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Motor Selection

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Before selecting an invertor, first the motor should be chosen.In selecting the

motor, first calculate the load inertia for the applications, and then calculate the

required capacity and torque.

Make a simple selection (use Formulas for the required output power)

This method of calculation helps select a motor by calculating the output (W)

required by the motor to maintain its regular rotations. It does not include

calculation of the effect of acceleration//deceleration. Therefore, make

allowance for the calculated value to select a motor. This calculation method

can be applied to applications that operate constantly such as fans, conveyers,

agitators etc.

This calculation method must not be applied to the following applications:

Those requiring instant start-up.

Those that frequently repeat operation and stop.

Those that have a large inertia at the power transfer part.

Those that have an inefficient power transfer part.

For Straight-Line Operation: Normal Power Po [kW]

This method helps to select a motor by calculating the effective torque and

maximum torque required to achieve a certain pattern of operation for the

application. It selects a motor that is optimal for a particular operation pattern.

Calculate the inertia with a Motor Shaft Conversion Value

Calculate inertias of all the components with the formula for inertia calculation

shown below to convert them to a motor conversion value.

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Calculate the acceleration torque from the load torque calculated from both the

motor shaft conversion value and the motor rotor inertia. Then Combine this

acceleration torque and the load torque calculated from the friction force and

the external force that are applied to the load. Now you get the required torque

to operate a motor.

Acceleration Torque

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*Please make use of the Servo Motor selection software, which can calculate

the motor shaft conversion inertia and effective/maximum torque, as above.

Motor Selection

Use the formula below to calculate the motor capacity from the effective torque

and the maximum torque that were obtained above.

Select the larger of the two generated values as the motor capacity.

Select a motor the capacity of which is larger than the calculated value and

makes allowance for an error.

Motor Capacity corresponding to Effective Torque

Motor Capacity [kW] = 1.048NTRMS10-4

N: Maximum Rotations (r/min)

Motor Capacity capable of Providing Maximum Torque

Motor Capacity [kW] = 1.048NTMAX10-4/1.5

N: Maximum Rotations (r/min)

Inverter Capacity Selection

Select an inverter that can be used for the selected motor in the process of

"Motor Selection".

Generally, select an inverter which fits the maximum applicable motor capacity

of the selected motor.

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conditions. If it does not, select an inverter that has a one class larger capacity

and check the feasibility again.

Motor Rated Current Inverter Rated Output Current Maximum Time

of Continuous Torque Output Time in an Application 1 minute

*Where the inverter overload capacity is "120% of Rated Output Current for 1

minute", check it for 0.8 minute.

*Where a 0 Hz sensor-less vector control is being used, or where torque must

be maintained for 0 (r/min) rotation speed and where 150% of the rated torque

is frequently required, use an invertor which is one rank larger than the one

selected by the above method.

Outline of Braking Resistor Selection

Importance of Braking Resistor

If the regenerative energy generated in deceleration or descent in an application

is too great, the main circuit of an inverter may have an increased voltage and it

may be damaged.

Because the inverter usually contains the overvoltage LAD stop function, it is

not actually damaged. However, the motor stops detecting an error, making a

stable and continuous operation disabled. Therefore, you must discharge the

regenerative energy outside of the inverter.

What is Regenerative Energy?

A load connected to a motor has kinetic energy when rotating, and potential

energy when it is located in a high position. When the motor decelerates, or

when the load descends, the energy is returned to an inverter. It is known as

regeneration, and the energy generated by the phenomenon is known as

regenerative energy.

The following are methods to prevent the connection of braking resistance.

These methods will make the deceleration time increase, so check if it will not

cause problems.

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Enable the deceleration stall prevention (enabled in factory settings) (It will

automatically increase deceleration time not to cause an overvoltage to stop the

motor).

Set a longer deceleration time. (Cause the regenerative energy to decrease per

unit of time.)

Disable Free-Run. (Prevent the regenerative energy from returning to an

inverter.)

Make a Simple Selection for Braking Resistors

It can be a simple selecting method by using the ratio of time in which

regenerative energy is produced in a normal operating pattern.

