# berger mODoren

berg'2'"-e_r __ elecbronii

Formulas + Calculations for Optimum Selection of a Stepmotor

NOTES

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1.
1.1
1.1.1

GeneralFormulas
VL',;~~ ~

Spindle Drive

G
Stepmotor

F ::: FTable

+

+

Fprestress

+

FMovlngFOfce

The required drive torque of a spindle drive is determined the required acceleration torque.

by the sum of the load torques and

(1)

[Ncm]

(2)

[Ncmj

F ::: Total force on nut
h= rB fiB:::

IN1

=

Spindle pitch [cm] Spindle bearing mean radius [cm] Spindle bearing friction coefficient
z:

::: Gear ra tio 1] ::: t tara) an a+ Q

n Moto! nSPindle

=

Efficiency

coefficient

of converting

M into an axial force

1.1.2

Experience 1'/ = 1'/ = (B' fJB ::: rB.!iB

Values

=

0.9 for ball bearing spindles (see figure) 0.3 for steel spindles with bronze nut 0.015 cm for roller bearing 0.15 cm for steel/bronze friction bearings

Fpreatr9ss

At At At At

10% 20% 10% 20%

Prestress Prestress Prestress Prestress

and and and and

h 5 mm: approx, h = 5 mm: approx. h::: 10 mm: approx. h = 10 mm: approx.

=

11 22 40 80

to to to to

15 N 30 N 60 N 120 N

1.1.3

Determination of Total Load F on Spindle Nut

a) Vertically Acting Forces

G

=

m'g

F

(3)

[NJ
G FM Fpre = Weight of carriage and structure [kg] = Moving Force [NJ = Prestress when using spring loaded counter nut = Friction coefficient

!-l

G

=

10'

m [N]
[kg]

m

Mass

Values for ~ Steel on steel Steel on cast 1ron Steel on bronze Axial Guide Rolling friction, Rollers

Dry
0,18 0,19 0,11

Lubricated 0,12 0,10 0,10 0,005

6

f1 " cos a) if moving down For upward motion (4c) [N] .b) "Non-vertical" Spindle (4) fN] (4a) (4b) F1 F2 = = G (sin a + fl" cosa) if moving up [N] [N] G (sin a .

10-4 • d4 • L [kgcm2] b) Translatory Moment of Inertia (8) m h Jtrllne [kgcm2] = = Moved mass in kg Spindle pitch in cm moment of inertia Je~1 is If a reduction gear is used.7 .7 . = = Rotatory moment of inertia (full cylinder) Translatory moment of inertia (5a) a) Rotatory Moment of Inertia Jrot - Full Cylinder {6l [kgcm2] Steel Aluminum Brass = = r= r= r= y= r Radius of spindle Length Specific weight cm em kg/cm3 L 7.4 Determination of Moments of Inertia The total moment of inertia J101 is the sum of the moments rotatory and translatory motion. the external of the gear ratio. of inertia of all masses in (5) Je~t [kgcm2j = Total external J referenced to motor shaft Jrol Jtrans.4 .1. 10-3 kg/cm3 8.1. 10-3 kg/cm3 For Steel (7) For Aluminum (7a) J.85 . 10-3 kg/cm3 2.O\ = 2. (9) reduced by the square [kgcm2) 8 .

u .2.1. 102 [Ncm] (21) (22) MIO! Ml MA +Ml [Ncm] [Ncm] "" G .2.2 Rackand PinionDrive Horizontally moved mass driven by rack and pinion. including rack of pinion of rotor the friction Stepmot( Moments of Inertia The following formula is used to calculate the rotatory moment 01inertia equivalent to the weigt (19) JeQ = G= r= = G 'r2 [kgcm2] (6) (20) -.1.r4 'L'Y JeQ 1 [kgcm2] + Jrot Jrol [kgcm2] = Jf>in = + JP1n 1.1 Acceleration Acceleration Acceleration Overcoming of weight G. r . Rack Pinion 1.2.2 (18) Acceleration and load Torques MA = = J tot . .1 Total Torques The motor must provide the following total torques: a) b) c) d) 1. Jlot Weight in kg Radiusincm 2' m. 1·2· 1t" a tA· 360° .1.

