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Motor Sizing Calculations PDF
Motor Sizing Calculations PDF
Selection Procedure
Determine the drive
mechanism component
F-2
First, determine certain features of the design, such as drive mechanism, rough dimensions,
distances moved, and positioning period.
Confirm the required specifications for the drive system and equipment (stop accuracy,
position holding, speed range, operating voltage, resolution, durability, etc.).
Calculate the value for load torque, load inertia, speed, etc. at the motor drive shaft of the
mechanism. Refer to page 3 for calculating the speed, load torque and load inertia for various
mechanisms.
Select a motor type from AC Motors, Brushless DC Motors or Stepping Motors based on the
required specifications.
Make a final determination of the motor after confirming that the specifications of the selected
motor/gearhead satisfy all of the requirements (mechanical strength, acceleration time,
acceleration torque etc.).
Ball Screw
Inertia of a Cylinder
Direct Coupling
D1
FA
FA
Jx
LD 14 [oz-in2] .....................................
mD 12
8
32
Jy
1
D 12 L 2
m(
) [oz-in2] ............................................
4
4
3
Pulley
D
D2
FA
FA m
D
2
i
FA
FA
Jx
L ( D 14
D 24 ) [oz-in2] ............
m (D 12 D 2 2 )
8
32
Jy
1
D 12 D 2 2 L 2
m(
) [oz-in2] .................................
4
4
3
Cooling
Fans
(FA m ) D
[oz-in] ....................................................
2i
Linear
Motion
TL
FP B
0F0P B
1
) [oz-in]......................................
TL (
2
2
i
F FA m (sin cos ) [oz.] .......................................
Technical Reference
x0
m
C
B
A
l Distance between x and x0 axes [in.]
F D
FD
[oz-in] ..............................................
TL
2 i
2i
F FA m (sin cos ) [oz.] .......................................
J x Jx0 m l 2
By Actual Measurement
1
m ( A2 B 2 12 l 2 )[oz-in2] ...............
12
Spring Balance
FB
C
y
Machine
D
Pulley
TL
FBD
[oz-in] ...............................................................
2
Jx
1
1
A B C ( A 2 B 2 )[oz-in2] ...........
m ( A2 B 2 )
12
12
Jy
1
1
A B C ( B 2 C 2 )[oz-in2] ...........
m ( B2 C2 )
12
12
Jm(
2
A 2
) [oz-in2] .........................................
) m(
2
Density
Iron
Aluminum
Bronze
Nylon
4.64 [oz/in3]
1.65 [oz/in3]
5 [oz/in3]
0.65 [oz/in3]
F-3
Technical Reference
Stepping Motors
This section describes in detail the key concerns in the
selection procedure, such as the determination of the motion
profile, the calculation of the required torque and the
confirmation of the selected motor.
Operating Patterns
There are 2 basic motion profiles.
One is a start/stop operation and the other is an acceleration/
deceleration operation.
Acceleration/deceleration operation is the most common.
When load inertia is small, start/stop operation can be used.
Operating Pulse
Speed
( f 2)
( f 2)
Number of Operating Pulses
Starting Pulse
Speed
( f 1)
(A)
Start/Stop Operation (t 0 )
Acceleration Period
(t 1)
Positioning Period
A
t0
Operating Pulse
Speed
Number of
Operating Pulses
(A)
Deceleration Period
(t 1)
(t 0)
Acceleration/Deceleration Operation
Speed [Hz]
Speed [Hz]
t1
f2
f1
Calculate the pulse speed in full-step equivalents.
Operating Pulse
Speed f2 [Hz]
Number of
Acceleration
Starting Pulse
Operating Pulses
(Deceleration)
Speed [Hz]
[Pulses]
Period [s]
Positioning
Acceleration (Deceleration)
Period [s]
Period [s]
A
f1 t1
t0
t1
t1
Inertia of Rotor
Total Inertia
Step Angle []
[oz-in2]
[oz-in2]
180
Operating Pulse
Starting Pulse
Speed [Hz]
Speed [Hz]
Acceleration (Deceleration) Period [s]
(J0JL)
s
180
(J0JL)
s f22
180 n
n: 3.6/ s
F-4
f2
f1
t1
t1
Model
Acceleration/
Deceleration Rate
TR [ms/kHz]
1.10(28), 1.65(42),
2.36(60), 3.35(85)
0.5 Min.
1.65(42), 2.36(60)
20 Min.
3.35(85), 3.54(90)
30 Min.
RK Series
Torque [oz-in]
Running Time
100
Running Time Stopping Time
Cooling
Fans
Inertia Ratio
TR
Linear
Motion
Stepping Motors
t1
f2
f1
Standard AC Motors
Selection Considerations
Technical Reference
Required Torque
Speed [r/min]
(Pulse Speed [kHz])
F-5
Technical Reference
Sizing Example
Ball Screw
Starting
Number of
Acceleration
Operating
Pulses (Deceleration)
Speed [f1]
Operating pulse
Pulses [A]
Period [t1]
speed f 2
Positioning
Acceleration (Deceleration)
Period [t0]
Period [t1]
6000
0 10000 Hz
0.8
0.2
Stepping
Motor
Direct
Connection
Pulse
Generator
Driver
DB
PB
Coupling
10000
6000 Pulses
0.2
t1
Programmable
Controller
t 1 0.2
Period [sec]
t 0 =0.8
3600.001 0.72
15
S 60
360
10000 0.72 60 1200 [r/min]
360
Operating Speed f 2
L B D B4
32
4.64 23.6 0.6 4
32
1.39 oz-i n 2
F-6
Model
Rotor Inertia
[oz-in2]
AS66AA
2.2
Required Torque
Nm
oz-in
71
0.5
AS66AA
250
Torque [oz-in]
Torque [Nm]
1.0
V 60 (0.60.06) 60
18218 r/min
PB
0.197
200
150
100
0.5
100 lb.
