

Xc
R + Xc2
2

R
R + XL2
2

H$D-C3'00+%.("#1+/"#$!'($!"+".">"*(
O22+1"8'%?:%3-*%("#+")0(("/*'#:0229":3088%-#%,"0.+/%"#$%*'"-:#a+88"8'%?:%3-9"fH5
X+1%'"8'%?:%3-*%("0'%",04)%3%,5
C

Uin

UC
Uin

Uout

0.2

Uin

0.1

Uin
L

SW"

Uout = Uin

45
Uout

Uout
I

Symbol
H"
I"
L"
R"
DH"
Din"
D L"

f = fC

90

R
Uin

0.707

0.5

Uout

Uout
1
=
Uin
1 + ( fC / f )2

1.0

Uout

I
!

UR

Name
[0)0-*#03-%"
[:''%3#"
b3,:-#03-%"
K2%-#'*-02"'%(*(#03-%"
T+2#0;%"+/%'"-0)0-*#03-%"
b3):#"/+2#0;%"
T+2#0;%"+/%'"*3,:-#03-%"

0
0.1 0.2 0.5

10

Uout = Uin

f/fC
SI
E
O
B
m
T
T
T

Symbol
Dout"
DR"
XH"
XL"
f"
fH"
i"

Name
H:#):#"/+2#0;%"
T+2#0;%"+/%'"'%(*(#03-%"
Y%0-#03-%!"-0)0-*#*/%"
Y%0-#03-%!"*3,:-#*/%"
E'%?:%3-9"
[:#a+88"8'%?:%3-9"
\$0(%"($*8#"

R
R + XC2
2

XL
R2 + XL2
SI
T
T
m"
m
B_
B_
g

40F+3"E+'4:20%"B03,.++>

6.

6.1

maxon motors

General

What is special about maxon motors?

6$%"heart"+8"#$%"40F+3"4+#+'"*("#$%"self-supporting ironless copper winding5
H:#(#03,*3;"8%0#:'%("+8"#$%"40F+3"]["4+#+'(^
B*;$"%8&-*%3-9"o"X+1")+1%'"-+3(:4)#*+3
T%'9"2+1"4+4%3#"+8"*3%'#*0"o"B*;$%(#"0--%2%'0#*+3
X+1"*3,:-#03-%"o"X+3;"(%'/*-%"2*8%
X*3%0'"-$0'0-#%'*(#*-("o"G++,"-+3#'+220.*2*#9
[+4)0-#",%(*;3"o"G++,"/+2:4%P)+1%'"'0#*+
e+"40;3%#*-"-+;;*3;
X+1"%2%-#'+40;3%#*-"*3#%'8%'%3-%
B*;$"'%2*0.*2*#9
maxon DC motor (brushed permanent-magnet energized DC motors)
RE program
B*;$")+1%'",%3(*#9
B*;$a?:02*#9"]["4+#+'"1*#$"e,E%`"40;3%#
B*;$"()%%,("03,"#+'?:%(
Y+.:(#",%(*;3"@4%#02"i03;%A

!x$>$xF$++

A-max program
G++,")'*-%P)%'8+'403-%"'0#*+
]["4+#+'"1*#$"O2e*[+"40;3%#
O:#+40#%,"403:80-#:'*3;")'+-%((

!ZY$>$yY$++

RE-max program
B*;$")%'8+'403-%"0#"2+1"-+(#(
[+4.*3%("'0#*+302"403:80-#:'*3;"03,"
" ,%(*;3"+8"#$%"Oa40F"4+#+'("1*#$"#$%"$*;$%'"
" )+1%'",%3(*#9"+8"#$%"e,E%`"40;3%#(
O:#+40#%,"403:80-#:'*3;")'+-%((

!Zy$>$Y\$++

Properties of the two brush systems

Graphite brushes
D%22"(:*#%,"8+'"$*;$"
" -:''%3#("03,")%0>"-:''%3#(
D%22"(:*#%,"8+'"(#0'#a(#+)"03,"
" '%/%'(%"+)%'0#*+3
X0';%'"4+#+'("@8'+4"0))'+F5"JM"DA

B*;$%'"8'*-#*+3!"$*;$%'"3+a2+0,"-:''%3#
e+#"(:*#%,"8+'"2+1"-:''%3#(
B*;$%'"0:,*.2%"3+*(%
B*;$%'"%2%-#'+40;3%#*-"%4*((*+3("
=+'%"-+4)2%F"03,"$*;$%'"-+(#(

40F+3"E+'4:20%"B03,.++>"

Precious metal brushes

D%22"(:*#%,"8+'"2+1%(#
" -:''%3#("03,"/+2#0;%(
D%22"(:*#%,"8+'"-+3#*3:+:("+)%'0#*+3
I4022%'"4+#+'(
T%'9"2+1"8'*-#*+3!"2+1"0:,*.2%"3+*(%
X+1"%2%-#'+40;3%#*-"%4*((*+3(
[+(#"%88%-#*/%
e+#"(:*#%,"8+'"$*;$"-:''%3#("03,"
" )%0>"-:''%3#(
e+#"(:*#%,"8+'"(#0'#a(#+)"+)%'0#*+3
SZ

maxon EC motor
`':($2%(("]["4+#+'("@`X]["4+#+'(A
=+#+'".%$0/*+'"(*4*20'"#+".':($%,"]["4+#+'
]%(*;3"(*4*20'"#+"(93-$'+3+:("4+#+'"@Sa)$0(%"(#0#+'"1*3,*3;!"'+#0#*3;")%'403%3#"40;3%#A
\+1%'*3;"+8"#$%"S")$0(%("0--+',*3;"#+"#$%"'+#+'")+(*#*+3".9"0"-+44:#0#*+3"%2%-#'+3*-(
maxon EC range
\+1%'a+)#*4*_%,!"1*#$"$*;$"()%%,("
" :)"#+"JMM"MMM"')4
Y+.:(#",%(*;3
T0'*+:("#9)%(^"%5;5"($+'#"p"2+3;!"(#%'*2*_0.2%
X+1%(#"'%(*,:02"*4.0203-%

!x$>$xG$++

EC-max range
O##'0-#*/%")'*-%P)%'8+'403-%"'0#*+
Y+.:(#"(#%%2"$+:(*3;
I)%%,(":)"#+"LM"MMM"')4
Y+#+'"1*#$"+3%")+2%")0*'

!Zx$>$zG$++

EC-4pole range

"

"

"

B*;$%(#")+1%'",%3(*#9"#$03>("#+"Wa)+2%"'+#+'
n3*##%,"1*3,*3;!"(9(#%4"40F+3"1*#$"+)#*4*a
_%,"*3#%'-+33%-#*+3"+8"#$%")0'#*02"1*3,*3;(
I)%%,(":)"#+"LZ"MMM"')4
B*;$a?:02*#9"40;3%#*-"'%#:'3"40#%'*02"#+
'%,:-%"%,,9"-:''%3#"2+((%(
=%-$03*-02"#*4%"-+3(#03#(".%2+1"S
4*22*(%-+3,(5

!YY$>$zF$++

>'B)*+I@+J'(+>)()#
O##'0-#*/%")'*-%P)%'8+'403-%"'0#*+
B*;$"#+'?:%(",:%"#+"%F#%'302!"
" 4:2#*)+2%"'+#+'
KF-%22%3#" $%0#" ,*((*)0#*+3" 0#" $*;$%'" ()%%,(!"
" '%(:2#*3;"8'+4"#$%"#+"+)%3",%(*;3
I)%%,("+8":)"#+"LM"MMM"')4

!ZG$>$\G$++

maxon EC-i range

B*;$29",9304*-",:%"#+"*3#%'302!"
" 4:2#*)+2%"'+#+'
=%-$03*-02"#*4%"-+3(#03#("
" .%2+1"S"4*22*(%-+3,(
I)%%,("+8":)"#+"JZ"MMM"')4

!zG$++

SQ"

40F+3"E+'4:20%"B03,.++>

Electronic commutation
Commutation type

Rotor position determination

Block commutation

1*#$"B022"(%3(+'(

(%3(+'2%((

Signal sequence diagram

for the Hall sensors (HS)

EMF
!