.3 DrumDrive Lifting a Weight by Cable and Drum 1.1'( Acceleration l -Y [kgcm2) 1. Jeq = Equivalent The same formulas as used forthe (19) (6) ::: G -r 1 2 [kgcm2) r4 - "2 .1 Total Torques a) b) c) Acceleration of the weight Acceleration of the drum Lifting of the Weight G Cable Drum Stepmotor r G 1.3600 . MA ::: = ::: [Ncm] tA .-a the system (23) ML ML G -r [Ncm] = = ::: Torque required for lifting the weight MA+Ml [Ncm] (21) Mtat Mtot Total torque required for lifting the weight 10 .1.3.1_2 and load Torques (18) M.1..3..1 Moments of Inertia moment of inertia rack and pinion drive apply.102 Torque required for accelerating - Jtot f-2-.3.

4.:.1...1t-a-f _..:.f2 ...Jed + JMot Step angle [Degrees] [ kgcm2] a f MA (11a) = Desired operating frequency [Hz] Acceleration torque [Ncm] [Ncm] 1. 360 0 - MA ....2 (11) Calculation of Time for a Linear Acceleration (tA) tA = Jlot J tal - 2·.1 (10) Additional Formulas Start-Stop Operation MA = Jtot .u :r [Ncm] [Ncm] Rack and pinion drive Drum drive (23) ML ML = G -r Load torque .:=-_..2·) = MMot .4..T R 3....:.ML [Ncm] MMOI = M at actual step frequency used 1.4 1.10-4 a2 [Ncm] (lOa) Jtot f a = = [+] Total Moment of Inertia [kgcm2] con sisti ng of ~ed + JM010f Step frequency [Hz] = Step angle [Degrees] = Division angle of rotor teeth TR MA (for 5-phase motors: 7.4.1t·1j h 1 + ra + #a) i [Ncm] Spindle drive G .5 .3 (2) (22) Torques ML ML F( 2·... 10~ I [5] = Total moment of inertia consisting of .

(cm) = Spindle pitch in cm = Number of steps per revolution = Gearratio Advance Speed (13) v =.4. .s [cm] freq. = sAinstep\$ J.4 Advance.pe ri pherat speed Advance in a defined time t (14) s= J._f Z·i [cm/s] ( for spindle drives) " . sp J. frequency for short distances [s-1 J. J. . Speed and Power Distance Increment (12) h Z h .:1s = -Z ..rate of foad f (13a) = Step frequency [S-l] ( for rotatory drives) v . [5 distance [c ir = Acceleration distance 12 .: Positioning (24) time for short distances tA .s· f· t = [cm] time in s Motor RPM (15) 60'f n=~Z·i I {Hz] Power for rotation (16) P = 0. f =. sp SA Is] Positioning (25) Ll t.1. positioning ·1 ..:1s .h.j tp I t[s: :.. SAine".00105 M· n [W] M in Ncm n in min-1 I . tp J..:1t tA !! Positioning Positioning Acceleration time [s] distance [cr Max. (<I Spl. fp SAinern SA = 1 (26) = f .

\. Then it is brought into rotational oscillation about the sketched center line. b and h in the following formula. The moment of inertia is found using the previou sly determined mass m of the bOdyand the distances a.4.1. (17) J=25.5 Determination of the Moment of Inertia J for Arbitary Bodies by Means of Measurement Procedure The body is freely suspended by two strings attached to two fixes points.~ [gcm2) J T = = Moment of inertia in gcm2 Duration of period in sec.pm.!J I ~1 = Distances in em .