Calculate the usage ratio from the following operating pattern.

t: Deceleration Time (Regenerative Time)

T: Single Cycle Operation Time

Make a Simple Selection of Braking Resistor

When the usage ratio for the braking resistor selected on the previous page

exceeds 10% ED, or when an extremely large braking torque is required, use

the method below to calculate a regenerative energy and make your selection.

Calculation of Required Braking Resistor

400V class inverter 760 [V]

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Tm: Motor Rated Torque [Nm]

N: Maximum Rotation Speed [r/min]

*Calculate a braking torque using the above "Motor Capacity Selection".

Calculation of Average Regenerative Energy

Regenerative Energy is produced when the motor rotation direction and the

torque direction are opposite.

Use the following formula to calculate a Regenerative Energy per cycle

interval.

*Forward rotation direction is Forward for the speed, and the torque in the

Forward rotation direction is Forward for the torque.

*Calculate a braking torque using the above "Motor Capacity Selection".

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Explanation

References

external forces of all the moving part of the Servo

Motor the rotation of which affects.

---

between time and speed) of each part that must be

controlled.

Convert the operating pattern of each controlled

element into the motor shaft operating pattern.

that inertia can be calculated for each part that

moves as the Servo Motor rotates.

Calculate the inertia applied to each element to

calculate the total load inertia of the motor shaft

conversion value.

Inertia Formulas

Calculates the frictional force for each element,

where necessary, and converts it to friction torque

for a motor shaft.

Calculation of External Torque

Calculates the external force for each element,

where necessary, and converts it to external

torque of a motor shaft.

Calculates the total load torque for the motor shaft

conversion value.

shaft converted load inertia, friction torque, external

torque and r.p.m of a motor.

---

from the Load Inertia or Operating Pattern.

Acceleration/Deceleration

Torque Formulas

Operating Pattern from the Friction Torque, External

Torque and Acceleration/Deceleration Torque.

Confirm that the maximum value for the Torque for

each operating part (Maximum Momentary Torque)

is less than the Maximum Momentary Torque of the

motor.

Calculate the Effective Torque from the Torque for

each Operating part, and confirm that it is less than

the Rated Torque for the motor.

Calculation of Maximum

Momentary Torque,

Effective Torque

all the moving parts.

manual of each

productfor the details

on calculation of the

regenerative energy.

the system specified resolution.

Accuracy of Positioning

the temporarily selected motor.

If not, change the temporarily selected motor and

re-calculate it.

Check Items

Load Inertia

Inertia Ratio

Effective Torque

Please allow a margin of about 20%. *

Maximum Momentary Torque

Please allow a margin of about 20%. *

For the motor Maximum Momentary Torque,

use the value that is combined with a driver

and the one of the motor itself.

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Speed of a motor

Try to get as close to the motor's rated

rotations as possible. It will increase the

operating efficiency of a motor.

For the formula, please see "Straight-line

Speed and Motor Rotation Speed".

Regenerative Energy

Absorption of a motor

When the Regenerative Energy is large,

connect a Regenerative Energy Absorption

Resistance to increase the Absorption

capacity of the driver.

Encoder Resolution

the system specifications.

Characteristics of a Positioner

exceed the Maximum Response Frequency

or Maximum Command Frequency of a

Positioner.

Operating Conditions

temperature/humidity, operating atmosphere,

shock and vibrations meet the product

specifications.

*When handling vertical loads and a load affected by the external torque, allow for about 30% of capacity.

Formulas

Formulas for Operating Patterns

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Inertia Formulas

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Load Torque Formulas

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Positioning Accuracy

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Sample Calculations

(1) Machinery Selection

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(6) Motor Temporary Selection [In case OMNUC U Series Servo Motor is temporarily selected]

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Note:This example omits calculations for the regenerative energy, operating conditions, or positioner characteristics.

Recommended Products

NT20,NT31/31C-V3,NT631C-V3

Better SYSMAC Compatibility and Easier-to-use Support Software

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NS Series

NS-series PTs navigate all areas of machine operation, from daily operation to error recovery.

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