0 60 120 180 240 300 360

Block-shaped phase currents

1
0
1
HS 2
0
1
HS 3
0
HS 1

"

0
0 60 120180 240300 360
Turning angle

Supplied motor voltage

(phase to phase)
+
U 1-2

EMF

"

60 120 180 240 300 360

#
#

+
Legend
! Star point
" Time delay 30
# Zero crossing of EMF

U 2-3

+
U3-1

Sinusoidal commutation

D*#$"%3-+,%'"03,"B022"(%3(+'("@BIA

Sinusoidal phase currents

60 120 180 240 300 360

Turning angle

Comparison of DC and EC motors

DC motor (brushed)
I*4)2%"+)%'0#*+3"03,"-+3#'+2!"
" %/%3"1*#$+:#"%2%-#'+3*-(
e+"%2%-#'+3*-")0'#("*3"#$%"4+#+'
H)%'0#*3;"2*8%"2*4*#%,".9".':($"(9(#%4
=0F5"()%%,("2*4*#%,".9".':($"(9(#%4

40F+3"E+'4:20%"B03,.++>"

EC motor with HS

Encoder

EC motor (brushless)
X+3;"+)%'0#*3;"2*8%"03,"$*;$"()%%,("1*#$"
" )'%2+0,%,".022".%0'*3;(
e+"-+44:#0#+'"0'-*3;

"

b'+3"2+((%("*3"#$%"40;3%#*-"'%#:'3
e%%,("%2%-#'+3*-("8+'"+)%'0#*+3"
@4+'%"-0.2%("03,"$*;$%'"-+(#(A
K2%-#'+3*-")0'#("*3"#$%"4+#+'"@B022"(%3(+'(A
SR

6.2

Power consideration of the DC motor: in general

Motor as energy converter

PJ= Rmot!"!#mot2

Pel= Umot!"!#mot

PL =

Lel$[$LL$j$LV

\+1%'".0203-%!"4+#+'

Power P
Speed n

Umot Imot = ! n M + Rmot Imot2

30

PL

b3"#$%"()%%,a#+'?:%",*0;'04!"#$%"+:#):#")+1%'"
*("%?:*/02%3#"#+"#$%"0'%0"+8"#$%"'%-#03;2%".%2+1"
#$%"()%%,a#+'?:%"2*3%5"6$*("'%-#03;2%"*("20';%(#"
0#"$028"#$%"(#022"#+'?:%"03,"$028"#$%"3+a2+0,"
()%%,5"
6$%")+1%'"-:'/%"*("0")0'0.+20!"1$+(%"
40F*4:4"/02:%"*(")'+)+'#*+302"#+"#$%"(?:0'%"
+8"#$%"4+#+'"/+2#0;%5

Umot > UN
Umot = UN

PL
n0

MH

Symbol
Imot"
T"
T H"
L"
Lel"
LV"
LL"
Rmot"
"

SU"

$
nM
30

Name
=+#+'"-:''%3#"
6+'?:%"
I#022"#+'?:%"
\+1%'"
K2%-#'*-02"*3):#")+1%'"
q+:2%")+1%'"2+(("
=%-$03*-02"+:#):#")+1%'"
6%'4*302"'%(*(#03-%!"4+#+'"
@-0#02+;"/02:%A"

Torque M

SI
O
e4
e4
D
D
D
D

Symbol
Dmot"
D N"
"

Name
=+#+'"/+2#0;%"
e+4*302"/+2#0;%!"4+#+'"
@-0#02+;"/02:%A"

Symbol
n"
n M"

Name
I)%%,"+8"'+#0#*+3"
e+"2+0,"()%%,"

SI
T
T
maxon
')4
')4

40F+3"E+'4:20%"B03,.++>

6.3

Motor constants and diagrams

Motor constants
6$%"speed constant kn"03,"#$%"torque constant kM"0'%"#1+"*4)+'#03#"-$0'0-#%'*(#*-"/02:%("8+'"
#$%"%3%';9"-+3/%'(*+35
Speed constant kn
6$%"()%%,"-+3(#03#"kn"-+4.*3%("#$%"()%%,"n 1*#$"#$%"/+2#0;%" n = kn$o$Dind
*3,:-%,"*3"#$%"1*3,*3;$Dind @fK=EA5
Torque constant kM
6$%"#+'?:%"-+3(#03#"k T"2*3>("#$%")'+,:-%,"#+'?:%"T$1*#$"#$%"
%2%-#'*-02"-:''%3# I.
T$[$/T$o$-mot
Information:"40F+3":3*#"4e4PO
kn kM =

Dependence between kn and kM

@40F+3":3*#(A

30 000
!

=1

mNm
rpm

A
V

rad Nm

sV
A

Speed-torque line
]%(-'*.%("#$%"4+#+'".%$0/*+'"r"*5%5")+((*.2%"+)%'0#*3;")+*3#(" nM$`$/n$o$Dmot
@9?$TA"r"0#"0"-+3(#03#"/+2#0;%"Dmot
TH = kT$o$-O
Speed n

TR = kT$o$-M
U
mo
t

>U

!#
#$%$&#$'$(mot$)$$$$$$$$$$'$"
!"
@40F+3":3*#(A

n0

mo
t

=U

I)%%,P#+'?:%";'0,*%3#^

M
MR

MH

I0

IA

Symbol
Imot"
I O"
I M"
k T"
T"
T H"
TR"
Rmot"
Dind"

Torque M
Motor current Imot

Name
SI
=+#+'"-:''%3#"
O
I#0'#*3;"-:''%3#"
O
e+"2+0,"-:''%3#"
O
6+'?:%"-+3(#03#"@-0#02+;"/02:%A"
e4PO
6+'?:%"
e4
I#022"#+'?:%"
e4
E'*-#*+3"#+'?:%"
e4
6%'4*302"'%(*(#03-%!"4+#+'"@-0#02+;"/02:%A" m
b3,:-%,"/+2#0;%"
T

40F+3"E+'4:20%"B03,.++>"

30 000 Rmot
n0
!n
=
2 #
!M
kM
MH
"
@40F+3":3*#(A

Symbol
Dmot"
D N"

Name
=+#+'"/+2#0;%"
e+4*302"/+2#0;%!"4+#+'"@-0#02+;"/02:%A"

Symbol
k n"
n"
n M"
d9^dT"
"

Name
I)%%,"-+3(#03#"@-0#02+;"/02:%A"
I)%%,"+8"'+#0#*+3"
e+"2+0,"()%%,"
I)%%,P#+'?:%";'0,*%3#!"4+#+'"
@-0#02+;"/02:%A"

SI
T
T

maxon
')4/T
')4
')4
')4P4e4

SV

Voltage equation, motor

Imot

U$%" = L$%"

Lmot

Umot

!#
+ R$%" I$%" + U#&'
!"

R$%" I$%" + U#&'(

]%'*/%,"8'+4"#$*("#$%"()%%,"+8"'+#0#*+3"0("0"
8:3-#*+3"+8"#$%"2+0,"@()%%,a#+'?:%"2*3%A

Rmot

!#
#$%$&#$'$(mot$) !# '$"$%$#0$)$$$$$$$$$$'$"
!"
!"
EMF

Uind

@40F+3":3*#(A

I,%&$"*&=+&K#!"+,LMN
Efficiency !
Speed n

!max

"#$

n0

Umot = UN

!
'#%#((#)#(*#)

(with#(R#$#+M#%#&0)
Umot#%#&mot
30 000

!max = 1

I0
IA

MH
Torque M

Symbol
XTA"
I M"
I O"
Imot"
k T"
Lmot"
T"
T H"
TR"
Rmot"
DN"
Dind"

WM"

Name
SI
K2%-#'+4+#*/%"8+'-%"
T
e+"2+0,"-:''%3#"
O
I#0'#*3;"-:''%3#"
O
=+#+'"-:''%3#"
O
6+'?:%"-+3(#03#"@-0#02+;"/02:%A"
e4PO
6%'4*302"*3,:-#03-%!"4+#+'"@-0#02+;"/02:%A"" B
6+'?:%"
e4
I#022"#+'?:%"
e4
E'*-#*+3"#+'?:%"
e4
6%'4*302"'%(*(#03-%!"4+#+'"@-0#02+;"/02:%A" m
e+4*302"/+2#0;%!"4+#+'"@-0#02+;"/02:%A"
T
b3,:-%,"/+2#0;%"
T

Symbol
Dmot"
{'"
{!"
q"
qmax"

Name
SI
=+#+'"/+2#0;%"
T
[:''%3#"-$03;%"
O
6*4%"-$03;%"
(
K8&-*%3-9
=0F*4:4"%8&-*%3-9"0#"DN @-0#02+;"/02:%A"

Symbol
k n"
n"
n M"
d9^dT"
"

Name
I)%%,"-+3(#03#"@-0#02+;"/02:%A"
I)%%,"+8"'+#0#*+3"
e+"2+0,"()%%,"
I)%%,P#+'?:%";'0,*%3#!"4+#+'"
@-0#02+;"/02:%A"

maxon
')4PT
')4
')4
')4P4e4

40F+3"E+'4:20%"B03,.++>

6.4

Acceleration

Angular acceleration: Start with constant current

n0

Speed n
ML, nL

lmot = constant
MH

O--%2%'0#*+3
M
k "!"I
!"#
# M mot
JR"$"%L
JR"$"%L

Torque M
n0
nL

Speed n

Y04)"#*4%"#+"2+0,"()%%,
J #)#*L
J #)#*
%
%
!"!&"! R
!"#$
!"!&"! R M L $
kM#!"I'("
30
30

!t

Time t

Angular acceleration: Start with constant terminal voltage

n0

Speed n
ML, nL

O--%2%'0#*+3!"40F*4:4
MH
!max =
JR + JL

Umot = constant

MH
Torque M
n0
nL

Speed n

"m

Symbol
Imot"
V L"
VR"
k T"
T"
T H"
T L"
TR"
Rmot"
t"
Dmot"