19.9.1.8.4.16 I Trial selection of motor compatible with final selection? I 14 .10 M [Ncm] I Trial selection ROM5 . /50 Verification forthe required values Use formulas 10 .2. "Formulas and Calculations for Optimum Selection of a Stepmotor" (this brochure) 2.20 JeK1 [kgcm2] Tria I selection of motor from Catalog No. BERGERCatalog "5-Phase Stepmotor System" Determination of motor size I External moment of Inertia known? ~o Jexl [kgcm2] v1- Use formulas 5..6.3.4.6 How to Find the Optimum Stepmotor Aids: 1.7. 2501 ••• "5-Phase Stepmotor System" Max. allowable external moments of inertia I I ~o Torque[Ncm[of t~e machineto bedriven known? v)MMotor-MLoad MAceol [Ncm] + Use formulas 1.

1.9 35mm 800mm 5mm 700mm Spindle diameter Spindle length Spindle pitch h Travel distance Sought: the correct stepmotor 2.1 Calculation: Horizontal Spindle Drive G FA 2.1 . G + FA + Fpre 0.2.015 em = 36 Ncm 2' 3. Calculation Examples 2.14' 0. flB) [N] 1 [Ncm) = 11 .5 s 0.1 Known and Required Values Known Values G= 1000 N FA =250N Required Values VS10w = 12 m/min = 20 cm/s time for 10 mm =0. 1000 N + 250 N = 350 N ML ML = 350 N ( + 0.1.0.1 '1'J =0.5 cm F .9 ) = 36 Ncm The calculation example does not include gear ratio (t) and Fpre .01 mm Positioning Resolution: 11 =0.2 Required Torque (2) (3) ML F = F( 2 h Jf' '1'J + ra .

85 kg 3.1. 2· 3.5 Values Determining the Motor Size = 36 Ncm 10 kgem2 20000 Hz 16 .14 05 )2 [kgcm2) (5) Jext = - Jrot + Jtrans + 0.10-3 em 9.1.25 kgcm2 .75em/·80cm· J"". L· Y [kgcm2) Jrot=0.2.m ( 2h n) 2 [kgcm2] Jtrans .88 kgem2 "'" 10 kgcm2 = 10 kgcm2 2. (8) Jtrans =.63 kgem2 Jext Jpt 9.4 Required Operating Frequency (13) v = _h_·f Z'i = = v· Z· i [em/s] = S-1 20em/s' h 20000 500 Stepos/Rev. [kgcm2] (6) 0..5 em [8-1 2. r4. n ..25 kgem2 = 9.1.5 . 0. = 7.14·(l.3 Existing Moments of Inertia (5) Jext -= Jrot Jrot = + Jtrans. 100 kg ( .5·3.

d "Size 110" ROM 51117/50 0.. excited [Ncm1 Max.....30 Iw=5A (Constant-Current Operation / Standard Winding) Motor Model ROM 51117/50 r ~ .1.Hz Moment of inertia of rotor [kgcm2] Motor Characteristics Rw=O.. »s-Phase Stepmotor System in the following arrangement.120 ..811e11P 500 400 FUtielap~ 1\ r\ 1\ \\ 300 200 Conelln I Currant SA/Phase 100 ~rSIOP 500 60 1000 120 \\ I~ 'I\.. MQTORMODEL Step angle [Degrees] Maximum torque [Ncm] .72 700 750 430 15 7.6 Determination of Motor Size 5·Phase Stepmotor Data Overview The motor data are contained in aur Catalog No.5 ROM 51122/50 0." ~ r'\ i"..I'---. I- 800 700 ~ ~ 600 r--. 1'\I' I 100000 ISllPal 100 12 I I I I I 50000 8000 12000 [min -1] • For fulls tap 01 0..2. 2501.72 1000 1100 465 5 11.. I - r-. Power [W] at ..5 Holding Torque." " 'r'\ . \'><.' 150 Ncm at 20 kHz I 5000 600 10000 1200 .