Preload weight F0:
50
0
NG
2.0
1.5
1000
0
10
2000
3000
Speed [r/min]
4000
F
33.3 lb.
3
F0
20
30
40
50
60
Pulse Speed [kHz]
(Resolution Setting: 1000 P/R)
Select a motor for which the required torque falls within the
pull-out torque of the speed-torque characteristics.
TL
TL
3.8
0.52 [lb-in] 8.32 oz-in
i G 90.81
Motor
Gearhead
Coupling
Ball Screw
FA
TM
Cooling
Fans
This value is the load torque at the gearhead drive shaft, and
must be converted into load torque at the motor output shaft.
The required torque at the motor output shaft (TM) is given by:
Linear
Motion
3.8 lb-in
Ball Screw
Technical Reference
Select a Motor
(1) Provisional Motor Selection
Slide Guide
v
m1
LBDB4 4.6431.5(0.787)4
Ball Screw
1
J
32
32
Moment of Inertia
5.5 oz-in2
Table and Work
2 m
Moment of Inertia J
A
2
100 16
0.197
2
1.57 oz-in2
Gearhead shaft total load inertia J5.51.577.07 [oz-in2]
Here, the 5GN9KA permitted load inertia is (see page A-12):
JG JM i2 492 324 oz-in2
Therefore, J < JG, the load inertia is less than the permitted
inertia, so there is no problem. There is margin for the
torque, so the rotation rate is checked with the no-load
rotation rate (about 1750 r/min).
V
NM P
0.64 in./s
60 i
F-7
Technical Reference
Belt Conveyor
Motor
Gearhead
V 60 (70.7)60
33.43.3 r/min
D
4
F D 1444
320 oz-in
2
20.9
TL
TL
320
9.7 oz-in
i G 500.66
Load Inertia
Roller Moment of Inertia
J1
1
1
m 2D 22 35.27422141 oz-in2
8
8
D
2
3016
4
2
1920 oz-in2
NM D 17404
7.3 in/s
60 i
6050
F-8
Index Table
Performance
Belt speed VL is 0.6 in./s40 in./s
Specifications for belt and work
Condition: Motor power supply ...... Single-Phase 115 VAC
Belt conveyor drive
Roller diameter .................................. D 4 inch
Mass of roller ................................. m1 2.2 lb.
Total mass of belt and work ............ m2 33 lb.
Friction coefficient of sliding surface .... 0.3
Belt roller efficiency .............................. 0.9
NG
60VL
D
Belt Speed
0.6 inch/s .........
600.6
2.87 r/min (Minimum Speed)
4
40 inch/s ..........
6040
191 r/min (Minimum Speed)
4
1
1
2
m1D 2.2164270.4 oz-in2
8
8
D 2
4 2
) 33(
) 132 oz-in2
2
2
FD 9.94
22 lb-in
2
20.9
Cooling
Fans
For the gear ratio, select 15:1 (speed range: 2200) from the
permissible torque table for combination type on page B-14
so that the minimum/maximum speeds fall within the speed
range.
Linear
Motion
Pulse Generator
Programmable
Controller
Technical Reference
Conveyor
30 600 Pulses
0.05
30
60
60
t0
t1
360
360 0.3
0.075
22.2 [r/min]
F-9
Technical Reference
Starting
Acceleration
Pulses (Deceleration)
Period [ t 1]
Speed [f1]
Acceleration (deceleration)
Period [t 1]
600
0
2667 [Hz]
0.3
0.075
180
g
t1
5000
Select a Motor
(1) Provisional Motor Selection
t1
t1
t 0 =0.3
Required Torque
[Nm]
Model
Rotor Inertia
oz-in2
lb-in
AS66AA-N7.2
J02.2
67
7.6
Torque [lb-in]
0.075
Torque [Nin]
150
100
L T D T4
Inertia of Table J T
32
4.64 0.3911.84
32
3442 oz-in2
L W D W4
Inertia of Work J C
(Center of gravity) 32
4.64 1.18 1.574
32
3.3 oz-in2
Weight of Work m (
(
DW 2
) LW
2
1.57 2
) 1.18 4.64
2
10.6 oz.
F-10
50
Permissible Torque
50
5
100
10
150
350
15 20 25 30 35 40
Pulse Speed [kHz]
(Resolution Setting: 1000P/R)
400
45
450
50
Select a motor for which the required torque falls within the
pull-out torque of the speed-torque characteristics.
PN geared type can operate inertia load up to acceleration
torque less than Maximum torque.