!t

Time t

Name
SI
=+#+'"-:''%3#"
O
=+4%3#"+8"*3%'#*0!"2+0,"
>;4L
=+4%3#"+8"*3%'#*0!"'+#+'"@-0#02+;"/02:%A" >;4L
6+'?:%"-+3(#03#"@-0#02+;"/02:%A"
e4PO
6+'?:%"
e4
I#022"#+'?:%"
e4
X+0,"#+'?:%"
e4
E'*-#*+3"#+'?:%"
e4
6%'4*302"'%(*(#03-%!"4+#+'"@-0#02+;"/02:%A" m
6*4%"
(
=+#+'"/+2#0;%"
T

40F+3"E+'4:20%"B03,.++>"

Y04)"#*4%"#+"2+0,"()%%,
M + MR
n0
1 L
MH
'
!"#$#%m ln
M + MR
1 L
n0 nL
MH
=%-$03*-02"#*4%"-+3(#03#"1*#$"2+0,"*3%'#*0
(J + JL) Rmot
!m' = R
k M2
Symbol
b"
bmax"
d!"
t m"
t m|"
"

Name
SI
O3;:20'"0--%2%'0#*+3"
'0,P(L
=0F*4:4"03;:20'"0--%2%'0#*+3"
'0,P(L
O--%2%'0#*+3"#*4%"
(
=%-$03*-02"#*4%"-+3(#03#"@-0#02+;"/02:%A"
(
=%-$03*-02"#*4%"-+3(#03#"
1*#$"0,,*#*+302"VL"
(

Symbol
n"
n M"
nL"
d9"

Name
I)%%,"+8"'+#0#*+3"
e+"2+0,"()%%,"
X+0,"()%%,"
I)%%,"-$03;%"

maxon
')4
')4
')4
')4

WJ

6.5

Motor selection

Motor type selection

=+#+'"#9)%"(%2%-#*+3"
.0(%,"+3"#$%"'%?:*'%,"#+'?:%(
T N$}$TUTP
TH$}$Tmax

Speed n
Max. permissible speed

Continuous
operation

MRMS MN

Short-term operation

Mmax

MH

Y++#"4%03"(?:0'%"2+0,"@Y=IA

Torque M

MRMS =

1
(t M12 + t2 M22 + ... + tn Mn2)
ttot 1

Remark:
O"4+#+'"#9)%"@%5;5"YKSMA"*(",%&3%,".9^"*#("(*_%!"#$%"4%-$03*-02"+:#):#")+1%'!"#$%".%0'*3;"(9(#%4"
+8"#$%"($08#!"#$%"-+44:#0#*+3"(9(#%4":(%,"03,"#$%")+((*.2%"-+4.*30#*+3("1*#$";%0'$%0,("03,"
(%3(+'("@40F+3"4+,:20'"(9(#%4A
Winding selection
E+'"03"+)#*4:4"40#-$".%#1%%3"#$%"%2%-#'*-02"03,"4%-$03*-02")+1%'"-+4)+3%3#("+8"#$%"4+#+'5
k n"()%-*&%("#$%"1*3,*3;^
I%2%-#"1*3,*3;"1*#$

Speed n
n0,theor

$&
nmax +
'!%max
n0,theor
$%
kn!"!#n,theor =
=
Umot
Umot

Speed-torque line
high enough for all
operating points
Safety
factor
~ 20%

nmax
Deceleration

Acceleration
Mmax

Torque M

@40F+3":3*#(A
1$%'%"nmax?$Tmax *("#$%"%F#'%4%"+)%'0#*3;")+*3#"
03," d9^dT" #$%" 0/%'0;%" ()%%,P#+'?:%" ;'0,*%3#"
+8"#$%"(%2%-#%,"4+#+'"#9)%5

Recommendation:"O,,"0"(08%#9"80-#+'"+8"0))'+F5"LMc"#+"kn #+"-+4)%3(0#%"8+'"#+2%'03-%("03,"2+0,"
-$03;%(s".:#",+"3+#"(%2%-#"#++"20';%"0"/02:%"8+' kn!"0("#$*("1+:2,"2%0,"#+"20';%"-:''%3#(5
Y%?:*'%,"40F*4:4"4+#+'"-:''%3#
Symbol
Imot"
I M"
k T"
TJ...n"
T"
T H"
T N"
TUTP"
Tmax"
n"
Dmot"

WL"

M
Imot = I0 + kmax
M

Name
SI Symbol
=+#+'"-:''%3#"
O tJn"
e+"2+0,"-:''%3#"
O ttot"
6+'?:%"-+3(#03#"@-0#02+;"/02:%A"
e4PO
6+'?:%"0#"+)%'0#*3;")+*3#("J...n"
e4 Symbol
6+'?:%"
e4 k n"
I#022"#+'?:%"
e4 k n,theor"
e+4*302"#+'?:%!"4+#+'"@-0#02+;"/02:%A"
e4 n"
Y=I"#+'?:%"
e4 nmax"
=0F*4:4"#+'?:%"*3"2+0,"-9-2%"
e4 n M,theor"
I)%%,"+8"'+#0#*+3"
')4 d9^dT"
=+#+'"/+2#0;%"
T "

Name
]:'0#*+3"+8"+)%'0#*3;")+*3#("J...n"
6+#02"#*4%!"+)%'0#*3;"-9-2%"
Name
I)%%,"-+3(#03#"@-0#02+;"/02:%A"
Y%?:*'%,"()%%,"-+3(#03#"
I)%%,"+8"'+#0#*+3"
=0F*4:4"()%%,"*3"2+0,"-9-2%"
Y%?:*'%,"3+"2+0,"()%%,"
I)%%,P#+'?:%";'0,*%3#!"4+#+'
@-0#02+;"/02:%A"

SI
(
(
maxon
')4PT
')4PT
')4
')4
')4
')4P4e4

40F+3"E+'4:20%"B03,.++>

7.

maxon sensor

maxon incremental encoder

360e

90e

Channel A

Channel B

Signal edges (quadcounts)

Index channel I

Recommended applications

QUAD MEnc

MR

EASY

MILE

Optical

B*;$"3:4.%'"+8"-+:3#(

B*;$"()%%,(

X+1"()%%,(

X*3%",'*/%'"@*3"#$%"-0(%"+8"2+3;"
-0.2%(!"'+:;$"04.*%3#"-+3,*#*+3(!"
)+(*#*+3*3;"0))2*-0#*+3(A

X+1")+(*#*+3*3;"0--:'0-9"+'"
)+(*#*+3*3;"1*#$";%0'$%0,

B*;$")+(*#*+3*3;"0--:'0-9

b3,%F"-$033%2"@8+'")'%-*(*+3"$+4*3;A

]:(#!",*'#!"+*2

b+3*_*3;"'0,*0#*+3

@A

@A

KF#%'302"40;3%#*-"&%2,(

@A

=%-$03*-0229"'+.:(#

!Y%-+44%3,%,

D*#$"'%(#'*-#*+3("

40F+3"E+'4:20%"B03,.++>"

@A"H)#*+302"@+3"'%?:%(#A"

e+#"'%-+44%3,%,
WS

Counts per turn from position resolution

Y%?:*'%,"-+:3#(")%'"#:'3"N of the
%3-+,%'"8+'"0"()%-*&%,")+(*#*+3*3;" !"#" 360
$%"&"'
0--:'0-9"+8"di,
Remark:"`9"%/02:0#*3;"#$%"?:0,-+:3#("@75A!"0"8+:'"#*4%("$*;$%'"'%(+2:#*+3"*("0-$*%/%,5"6$*("*("
'%-+44%3,%,"8+'"0"(:8&-*%3#29"0--:'0#%")+(*#*+3*3;5
Measurement resolution, motor speed
Example:
=%0(:'%4%3#"'%(+2:#*+3"d~^
J"?-P4(
[+:3#(")%'"#:'3"N!"%3-+,%'^
ZMM"[\6

!" =

!#
QN

!#
!" =
=
QN

qc
ms

=
qc
!""""""""""#"$%%"CPT
CPT

qc
$%"
= (% rpm
'%%%"qc

&%"%%%"

Comment:"6$%"0-$*%/0.2%"()%%,"(#0.*2*#9"*("4:-$"$*;$%'"#$03"#$%"0.+/%"4%0(:'%4%3#"
'%(+2:#*+3!",:%"#+"#$%"40(("*3%'#*0("03,"8%%,"8+'10',"@*8"0))2*-0.2%A5

Symbol
N"
i"
~$[$W"
d~"

WW"

Name
[+:3#(")%'"#:'3""
Y%,:-#*+3"'0#*+!"4%-$03*-02",'*/%
t:0,-+:3#(")%'"):2(%"
=%0(:'%4%3#"'%(+2:#*+3""

SI Symbol
"[\6 di"
?-Pb=\ Symbol
?-P4( d9$"

Name
\+(*#*+3"'%(+2:#*+3"

SI
g

Name
maxon
=%0(:'%4%3#"'%(+2:#*+3!"4+#+'"()%%,"
')4

40F+3"E+'4:20%"B03,.++>

8.