5 kgcm2 MMot (at 20 kHz) .36 Ncm = = = 114 Ncm 18 .5 A/Phase Constant current operation 70 Fullstep 0.0 Q) III 50 inertia for fa ulll 'las start and atop e !: c: E 0 40 \ :l: 30 20 \ \ \ 10 -.Maximum Permissible External Moments of Inertia Motors of Series 511 .. r-.ML [Ncm] 150 Ncm .72' I 60 M6~imum permissible exte rn al momel'll or 1: . I 2000 a 500 60 I lCXXl 120 1500 180 I 240 2500 [Steps/s] 300 [min" I Motor size determ ined form cu rves: RDM 5111 7/50 Motor data see Catalog 250 "5-Phase Stepmotor System" JMotor = MA MA 7. /50 J [kgcm2] 80 ROM Ql117/QQ 1.. I '<.

the acceleration and deceleration times are equal.11 + 0.899 + 3.114 tA = 0.(3900 20000 3. t A' = = JtO!· 3600• MA . 2 .720 3600.39 s _ 3900 Steps s·2 During acceleration phase During deceleration phase 3900 Steps 3900 Steps SA = So Sum for acceleration and deceleration = 7800 Steps Total distance traveled Slol= 700 mrn-s70000 Steps 2.39 .3865 -.9 Total Travel Time ttot te tA + t. 0.39 s tA te Time for acceleration Time for constant speed Time for deceleration ~ ttot = Total travel time SA se So Steps for acceleration Steps for constant speed Steps for deceleration I [Hz] 20000 o [Stot! I Is) 2.39 3.0.14 .8 (27) Distance Traveled in Total Travel Time f. (11) t.t SA __ A [Distance in steps] = 2 SA= 20000 .11 s tA + 39001 + t.1. + s~ f is] [5] SUit - to te ttot ltot ttot 70 000 .1.102 [s1 • 20000 Hz Ncm '102 I J 175 kgcm2 .2. + to (se.7 Determination of Acceleration Time For linear acceleration and deceleration. 0. + to [s] 0.1. 3.

5 500 ·1 = 0. (24) Time Jtp [s] required 0.::1 S = 0.15 = .001 em = 0.5 5 tA(S] • . .1sp .1 S 2.10.1 Positioning .1 tp .1.1 tp = 0.d 5p (em] [5] SA ]cm] 10 mm = 1 em (26) SA lem] = SA [Steps] .10 Verification of Required Values 2.2.39 s·l em 3.1S Steps = SA • h Z = SA [ern] = 3900 0.10.01 mm 20 .9cm 0.1 t.2 Smallest .1s Distance Increment per Step required 0.1.1.9 em .01 mm h ZT [em] (12) .5cm 500 Steps = 3.

9 0.1 Spindle diameter 63 mm length 10 m pitch 10mm Gear ratio i = 20: 1 Gear Required Values Positioning time 10 mm in 1 Resolution < 0.01 mm ! Stepmotor 2.1 Known and Required Values Known Values G = 150 kg 'f} !l = = 0. G· (sina + f.2.2.2 Calculation: Vertical Spindle Drive (Lifting Force) 2.L' cosa) 900 1 [N] ~ at a sin a cosu: -..2...2 (2) Required Torque ML F = = = F (2:''f}+raflB) • _1 [Ncm] (4c) . ° .