8.1

maxon controller

Operating quadrants

Operating quadrants
Quadrant II
Braking operation
Clockwise (cw)

n
n

n
M

Quadrant III
Motor operation
Counterclockwise
(ccw)

8.2

Quadrant I
Motor operation
Clockwise (cw)

1-Q operation
H329"4+#+'"+)%'0#*+3
" @t:0,'03#"b"+'"t:0,'03#"bbbA
]*'%-#*+3"'%/%'(02"/*0",*;*#02"(*;302
69)*-02^"04)2*&%'"8+'"K["4+#+'(
`'0>*3;"*("3+#"-+3#'+22%,"@8'*-#*+3A!"
" +8#%3"(2+1

4-Q operation
[+3#'+22%,"4+#+'"+)%'0#*+3"
" 03,".'0>*3;"+)%'0#*+3"*3".+#$"
" '+#0#*+3",*'%-#*+3("@022"W"?:0,'03#(A
O"4:(#"8+'")+(*#*+3*3;"#0(>(

M
M
n

Quadrant IV
Braking operation
Counterclockwise
(ccw)

Selection of power supply

Required supply voltage at given load (nL, ML)

VCC!"

()
#%
+ #(max (maxon units)
L
%0,() &!!!%L!'!!!!!!!!!&!$
#$

Notes:
b3"#$%"-0(%"+8"0"Wt"(%'/+"04)2*&%'!"#$%")+1%'"(:))29"$0("#+".%"0.2%"#+"0.(+'."#$%">*3%#*-"%3%';9
" ;%3%'0#%,"@8+'"%F04)2%"*3"0"-0)0-*#+'A"1$%3"#$%"2+0,"*(",%-%2%'0#%,5
D$%3"0"(#0.*2*_%,")+1%'"(:))29"*(":(%,!"#$%"+/%'-:''%3#")'+#%-#*+3"$0("#+".%",%0-#*/0#%,"8+'"
" #$%"+)%'0#*3;"'03;%5
6$%"8+'4:20"*3-2:,%("#$%"40F*4:4"/+2#0;%",'+)"dD$+8"#$%"-+3#'+22%'"0#"40F*4:4"-+3#*3:+:("
" -:''%3#5
Achievable speed at given voltage supply
nL!"!!!(VCC #!$U max )
Symbol
T"
TL"
DN"
VHH"
dDmax"

n0,UN
UN

Name
SI Symbol
6+'?:%"
e4 n"
X+0,"#+'?:%"
e4 nL"
e+4*302"/+2#0;%!"4+#+'"@-0#02+;"/02:%A"
T nM!D_"
I:))29"/+2#0;%"
T d9^dT"
=0F*4:4"/+2#0;%",'+)"+8"#$%"-+3#'+22%'"
T "

40F+3"E+'4:20%"B03,.++>"

$&
$% '!%L

(maxon units)

Name
maxon
I)%%,"+8"'+#0#*+3"
')4
X+0,"()%%,"
')4
e+"2+0,"()%%,"4+#+'"0#"DN"@-0#02+;"/02:%A""')4
I)%%,P#+'?:%";'0,*%3#!"4+#+'
@-0#02+;"/02:%A"
')4P4e4

WZ

8.3

Size of the motor choke with PWM controllers

Calculation of current ripple

PWM scheme

1-Q

=0F*4:4"
-:''%3#"'*))2%!"
)%0>a#+a)%0>

!"PP,max =

[02-:20#*+3"Ltot

Ltot = Lint + M5S555M5U$o$kmot + Lext

VCC
4 Ltot fPWM

2-level (4-Q)

3-level (4-Q)

VCC
!"PP,max = 2 L
fPWM
tot

VCC
!"PP,max = 4 L
fPWM
tot

6$%"%88%-#*/%"4+#+'"*3,:-#03-%"*3"#$%"-0(%"+8"(?:0'%"\D="%F-*#0#*+3"+329"04+:3#("#+"0))'+F5"
SM"p"UMc"+8"#$%"-0#02+;"/02:%"Lmot.
6$%"-0#02+;"/02:%"Lmot *(",%&3%,"0#"0"8'%?:%3-9"+8"J">B_ 1*#$"(*3:(+*,02"%F-*#0#*+3.

"

"

O#"0"-:''%3#"'*))2%"+8"d-LL$u"J5Z"h"IN #$%"4+#+'"-03"(#*22".%"2+0,%,"#+"0))'+F5"VMc"+8"#$%"
3+4*302"-:''%3#"IN @-0#02+;"/02:%A5
O#"0"-:''%3#"'*))2%"+8"d-LL$v"J5Z"h"IN !"*#"*("'%-+44%3,%,"#+":(%"03"%F#%'302"4+#+'"-$+>%!"
*3"0--+',03-%"1*#$"#$%"8+'4:20".%2+15

Calculation, additional external motor choke

PWM scheme

1-Q and 3-level (4-Q)

Y:2%"+8"#$:4.

Lext =

Lext$r$M"
Lext > M"

2-level (4-Q)

VCC
6 IN fPWM Lint 0.3 Lmot

VCC
Lext = 3 I
Lint 0.3 Lmot
fPWM
N

e+"0,,*#*+302"4+#+'"-$+>%"'%?:*'%,
O,,*#*+302"4+#+'"-$+>%"'%-+44%3,%,

DC amplifier

EC amplifier
Lint

/2 Lint

Lext

/2 Lext

PWM
PWM

DC
motor

Lmot

/2 Lint

/2 Lext

PWM
1

/2 Lint

EC
motor

Lmot

/2 Lext

PWM

Symbol
f LJT
I N"
Lext"
"
Lint"

WQ"

Name
\D="8'%?:%3-9
e+4*302"-:''%3#!"4+#+'"@-0#02+;"/02:%A
b3,:-#03-%!"0,,*#*+302"%F#%'302"
4+#+'"-$+>%""
b3,:-#03-%!".:*2#a*3"-$+>%"-+3#'+22%'""

SI Symbol
B_ Lmot"
O Ltot"
VHH"
B d-LL
B d-LL?+.@"

Name
6%'4*302"*3,:-#03-%!"4+#+'"@-0#02+;"/02:%A"
6+#02"*3,:-#03-%"
I:))29"/+2#0;%"
[:''%3#"'*))2%!")%0>a#+a)%0>""
=0F*4:4"-:''%3#"'*))2%!")%0>a#+a)%0>""

SI
B
B
T
O
O

40F+3"E+'4:20%"B03,.++>

9.

9.1

Thermal behavior

Basics

Heat sources
Iron losses in EC
Y%40;3%#*_0#*+3"2+((%(
motors and motors
!
with iron core winding PV, magn = 30 n Mmagn

K,,9"-:''%3#"2+((%(
LV,eddy$[$519)!$o$9L

Resistance R

Joule power losses

in winding

LV = R<J ImotL

RTW
Rmot
25C

TW

R<J = Rmot wJ$j$bH0 @TJ LZHAx

Temperature T

Friction losses: in the bearings and in the brushes (brushed DC motors)

Losses in the
gearhead

Efficiency !
100%
80%
60%
40%

PV,R = ! nmot Mmot (1"#"$G )

30

1-stage
3-stage
5-stage

PV,R =

Torque M
MG, cont

!
1#$#"G
n ML
30 L
"G

Stall torque reduced through temperature rise

E*'(#"0))'+F*40#*+3s"-02-:20#%,"8'+4"/+2#0;%"03,"*3-'%0(%,"
1*3,*3;"'%(*(#03-%
@6%4)%'0#:'%",%)%3,%3-%"+8"k T"3+#"-+3(*,%'%,A

MHT = kM IAT = kM

Umot
RTW

Storing heat
~$[$5$o$+$o$d<$[$Hth$o$d<

~$[$Lv$o$!

D*3,*3;^"H!"?J = cH0$o$+J

I#0#+'^"H!"?P = cFe$o$+mot

Symbol
Hth"
H!"?M"
H!"?P"
H!"?J"
c"
I O<"
Imot"
k T"
T"
TM?519t"
"
THT"
T L"
Tmagn"
Tmot"
m"
m M"
mmot"
mJ"
LV"
LV"
LV,eddy"

Name
SI
B%0#"-0)0-*#9"
qPn
B%0#"-0)0-*#9";%0'$%0,"
qPn
B%0#"-0)0-*#9"(#0#+'"
qPn
B%0#"-0)0-*#9"1*3,*3;"
qPn
I)%-*&-"$%0#"-0)0-*#9"
qP@>;nA
I#0'#*3;"-:''%3#"0#"#%4)%'0#:'%"TJ"
O
=+#+'"-:''%3#"
O
6+'?:%"-+3(#03#"@-0#02+;"/02:%A"
e4PO
6+'?:%"
e4
=0F*4:4"-+3#*3:+:("#+'?:%!";%0'$%0,
@-0#02+;"/02:%A"
e4
I#022"#+'?:%"0#"#%4)%'0#:'%"TJ"
e4
X+0,"#+'?:%"
e4
6+'?:%"8+'"'%/%'(02"+8"40;3%#*_0#*+3"
e4
=+#+'"#+'?:%""
e4
=0(("
>;
=0((!";%0'$%0,"
>;
=0((!"4+#+'"
>;
=0((!"1*3,*3;"
>;
q+:2%")+1%'"2+((%("
D
\+1%'"2+((%("
D
K,,9"-:''%3#")+1%'"2+((%("
D

40F+3"E+'4:20%"B03,.++>"

G%0'$%0,^"H!"?M = cFe$o$+M

Symbol
LV,magn"
LV,R"
~"
Rmot"
R<J"
T"
T J"
t"
Dmot"
d<"
q"
q M"

Name
\+1%'"2+((%("8+'"'%/%'(02"+8"40;3%#*_0#*+3"
E'*-#*+3")+1%'"2+((%("
I#+'%,"$%0#"
6%'4*302"'%(*(#03-%!"4+#+'"@-0#02+;"/02:%A"
D*3,*3;"'%(*(#03-%"0#"-:''%3#"#%4)5"TJ"
6%4)%'0#:'%"
D*3,*3;"#%4)%'0#:'%"
6*4%"
=+#+'"/+2#0;%"
6%4)%'0#:'%",*88%'%3-%"
K8&-*%3-9
G%0'$%0,"%8&-*%3-9

SI
D
D
q
m
m
g[
g[
(
T
n

Symbol
n"
nL"
nmot"

Name
I)%%,"+8"'+#0#*+3"
X+0,"()%%,"
=+#+'"()%%,"

Symbol
bH0"
cH0"
cFe"

Name
Value
Y%(*(#03-%"-+%8&-*%3#!"-+))%'"
M5MMSV"naJ
I)%-*&-"$%0#"-0)0-*#9"-+))%'"
SUM"qP@>;nA
I)%-*&-"$%0#"-0)0-*#9"*'+3" WZM"y"WRM"qP@>;nA

maxon
')4
')4
')4

WR

Analogy to electrical circuit:

Thermal

Power loss PV

Current I

Electrical

C1

TW

Cth,W

R1

Rth1
TW

U1

TS

Cth,s

C2

Rth2
TS

U2

TA

GND

R2

Thermal "#B#.!$314
X+((%(

Electrical "#H0&&#9!$314
[:''%3#"(+:'-%

Symbol
~$
LV
d< J
d<P
TO
RthJ
"
RthL
"
H!"?J
H!"?P

Symbol
~$
I
DJ
DL
M_C
RJ

Name
K2%-#'*-"-$0';%$
[:''%3#$
T+2#0;%!")+#%3#*02",*88%'%3-%
T+2#0;%!")+#%3#*02",*88%'%3-%
G'+:3,
K2%-#'*-02"'%(*(#03-%$

RL

K2%-#'*-02"'%(*(#03-%$

HJ
HL

K2%-#'*-02"-0)0-*#03-%
K2%-#'*-02"-0)0-*#03-%

F
F

Name
Unit
I#+'%,"$%0#$
V
\+1%'"2+((%($
J$[$V^)
6%4)%'0#:'%",*88%'%3-%!"1*3,*3;"p"04.*%3#$
E
6%4)%'0#:'%",*88%'%3-%!"(#0#+'"p"04.*%3#$
E
O4.*%3#"#%4)%'0#:'%$
H$IEK
6$%'45"'%(*(#03-%!"1*3,*3;"p"$+:(*3;
@-0#02+;"/02:%A$
E^J
6$%'45"'%(*(#03-%!"$+:(*3;"p"04.*%3#
@-0#02+;"/02:%A$
E^J
B%0#"-0)0-*#9!"1*3,*3;
V^E
B%0#"-0)0-*#9!"(#0#+'$
V^E

Heating of a simple body

Unit
H
O$[$H^)
V
V
V
u

Cooling of a simple body

Temperature T

Temperature T
Tstart

Tend
Heating
63%
Tstart

!Tmax = 100%
Tend

"th

Time t

[ ]
!t

"#$%& = "#end 1'(')

Symbol
T"
TO"
Tend"
Tstart"
TP"
T J"

WU"

th

Name
6%4)%'0#:'%"
O4.*%3#"6%4)%'0#:'%"
K3,"#%4)%'0#:'%"
6%4)%'0#:'%"0#"(#0'#"
I#0#+'"#%4)%'0#:'%"
D*3,*3;"#%4)%'0#:'%"

!Tmax = 100%

63%

Cooling
"th

"#$%& = "#start '()

SI
g[
g[
g[
g[
g[
g[

Symbol
t"
d<max"
d<I!K"
"
t th"

Time t
!t

th

Name
6*4%"
=0F*4:4"#%4)%'0#:'%"-$03;%""
6%4)%'0#:'%"-$03;%"0("0"
8:3-#*+3"+8"#*4%"t"
6$%'402"#*4%"-+3(#03#"

SI
(
n
n
(

40F+3"E+'4:20%"B03,.++>

9.2

Continuous operation

[+3#*3:+:("+)%'0#*+3"*("-$0'0-#%'*_%,".9"0"#$%'402"%?:*2*.'*:45"O8#%'"(%/%'02"(#0#+'"#*4%"-+3(#03#("
#$%"#%4)%'0#:'%",*88%'%3-%".%#1%%3"#$%"'+#+'"03,"(#0#+'"(#09("-+3(#03#!"0("#$%*'"#%4)%'0#:'%(",+"3+#"
*3-'%0(%"8:'#$%'5
Motor: Winding and stator temperature

Temperature T
140

#$Heating of the winding in accordance

with the thermal time constant
of the winding !W

120

TW,

100

"$Heating of the stator in accordance

80

with the thermal time constant

of the stator !s

!$Thermal equilibrium

d<J = TJ$f$<O = @RthJ + RthLA$o$LV

TS,

!"W =
Stator
Rth2

40

#
20

TW

"

after several stator time

constants

60

Rth1

Winding

TS

Rth1 RTA I mot2

1#$#%Cu Rth1 RTA I mot2

!"S = "S "A =

Rth2
!"W
Rth1 + Rth2

Temperature
difference
TA

0
10

100
1000
Time t

10000

Gearhead: Housing temperature

PV, G
TG

d<M = TM$f$<O = R!"?M$o$Ls?M

Rth,G

TG

R!"?$M : %5;5"%(#*40#%,"1*#$ R!"Y of

4+#+'("1*#$"#$%"(04%"(*_%

PV, G
TA
Symbol
Imot"
LV
Ls?M"
R<O"
Rth,G"
RthJ"
"
RthL"
"
T"
TO"
T M"
TP"

Name
=+#+'"-:''%3#"
q+:2%")+1%'"2+((%("
\+1%'"2+((%(!";%0'$%0,"
D*3,*3;"'%(*(#03-%"0#"#%4)%'0#:'%"TO"
6$%'45"'%(*(#03-%!";%0'$%0,"p"04.*%3#""
6$%'45"'%(*(#03-%!"1*3,*3;"p"$+:(*3;
@-0#02+;"/02:%A""
6$%'45"'%(*(#03-%!"$+:(*3;"p"04.*%3#
@-0#02+;"/02:%A"
6%4)%'0#:'%"
O4.*%3#"#%4)%'0#:'%"
G%0'$%0,"#%4)%'0#:'%"
I#0#+'"#%4)%'0#:'%"

40F+3"E+'4:20%"B03,.++>"

Symbol
TP?"
TJ "
T J?"
t"
d<M"
d<P"
nPD d< J"
tP"
nPD tJ"
g[ "
g[
g[ Symbol
g[ bH0"

SI
O
D
D
m
nPD

Name
SI
K3,"#%4)%'0#:'%!"(#0#+'"
g[
D*3,*3;"#%4)%'0#:'%"
g[
K3,"#%4)%'0#:'%!"1*3,*3;"
g[
6*4%"
(
6%4)%'0#:'%",*88%'%3-%!";%0'$%0,"p"04.*%3#" n
6%4)%'0#:'%",*88%'%3-%!"(#0#+'"p"04.*%3#"
n
6%4)%'0#:'%",*88%'%3-%!"1*3,*3;"p"04.*%3#" n
6$%'45"#*4%"-+3(#03#!"(#0#+'"@-0#02+;"/02:%A" (
6$%'45"#*4%"-+3(#03#!"1*3,*3;
@-0#02+;"/02:%A"
(
Name
Y%(*(#03-%"-+%8&-*%3#!"-+))%'"

Value
M5MMSV"naJ

WV

Permissible nominal current IN

6%4)%'0#:'%a,%)%3,%3-%":3,%'"(#03,0',"4+:3#*3;"
-+3,*#*+3("@8'%%"0*'"-+3/%-#*+3"0#"LZg[s"4+:3#%,"
$+'*_+3#0229"+3")20(#*-")20#%A

Speed n
Max. permissible speed

IN,TA = IN
Continuous
operation

nN

Short-term
operation

MN

6%4)%'0#:'%a,%)%3,%3-%":3,%'"4+,*&%,"4+:3#*3;"
-+3,*#*+3(

Torque M

IN Motor current Imot

Tmax TA
Tmax 25C

IN,TA = IN

Tmax TA
Rth1 + Rth2

Tmax 25C Rth1 + Rth2,mod

Determining Rth2,mod
PV

Motor under original conditions

b3(#0220#*+3!"80(#%3*3;!"0*'"-*'-:20#*+3

TW

Separate measurement during

continuous operation
O#"039"4+#+'"-:''%3#"Imot
I#0#+'"#%4)%'0#:'%"TP?$
O4.*%3#"#%4)%'0#:'%"TO$