Required: 10 mm in 1 s at i = 20: .2.14 (3. 1 S-1 """ 1 ~ nMot 1200 min-1 A 10 kHz for a step frequency of 10kHz.015) do = 14.42 kgcm 2 m (2htr 4• 1000 cm . 0) '21trcmfJ + ra· ~a) . t [kgcm2] 0. the speed must be determined.8 kgcm2) 3.1 [Ncm] . Hence..15 ern) 1213.3 Existing Moments of Inertia (9) J ext (6) Jrot = = (J rot + Jtrans) . i 1500 N (0.4 Ncm 2.2.043 kgcm2 2.42 kgcm2 + 3. 7.4 Required Speed In order to determine the exact motor data.1 . g~4) 1 = 3. 10-3 Jrot (8) Jtrans = = Y [kgcm2] (equivalent Jtrans moment of inertia of weight G) 150 kg (Jrot = (2 1.177 + 0. 202 = = (1213.F F ML ML = = = = 1500 N (1 1500 N 1500 N ( + 0.85 kg/cm2 . . .5· 3. the motor torques have to be determined 22 .Q.8 kgcm2 + Jtrans) j2 [kgcm2] 1 .5· st r4 • L· r Moment of Inertia of Spindle Jrot = 0.

Power [W) at .72 ROM 599/50 0.043 kgcm2 10000 Hz 2.72 210 220 60 10 1..72 310 400 Step angle [Degrees] Maximum torque (Ncm] Holding Torque. Hz Moment of inertia of rotor [kgcm2] 115 125 48 10 0.6 Determination of Motor Size "Size 90" Data Overview 5-Phase Stepmotor MOTOR MODEL ~ RDM 596/50 0..2. " 160 8 1. excited [NcmJ Max.2.4 Ncm 3.7 .8 .2 ROM 5913/50 0.2..5 Values Determining the Motor Size 1) 2) 3) ML JEI~t = = 14.

~ H~ Ifste_Q .4 Ncm MMot 24 ..ML = 50 Ncm ...Constant Current Operation (70 V) Motor Model RDM 599/50 Rw = 3.1 ~ lJ":\ 100 at 10 kHz Y_125 Ncm 1\ _\ ~ ~ 100 12 1000 10000 Step frequency [Steps/a] 1200 .14.1--. I' V Halfstep Ll 200 L 1 lL ~ / L Ful/step I ..15A t------.2 kgcm2 M" M" = MMOI b) RDM 5913/50 JMot M" M" = = 1.ML 125 Ncm ... ~ ~ . 400 E c z . y 100 50 10 100 Fu'step f------ ~ 1000 " -" _- at 10 kHz 50 Ncm 10000 Step 1200 freQuency lStepalaJ 12 120 Motor Model ROM5913/50 Rw "" 1 Q 'w = 2.. ~ I\.14. ~ ~ ~ .25 Q lw = 1.8 A ..8 kgcm2 (at 10kHz) . " " 120 For these two motor models: a) ADM 599/50 JMOl 1......4 Ncm (at 10 kHz) .

102 [S] = = = = = = = = Jext + JMot.14.6 Ncm 125 Ncm .0558 .14 .6 Ncm ' 102 0 = = 4 843 kgcm2 .1488 kgcm2 . 35.8 kgcm2 for ROM 5913/50 MMot (at 10 kHz) . 2 .102 for ROM 599/50 • 10000 Hz 110.7 Calculation of Acceleration Time For linear acceleration: Acceleration (11) (Sa) tA Jtot ::: Time::: Deceleration Time Jtot' 360 2· n : a' f 0 • MA .2. 0.14 . [Hz] 10000 tA tc Time for acceleration to a r---[Sci {ttot]----1 I [s} = Time for constant speed Time for deceleration te [stotl 2.6 Ncm . 0. 0. [kgcm2j 3.043 kgcm2 + 1. 01720• 10000 Hz .6 Ncm tA tA tA tA tA 2· 3. 3.2 kgcm2 for ROM 599/50 3.8 (27) Distance Traveled f ~tA [Distance = in Steps] = 10000· 2 0.4 Ncm for ROM 5913/50 4243 .14.05488"'" 360 0 .4 Ncm for ROM 599/50 Jtot Jtot (11a) MA MA MA = 4.2.043 kgcm2 + 1.055 phase phase 275 Steps for ROM 5913/50 = 275 Steps 275 Steps 550 Steps = = SA So During acceleration During deceleration = . 3600 = 110.843 [Ncm] kgcm2 kgcm2 = 35.243 = 4.2.72 .ML 50 Ncm. for ROM 5913/50 = 0.

14 .6 Ncm 2· 3.10 F req uency Incr ease to 11 kHz (arb it rarll y chose n) (11a) MA = MMot (at 11 kHz) - ML [Ncmj MA tA tA (27) SA SA = = 120 Ncm .14.0634 = 10000 -698 11000 = 0.055 = 1.8456 s .055 [s] 10000 . 102 = = = f .843 kgcm2 0. if a distance of 10 mm is to be traversed increased.::. 11000 Hz 3600 • 105.(SA + Sr) f 0.4 Ncm 4..9 Total Travel Time Distance of 10m m .550 10000 = = = + So) _ 0.720 .0568 s _ 349 Steps 2 SA + So = 698 Steps te ttO( = S(oI. + 0. 2.2.6 Ncm .945 0..8456 + 0. 0 .0634 = 0. in this example to about 11000 Hz. 26 . tA ~ [Distance in Steps] 11 000 Hz . 0.945 s + + 0.2. the total time would be longer and the frequency would have to be increased even further. 0. in 1 second.055 s Therefore. 1 Revol ution = 10000 Steps 2 Sp indle pitch h ~ 10 i=20: = 10 mm Advance ~500 Steps 1 at 1 Revolution = te tA + tc+ to s(O(.0634 s = 105.9724 s .2.(SA f 0. the frequency must bl If the ROM 599/50 had been selected instead of the ROM 5913/50.

34 .3. G Rack Pinion Stepmotor 2. 10-3 1.8 = 39.s crn = 2.1 -2 . 7.n .3. driven by rack and pinion . (3)2 £k.2 (19) Existing Moments of Inertia Jllq J"Q Jpin JPin = = = G· r2 4 ..5 + 1 .5 kgcm2 Assumed motor model: ROM 5913/50 Rotor moment of inertia see catalog data. (5a) J101 = 36 + 1 ..85 .5 .3 Calculation: Rackand Pinion Drive Example: Horizontally moved mass.85' 10-3 kg/cm3 v = 400 cm/s t 0.gcm2j = 36 kgcm2 1 2 '1(' r4 ·L· r .. 1 ..1 Known and Required Values Given: Weight Radius Pinion width Material: Steel Speed Acceleration Time G = 4kg r = 3cm L= 7.5 s r= t.. ..2. .3 .

3 Step Frequency (13a) f v' Z' i 2· U' r 400 cm/s .3. M=120 Ncm at 10. 3 = 0.4 Acceleration and Load Torque MA MA MA = = = J f 2u·u tot' tA .5 Verification of Data Mode I ROM 5913/50 is too wea k.108 Ncm [Ncm] ML - 40· 0.6 .6 Ncm 2. 2·3.5 360 0 • 0. it wou Id opera te a t its very performance lim it (100%). 1 = 10615 Stepsls 2·u·3cm 2.6 kHz. this would reduce M to about 92 Ncm or Use next larger motor model (ROM 51117/50). this would reduce M to about 95 Ncm or Reduce speed v = 400 cm/s by about 20%.OI = (22) 107 + 0.6 kHz This can be remedied in the following ways: a) b) c) Increase acceleration time by about 20%. This model would provide 28 .14' 0. 3600• 102 40· 10610.3.72 = 107 Ncm 102 107 Ncm [Ncm] (21) Mtot = MA + ML M.005 .3.6 = 107.2. 500 . a torque MMotof about 300 Ncm at 10.