Rth1
PV
TS

Rth2, mod

TS

Rth2,mod!$!%&S

PV

1!"!#Cu Rth1 RTA I mot 2

RTA I mot 2 (1!'!#Cu %&S )

TA

Symbol
Imot"
I N"
I_?<O"
T"
T N"
LV"
R<O"
RthJ"
"
RthL"
"
RthL,mod"
"
TO"

ZM"

Name
=+#+'"-:''%3#"
e+4*302"-:''%3#!"4+#+'"@-0#02+;"/02:%A"
e+4*302"-:''%3#"0("0"8:3-#*+3"+8"TO"
6+'?:%"
e+4*302"#+'?:%!"4+#+'"@-0#02+;"/02:%A"
\+1%'"2+((%("
D*3,*3;"'%(*(#03-%"0#"#%4)%'0#:'%"TO"
6$%'45"'%(*(#03-%!"1*3,*3;"p"$+:(*3;
@-0#02+;"/02:%A""
6$%'45"'%(*(#03-%!"$+:(*3;"p"04.*%3#
@-0#02+;"/02:%A"
6$%'45"'%(*(#03-%!"
$+:(*3;"p"04.*%3#"4+,*&%,"
O4.*%3#"#%4)%'0#:'%"

SI
O
O
O
e4
e4
D
m

Symbol
Tmax"
"
T P"
T J"
d<P"
"

Symbol
nPD n"
nN"
nPD
Symbol
nPD bH0"
g[

Name
=0F5")%'4*((*.2%"1*3,*3;"#%4)%'0#:'%
@-0#02+;"/02:%A"
I#0#+'"#%4)%'0#:'%"
D*3,*3;"#%4)%'0#:'%"
6%4)%'0#:'%",*88%'%3-%!"
(#0#+'"p"04.*%3#"

SI
g[
g[
g[
n

Name
maxon
I)%%,"+8"'+#0#*+3"
')4
e+4*302"()%%,!"4+#+'"@-0#02+;"/02:%A"
')4
Name
Y%(*(#03-%"-+%8&-*%3#!"-+))%'"

Value
M5MMSV"naJ

40F+3"E+'4:20%"B03,.++>

9.3

Cyclic and intermittent operation (continuously repeated)

Y%)%#*#*/%"1+'>"-9-2%("+8"($+'#",:'0#*+3"@#9)*-0229"+329"0"8%1"(%-+3,(A"-03".%"0((%((%,"1*#$"#$%"
(04%"8+'402*(4"0("-+3#*3:+:("+)%'0#*+35
Temperature T

90.00
80.00

Average
end temparture,
winding

Time constant
winding 9s

70.00
60.00
50.00
40.00
30.00
0.1

On Off On
(1s) (3s)
Off
1

10
100 1000 10000
Time t

Average temperature rise during intermittent operation

j(%"%88%-#*/%"-:''%3#"/02:%"@Y=IA"0("4+#+'"
(Rth1 + Rth2 !"#"RTA"#"I RMS 2
!"W =
2+0,5
1#$#%Cu (Rth1 + Rth2 !"#"RTA"#"I RMS 2
!"S =

Rth2
!"W
(Rth1 + Rth2 )

Intermittent operation
Y=I"-:''%3#
IRMS = Ion

Current I Ion
IRMS

`0(*-"'%?:*'%4%3#^"IUTP$r$-_?<O
ton toff

Time t

Temperature T
TW,av!

Tmax

Name
[:''%3#"
e+4*302"-:''%3#!"4+#+'"@-0#02+;"/02:%A"
e+4*302"-:''%3#"0("0"8:3-#*+3"+8"TO"
[:''%3#",:'*3;$W_")$0(%""
UTP"-:''%3#"
D*3,*3;"'%(*(#03-%"0#"#%4)%'0#:'%"TO"
6$%'45"'%(*(#03-%!"1*3,*3;"p"$+:(*3;
@-0#02+;"/02:%A""
6$%'45"'%(*(#03-%!"$+:(*3;"p"04.*%3#
@-0#02+;"/02:%A"
6%4)%'0#:'%"
O4.*%3#"#%4)%'0#:'%"

40F+3"E+'4:20%"B03,.++>"

=0F*4:4"2+0,"-:''%3#"8+'"0";*/%3"#*4%"-9-2%
Ion!"!!#N

Tmax TA
ton toff

Tmax 25C
ton

HEE",:'0#*+3"8+'"0"2+0,"+8"Ion",:'*3;"ton
I on 2
1 % ton
toff!"
Tmax!#!$A
2
I N % T 25C
max

TS,

Symbol
I"
I N"
I _?<O"
Ion"
IUTP
R<O"
RthJ"
"
RthL"
"
T"
TO"

ton
ton + toff

Symbol
Tmax"
"
TP?"
T J?.("
t"
toff"
ton"
nPD d<P"
d< J"
nPD
g[ Symbol
g[ z[:"
SI
O"
O"
O"
O"
O"
m

Name
SI
=0F5")%'4*((*.2%"1*3,*3;"#%4)%'0#:'%
@-0#02+;"/02:%A"
g[
K3,"#%4)%'0#:'%!"(#0#+'"
g[
O/%'0;%"%3,"#%4)%'0#:'%!"1*3,*3;"
g[
6*4%"
(
HEE"#*4%"
("
He"#*4%"
(
6%4)%'0#:'%",*88%'%3-%!"(#0#+'"p"04.*%3#"
n
6%4)%'0#:'%",*88%'%3-%!"1*3,*3;"p"04.*%3#" n
Name
Y%(*(#03-%"-+%8&-*%3#!"-+))%'"

Value
M5MMSV"naJ

ZJ

9.4

Short-term operation

B*;$!".'*%8!"+3%a#*4%"+/%'2+0,"+8"#$%"4+#+'5"6$%"+)%'0#*+3",:'0#*+3"*("(+"($+'#"#$0#"#$%"#%4)%'0#:'%"
+8" #$%" #$%'40229" *3%'#" (#0#+'" ,+%(" 3+#" *3-'%0(%" (*;3*&-03#29s" #$*(" -+''%()+3,(" #+" 03" He" #*4%" +8"
0))'+F5"tP$PJM"@ "Z"h"t4A5
"" H329"#$%"$%0#*3;"+8"#$%"1*3,*3;!"1$*-$"-+''%()+3,("#+"#$%"$%0#*3;"+8"0"(*4)2%".+,9
" @(%%"-$0)#%'"V5JA!"$0("#+".%"#0>%3"*3#+"0--+:3#5
Temperature T
140

120

TW,!

TP? = TO

100
Rth1

80

0.1 !s

60

"

Winding

10

100
Time t

1000

Rth1 RTA I mot2

1#$#%Cu Rth1 RTA I mot2

TA

0
1

!"W =

Rth2

Temperature
difference

20

d<J = RthJ$o$LV

TS,!

Stator

40

TW

10000

Overload factor K
t:03#*&-0#*+3"+8"#$%"+/%'2+0,

I
Meaning:
K = mot
IN
n"k"J^"Tmax"*("3+#"'%0-$%,",:'*3;"($+'#a#%'4"+)%'0#*+3
n"v"J^"X*4*#"40F*4:4"He"#*4%"ton

=0F*4:4")%'4*((*.2%"+/%'2+0,"0#";*/%3"He"#*4%"ton

K=

1 exp

=0F*4:4"He"#*4%"ton 0#";*/%3"+/%'2+0,"80-#+'"E

ton!"!#W $ ln

=0F*4:4"4+#+'"-:''%3#"Imot"0#";*/%3"
+/%'2+0,"80-#+'"E

Imot = K IN

Symbol
Imot"
I N"
E"
LV"
R<O"
RthJ"
"
RthL"
"
T"
TO"
Tmax"
"

ZL"

Name
=+#+'"-:''%3#"
e+4*302"-:''%3#!"4+#+'"@-0#02+;"/02:%A"
H/%'2+0,"80-#+'
q+:2%")+1%'"2+((%("
D*3,*3;"'%(*(#03-%"0#"#%4)%'0#:'%"TO"
6$%'45"'%(*(#03-%!"1*3,*3;"p"$+:(*3;"
@-0#02+;"/02:%A
6$%'45"'%(*(#03-%!"$+:(*3;"p"04.*%3#"
@-0#02+;"/02:%A
6%4)%'0#:'%"
O4.*%3#"#%4)%'0#:'%"
=0F5")%'4*((*.2%"1*3,*3;"#%4)%'0#:'%
@-0#02+;"/02:%A"

SI Symbol
O TJ?"
O T P"
TP?"
D t"
m ton
nPD d< J"
tP"
nPD "
tJ"
g[ "
g[
Symbol
g[ z[:"