E o Z Q) Motor Model = 1Q 400 Iw ROM 5913/50 = 2....6 Torque Curves Motor Model ROM 51117/50 Rw = 0... . ~ t'-. ~'\ ~HalfstBP \"\ 1\ 400 !\ 300 1/. CI) () 800 700 ~ a ..._ 300 ~ ~ r-._ 0 t- r---r-.. '"~ ~ Halfstep f' 200 j_ J Fullstep 1\ [.. . _1 \ 10..8 A ~ 0 t- a .3.. I' V ~ / 100 ~l_Jl( ~ ~ \ \ at \ /100 .6 kHz Ncm f' 100 12 I 1000 120 I 10000 Step Frequency [Steps/s1 1200 I [min-']" • ForfulistepO..\ Constant Current Operation 5 A/Phase ~-Stop \ at 10. r-..3 Q E 1 Z .. .2. 600 500 Fullstep "..6 kHz 300 Ncm 200 100 l\ \ \ ~ 500 ~ -..72· . f' r" 100000 [Steps/I 12000 [min-'I]' 100 12 I 1000 60 I I 5000 600 120 I 10000 1200 I 50000 eooo I a.

f (cm/s] f = 400 em/s .4. 500 Steps ·1 = 10615 Step~/s 2' 3. r2 [kgem2j 4 kg· (3 cm)2 = 36 kgcm2 10 kgcm2 46 kgcm2 2.4.2 Existing Jeq Jeq JOr Jeld Conversion Factor 1 kg = 9.81 N = 10 N G r v tA 4 kg Jor 3cm 400 ern/a 0.5 s = 10 kgcm2 Momen ts 0 fine rtia G .:l. r [Nem] 4 kg· 3 cm = 12 kqcrn . i .5 Values Determining the Motor Size 120 Ncm 46 kgcm2 10615 S-I 30 .4.4 (13) (13a) Operating Frequency h v Z . 120 Nem 2.4 Calculation:DrumDrive lifting a Weight by Cable and Drum Stepmotor G 2.4.2.14' 3 cm A [s-~ 2.1 Known and Required Values Weight Drum radius Lifting speed Acceleration time Drum moment of inertia 2.3 (23) Existing Load Torque Ml Ml = G .4.

Power [W] at '" Hz Moment of inertia of rotor [kgcm2] [Ncm1 750 430 15 7..6 kHz 300 Ncm .5 Motor Model: ROM Rw 51111150 5A Constant Current Operation (90 V) E o = 0.72 700 ROM5U22/50 0. "S-Phase Stepmotor System" in the following arrangement MOTOR MODEL ~ ROM 51117/50 0.4.72 1000 1100 Step angle [Degrees] Maximum torque [Ncm1 Holding Torque. i' ~600 500 Fullstep '. e- I-~ I <. = 800 Z 'Qj'700 ::. the ROM 51117/50 was selected MMot at 10. r'\ t' 100000 (Steps/s) 50000 6000 12000 [min -'I]" Based on this data.6 Determination of MotorSize 5-Phaae Stepmotor Data OvervIew The motor data are contained in our Catalog No.5 465 5 11..6 kHz 300 Ncm JMot 7.72' I 5000 120 600 I I " " ~ I i'. I-f- 100 i 12 • For fullstep 0. excited Max.5 kgcm2 ..2.3 Q t. 2501 . \ \ Halfstep r\ 400 r\ 300 200 100 Constant Current Operation SA/Phase ~rSIOP 500 j 60 1000 "1/ 1\\ \ \ ~ 10000 1200 ~ at 10.. r-.-.

it provides a reserve of 37.4. 0. :n: • 0.. 32 .5 kgcm2 = 53.72 . 10615· 2 .2. 360 .66 Ncm i.' a tA· 3600• 102 [Ncm1 (Sa) J10t J{O{ Jex1 + JM01 {kgcm2} = 46 kgcm2 + 7.7 Acceleration Torque (18) MA = JlOt • f· 2' .rJ.8 Total Torque to be Gerated (21) Mto! Mk>I = = Ml + MA + {Ncm1 142.3 Ncm = 13% ..5 .66 Ncm MA 535 .4.66 Ncm 120 Ncm = 262. 102 2.5 kgcm2 = 142.e. Mode! ROM 5111 7/50 with 300 Ncm is sufficient.