Tmax 25C
Rth1

Tmax TS
Rth1 + Rth2

ton
!W

K2
K2 1
Tmax TS
R + Rth2
th1
Tmax 25 C
Rth1

Name
SI
K3,"#%4)%'0#:'%!"1*3,*3;"
g[
I#0#+'"#%4)%'0#:'%"
g[
K3,"#%4)%'0#:'%!"(#0#+'""
g[
6*4%"
(
W_"#*4%"
(
6%4)%'0#:'%",*88%'%3-%!"1*3,*3;""04.*%3#" n
6$%'45"#*4%"-+3(#03#!"(#0#+'"
@-0#02+;"/02:%A"
(
6$%'45"#*4%"-+3(#03#!"1*3,*3;"
@-0#02+;"/02:%A"
(
Name
Y%(*(#03-%"-+%8&-*%3#!"-+))%'"

Value
M5MMSV"naJ

40F+3"E+'4:20%"B03,.++>

10. Tables

10.1 maxon Conversion Tables

General Information
t:03#*#*%("03,"#$%*'".0(*-":3*#("*3"#$%"
b3#%'30#*+302"I9(#%4"+8"j3*#("@IbA
t:03#*#9

`0(%":3*#

j3*#"(*;3

X%3;#$
=0((
6*4%
K2%-#'*-:''%3#

meter
>*2+;'04
(%-+3,

m
>;
(

ampere

6$%'4+,9304*-"
#%4)%'0#:'%

>%2/*3

=:2#*)29".9"
R5MQ"

I+:;$#^
4e4

Factors used for

conversions:
J"+_" f"L5USWVZLSJS"d"JMaL">;
J"*3" f"L5ZW"d"JMaL m
gravitational acceleration:
;""
f"V5UMQQZ"4"(aL
"
f"SUQ5MUUZU"*3"(aL

Length

Decimal multiples and fractions of units

\'%&F

O..'%a \+1%'"
O..'%a \+1%'"
\'%&F
/*0#*+3 of ten
/*0#*+3 of ten

,%-055
$%-#+55
>*2+55
4%;055
;*;055
#%'055

,0
h
>
=
G
6

,%-*55
-%3#*55
4*22*55"
4*-'+55
303+55
)*-+55

,
m
m
n
p

Moment of inertia
`"
O +_a*3L
+_a*3a(L
2.a*3L
2.a*3a(L e4(Lf>;4L 4e4"(L ;-4L
;"-4L
JUL5V R5MQdJMW L5VSdJMS J5JSdJM6
JdJMR
JdJMW
J
>;4Lfe4(L J5USdJMaZ R5MQdJMaS L5VSdJMaW M5JJS
J
JdJMaS
JdJMaR
+_a*3L
J
SUQ5MU
JQ
Q5JUdJMS Z5WQdJMW
ZW5Q Z5WQdJMaS
J
2.a*3L
PJQ
LW5JSM
J
SUQ5MU S5WJdJMS
S5WJ S5WJdJMaW
Mass
4"w>;x Force
O +_
2.8 e
>)
`"
O +_
2.
;'"@;'0*3A
>;
g
`
J
JdJMaS e M5LRU W5WWU J V5UMR
>;
LU5SZdJMaS M5WZW QW5RVdJMaQ
S
aS
S
g
LU5SZ M5WZWdJM QW5RVdJM JdJM
J
>) M5MLU M5WZW M5JML J
+_
J
JQ
L5LUdJMaS SZ5LR SZ5LRdJMS +_ J
JQ S5QMM SZ5LR
J
J
2.
PJQ
J
PRMMM
L5LMZ L5LMZdJMS 2.8 JPJQ J M5LLZ L5LMZ
;'"@;'0*3A WSR5Z
RMMM
J
JZ5WSdJMS JZ5WSdJM6 ),2 L5MJJ SL5JR R5LSS RM5VS

derived units:
J"9," f"S"8#"f"SQ"*3
J"2."" f"JQ"+_"f"RMMM";'"@;'0*3(A
J">)" f"J">;"d"V5UMQQZ"4(aL
J"e"" f"J">;4(aL
J"D"" f"J"e4(aJ"f"J">;4L(aS
J"q"" f"J"e4(aJ"f"J"D(

JMJ
JML
JMS
JM6
JM9
JMJL

JMaJ
JMaL
JMaS
JMaQ
JMaV
JMaJL

`
m
-4
mm
in
ft

in
LZ5WdJMaS
L5ZW
LZ5W
J
J
PJL

Angular velocity
`"
O (aJ"f"B_
'0,"(aJ
L#
J
rpm
PQM

ft
M5SMZ
SM5Z
SMZ
JL
J

40F+3"E+'4:20%"B03,.++>"

Temperature
`"
O
n%2/*3
g"[%2(*:(
g"E0$'%3$%*#

9,
M5VJW
VJ5W
VJW
SQ
S

=*2
LZ5WdJMaQ
LZ5WdJMaW
LZ5WdJMaS
JdJMaS
J
PJLdJMaS

m
J
JdJML
JdJMS
SV5SR
S5LUJ

'0,"(aJ
J
SM
P#

`"

(aL
'0,"(aL

minaL
J
PSQMM
#
PJUMM

8#a(aJ
M5SMZ
JL
J

8#a')4
Z5MUdJMaS
RLM
QM

4"(aJ
J
SV5SR
S5LUJ

q"w>;"4L]
>)4"(L
V5UMRdJMR
V5UMR
Z5SZdJM5
S5SZdJMW

E"wex
p
V5UMRdJMaS
JdJMaS
SZ5LRdJMaS
L5LMZdJMaS
RM5VSdJMaS

2"w4x
-4
mm
!
M5MJ
JdJMaS
JdJMaQ
J
M5J
JdJMaW
JM
J
JdJMaS
M5SVW S5VWdJMaL S5VWdJMaZ
S5LUJdJMaL S5LUJdJMaS S5LUJdJMaQ

" w(aJ] Angular acceleration

rpm
#
PSM
J

Linear velocity
`"
O *3a(aJ
*3a')4
4"(aJ
L5ZWdJMaL W5LSdJMaW
aJ
*3a(
J
QM
J
8#a(aJ
PJL
5

j3*#(":(%,"*3"
#$%"40F+3"-0#02+;

\"wDx
4e4"')4
J
PQMMMM
J
PQM
L5SQdJMaS
J5LSdJMaZ
J5RMdJMaQ

Torque
="we4x
`"
O +_a*3
8#a2.8 e4"f"D( e-4
4e4
>)4
)-4
aS
aL
aS
aZ
e4
R5MQdJM
J5SZQ
J
JdJM
JdJM
V5UMR V5UMRdJM
4e4
R5MQ J5SZQdJMS JdJMS
JM
J
V5UMRdJMS V5UMRdJMaL
>)4
R5LMdJMaW M5JSU
M5JML M5JMLdJMaL M5JMLdJMaS
J
JdJMaZ
+_a*3
J
JVL
JWJ5Q
J5WJQ
M5JWL J5SVdJMS J5SVdJMaL
J
8#a2.8
PJVL
J
M5RSR M5RSRdJMaL M5RSRdJMaS R5LSS R5LSSdJMaZ

Conversion example
O"""n3+13":3*#
`"""j3*#"(+:;$#
n3+13^"
+_a*3"

Power
`"
O +_a*3a(aJ +_a*3a')4 *3a2.8a(aJ 8#a2.8a(aJ e4"(aJ"f"D mW
>)4"(aJ
Dfe4"(aJ R5MQdJMaS J5JRdJMaW M5JJS
J5SZQ
J
JdJMaS
V5UMR
mW
R5MQ
M5JJR
JJL5V J5SZQdJMS J"d"JMS
J
V5UMRdJMS
J
+_a*3a(aJ
J
PQM
JQ
JVL
JWJ5Q
M5JWL J5SVdJMS
J
J
J
8#a2.8a(aJ
PJVL
PJJZLM
PJL
J
M5RSR M5RSRdJMaS R5LSS
>)4"(aJ
R5LMdJMaW J5LdJMaZ J5JZdJMaL M5JSU
M5JML M5JMLdJMaS
J

(aL
J
L#

'0,"(aL
J
PL#
J

z"w(aL]
')4"(aL
J
PQM
#
PSM

/"w4"(aJ]
-4"(aJ
44"(aJ
m rpm
J
JdJMaL
JdJMaS
PQM
SV5SRdJMaL SV5SRdJMaS M5QZQ
aL
aS
S5LUJdJM S5LUJdJM Z5WQdJMaL
6"wnx

g"E0$'%3$%*#
@gE"aSMZ5JZA"P"J5U
@gE"aSLA"P"J5U
J

g"[%2(*:(
{"LRS5JZ
J
J5Ug["{"SL

n%2/*3
J
aLRS5JZ
J5U"n"{"SMZ5JZ

ZS

OP5;+ <=3$&'.+&)",%&$"*(0+),+,#$&($)*+,)#+#)..$*D1+0('($&+'*/+Q$*"($&+,#$&($)*

Type of friction

Friction condition

Description

I+2*,a#+a(+2*,"8'*-#*+3"
@,'9">*3%#*-"8'*-#*+3A

]*'%-#"-+3#0-#".%#1%%3"#$%"
8'*-#*+3")0'#3%'(

I)%-*02"-0(%"+8"(+2*,a#+a
`+:3,0'9"8'*-#*+3"@2:.'*-0#%,"
(+2*,"8'*-#*+3"1*#$"0,(+'.%,"
>*3%#*-"8'*-#*+3A
2:.'*-03#"+3"#$%"(:'80-%(
n*3%#*-"8'*-#*+3

=*F%,"8'*-#*+3

I+2*,a#+a(+2*,"8'*-#*+3"03,"
i:*,"8'*-#*+3"-+4.*3%,"3%F#"
#+"%0-$"+#$%'

E2:*,"8'*-#*+3

E'*-#*+3")0'#3%'("0'%"
-+4)2%#%29"(%)0'0#%,"8'+4"
%0-$"+#$%'".9"0"&24"+8"i:*,"
@)'+,:-%,"$9,'+(#0#*-0229"+'"
$9,'+,9304*-0229A"

G0("8'*-#*+3

E'*-#*+3")0'#3%'("0'%"
-+4)2%#%29"(%)0'0#%,"8'+4"
%0-$"+#$%'".9"0";0("&24"
@)'+,:-%,"0%'+(#0#*-0229"+'"
0%'+,9304*-0229A"

LM"l"JMMc"$*;$%'"#$03"
>*3%#*-"8'*-#*+3

I#0#*-"8'*-#*+3

Y+22*3;"8'*-#*+3
Y+22*3;"8'*-#*+3

ZW"

`+,*%("(%)0'0#%,".9"
2:.'*-0#%,"'+22%'".%0'*3;(

[+4.*3%,"'+22*3;"03,"(2*,*3;" Y+22*3;"8'*-#*+3"1*#$"0"
8'*-#*+3
>*3%#*-"-+4)+3%3#"@(2*)A
40F+3"E+'4:20%"B03,.++>

<=3$&'.+&)",%&$"*(+),+,#$&($)*

M5J"l"J

M5J"l"M5L

Examples

@)",%&$"*(+),+,#$&($)*

I*3#%'%,".'+3_%"p"I#%%2

M5JZ"l"M5S

\20(#*-"p"G'09"-0(#"*'+3

M5S"l"M5W

I#%%2"p"I#%%2

M5W"l"M5R

e*#'*,%,"(#%%2"p"e*#'*,%,"(#%%2

M5S"l"M5W

[+))%'"p"[+))%'

M5Q"l"J5M

[$'+4*:4"p"[$'+4*:4

M5WJ

O2"022+9"p"O2"022+9

M5JZ"l"M5Q

I#%%2"p"I#%%2

M5J

I2%%/%".%0'*3;!"2:.'*-0#%,!"0#"2+1"()%%,("+8"'+#0#*+3"
M5MJ"l"M5J

M5MMJ"l"M5MJ

I*3#%'%,".'+3_%"p"I#%%2

M5MZ"l"M5J

I*3#%'%,".'+3_%"p"I#%%2

M5MR"l"M5J

6%4)%'%,"(#%%2"p"6%4)%'%,"(#%%2

M5MZ"l"M5MU

I*3#%'%,"(2%%/%".%0'*3;!"2:.'*-0#%,!"0#"$*;$"()%%,("+8"'+#0#*+3"
03,"2+1"'0,*02"2+0,

M5MMMJ

M5J"l"J5L

I#%%2"p"I#%%2",'9

M5W"l"M5U

I#%%2"p"I#%%2"2:.'*-0#%,

M5MU"l"M5JL

I*3#%'%,".'+3_%"p"I#%%2",'9

M5L"l"M5W

I*3#%'%,".'+3_%"p"I#%%2"2:.'*-0#%, M5JL"l"M5JW

M5MMJ"l"M5MMZ

\20(#*-"p"G'09"-0(#"*'+3!",'9

M5S"l"M5Z

`022".%0'*3;(

M5MMJ"l"M5MMLZ

M5MMJ"l"M5J
40F+3"E+'4:20%"B03,.++>"

ZZ

11. Symbol list for the Formulae Handbook

Name

O--%2%'0#*+3
O--%2%'0#*+3"8+'-%
O--%2%'0#*+3"8+'-%!"J(#PL3,"$028"-9-2%
O--%2%'0#*+3"#*4%
O--%2%'0#*+3"#*4%"
O4.*%3#"#%4)%'0#:'%"
O3;2%"+8"'+#0#*+3"
O3;2%"+8"#$%"*3-2*3%,")203%"
O3;:20'"0--%2%'0#*+3"
O3;:20'"8'%?:%3-9"
O3;:20'"/%2+-*#9"P"O3;:20'"/%2+-*#9"@-$03;%A
O3;:20'"/%2+-*#9"08#%'P.%8+'%"0--%2%'0#*+3
O3;:20'"/%2+-*#9!"*3):#"P"2+0,
O/%'0;%"%3,"#%4)%'0#:'%!"1*3,*3;"
`%0'*3;"2+0,!"0F*02"P"'0,*02"
[0)0-*#03-%"
[+%8&-*%3#"+8"8'*-#*+3"@(%%"#0.2%"-$0)#5"JM5LA
[+4)'%((*/%"8+'-%"
[+:3#(")%'"#:'3!"[\6
['+(("(%-#*+3
[:''%3#"
[:''%3#"-$03;%"
[:''%3#",:'*3;"He")$0(%"
[:''%3#"'*))2%!")%0>a#+a)%0>"
[:''%3#"#$'+:;$"'%(*(#+'"RL
[:#a+88"8'%?:%3-9"
]%3(*#9
]*04%#%'!",%i%-#+'"):22%9"L"
]*04%#%'!",%i%-#+'"):22%9"X
]*04%#%'!",'*/%"):22%9"
]*04%#%'!",'*/%"1$%%2"
]*04%#%'!"2+0,"):22%9"
]*()20-%4%3#
]*(#03-%"
]*(#03-%"+8"0F*("s"8'+4"-%3#%'"+8";'0/*#9"P
]+13$*22a(2+)%"8+'-%"
]'+)"$%*;$#"
]:'0#*+3"
]:'0#*+3"+8"+)%'0#*3;")+*3#("J...n
K--%3#'*-*#9
K,,9"-:''%3#")+1%'"2+((%(
K8&-*%3-9
K2%-#'*-"-$0';%
K2%-#'*-02"-0)0-*#03-%
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K2%-#'*-02"'%(*(#03-%
K2%-#'*-02"#*4%"-+3(#03#
K2%-#'+4+#*/%"8+'-%
K3,"#%4)%'0#:'%
K3,"#%4)%'0#:'%!"(#0#+'"P"1*3,*3;
K?:*/02%3#"'%(*(#03-%
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E+'-%"
E'%?:%3-9"
E'*-#*+3"8+'-%"
E'*-#*+3")+1%'"2+((%("
E'*-#*+3"#+'?:%"
G%0'$%0,"%8&-*%3-9
G%0'$%0,"#%4)%'0#:'%"
G'0/*#0#*+302"0--%2%'0#*+3"
G'+:3,
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B%*;$#"
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b3,:-#03-%
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b3,:-#03-%!".:*2#a*3"-$+>%"-+3#'+22%'
b33%'"'0,*:("
b33%'"'%(*(#03-%!"/+2#0;%"(+:'-%"
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b3#%'4*##%3#29")%'4*((*.2%"#+'?:%!";%0'$%0,"@-0#02+;"/02:%A
q+:2%")+1%'"2+(("
X%3;#$"
X%3;#$"+8"(*,%"a"P"b"P"c
X+0,"-:''%3#"
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X+0,"8+'-%!"J(#"P"L3,"$028"-9-2%
X+0,"'%(*(#03-%"
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X+0,"#+'?:%"

56"

Symbol

a
Fa
FaJ / FaL
d!a
d!
TO
i$^$di
b
b
l
l$^$l?$dl$^$dl
lend$^$lstart
lin$^$lL
TJ?.(
FEk
H
c
Fp
N
O
I
{i
Ion
d-LL
IRL
fH
m
dL
dX
dJ
d
dL
dl
)?$d)$^$d)
rs
FH
h
d!
tJn
e
LV,eddy
q
~
HJ$^$HL
Lel
R / RJ / RL
tel
XTE
Tend
TP? / TJ?
R
Rx
F
f
FR
LV,R
TR
qM
TM
g
M_C
Hth
H!"?M$^$H!"?P$^$H!"?J
h
Z
Dind
L
Lext
Lint
ri
Ri
nin
Tin
Din
TM?+.@
LV
l
a"P"b"P"c
IL
FL
FLJ / FLL
RL
nL
TL

Unit
4P(L
e
e
(
(
g[
'0,
g
'0,P(L
'0,P(
'0,P(
'0,P(
'0,P(
g[
e
E
e
mL
O
O
O
O
O
B_
>;P4S
m
m
m
m
m
m
m
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m
(
(
m
W
[
E
W
m
(
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g[
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m
m
e
B_
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qPn
qPn
m
m
T
B
B
B
m
m
rpm
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T
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W
m
m
O
e
e
m
rpm
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Page number
V!"JW
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40F+3"E+'4:20%"B03,.++>

Name

X+0,"/%2+-*#9
X+0,"/+2#0;%
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