.3 s for 180°.1 Data Printing Wheel Diameter Width (l) Material 140mm 90-mm Steel Drive Wheel Diameter Width (L) Material Number of Teeth 90mm 25mm Aluminum 24 Motor Pinion Diameter Width (l) Material Number of Teeth 45mm 25mm Aluminum 12 Reduction ratio 2: 1 by toothed belt.5. Printing wheel setting time 0.5 Calculation:FlywheelDrive Drive Wheel Printing Wheel Toothed Belt i = 2:1 Stepmotor 2.2.

72. L [kgcm2] For Aluminum: (7a) Jrot = 2. (14 cm)4.7· 10-4 . 22 + 0. e.2 Momentsof Inertia (6) = 1 2" %_or40Loy [kgcm2j For steel (7) J. the motor must execute a rotation of 31"500 0.~ + JPlnlo<! 7.5. For as-phase In motor operating in the fullstep mode.1 2. this means 500 steps. The formulas then become: JeKt Jprinl Wh~nl = = = (J prln + Jori v) .5.10-4. We assume here f:= 2500 Hz.28 = 68.. 9 = 267 kgcm2 JDtivnWh .7. i.7· 10-4 d4 L 0 0 (kgcm2J If a transmission is used.43 kgcm. d4 .3 AccelerationTorque (18) 2.4.5 = 0. 34 .3 s for a 180 0 rotation of the printing wheel.3 s = 1667 Hz and decelerate.2.94. Formulas 6 -7 a must be multiplied by i~ .3 s.l Jpjnlon = 2. 500 Steps 0.5.2. as the motor must accelerate chosen.10.. The frequency IS then .4..5=4. a higher frequency must be However.5.13 """70 kgcm2 = Jext [kgcm2] 2.43) + JM01 1 .ot = 7.4 (11) AccelerationTime J10t 2it a f 3600 o M A olD 0 0 • 2 [51 f is cal cu lated from the req uirement i = 2 : 1 and t = 0.72· 10-4 .4• (267 2.28 kgcm2 Jex1 (Sa) Jtol + 4.

04 = 0.100 2500 = 0....200 '2 • For fullslep 0. .102 = 0. 3. r--.. 60Q Ncm Motor Model: ROM 51117/50 Rw=O.The ADM 51117/50 Jtot MMot is selected because it is the only motor capable of accelerating the 70 kgcm2 = Jext + JM01 = 70 kgcm2 + 7..5...04 2 2.16 s ttO! = 0.72' I I eo i 120 "" i'\ ~ 50000 6000 r-.24 s 35 . \ 200 100 Constant Ope ratio" SA/Phase Current ( \\ \ ~ ~ I i 100 ~-Stop 500 1000 5000 10000 .. I I I cr ~ 600 . + (SA to (5] ~Qt- + Sol f 500 .5 kgcm2 = 77. 500 Steps 0 = tA + t._ <.04 + 0.600 0 Ncm ..5 = 50 Steps Total Time As accelerati on Tota I distance ttO! = decel eration.1''\ ~ Fullstep !\Halfstep r\ ...04 =s ~ 2 2500 ..16 + 0.. 0.30 . E o I --.~ 500 i .. SA = SD = 2 x 50 = 100 Steps Slot = 180 at i = 2 : 1..600 Z 'Q.. 0.14 . r"100000 [Steps/a] '2000 [min -~ • I 600 i I 77 5 . (27) kgcm2• {Steps] 2 .. 400 300 ! I \ ~ ~ \ ~ .5 kgcm2 = the available torque at 2500 Hz accordlng curve aporox.72 (l • 2500 S-1 360 .'700 ::I Iw=5A !.