Belt Sizing Guide

Gates Mectrol • Belt Sizing Guide 1

Belt Sizing Guide
Many conveying timing belts operate at low speeds
and minimal loads. This eliminates the need for
extensive calculations and a simplified approach to
belt selection can be used. For these lightly loaded
applications, the belt can be selected according to
the dimensional requirements of the system, prod-
uct size, desired pulley diameter, conveyor length,
etc.
The belt width b is often determined according
to the size of the product conveyed, and as a
rule, the smallest available belt pitch is used. For
proper operation, the pre-tension Ti should be set as
follows:
Ti ≈ 0.3 • b • T1all
where: Ti = belt pre-tension
T1all = max allowable belt tension for
1" or 25mm wide belt (see Table 1 or Table 2)
U.S. customary units: Ti [lb], T1all [lb/in], b [in]
Metric units: Ti [N], T1all [N/25mm], b [mm].
Step 1. Determine Effective Tension
The effective tension Te at the driver pulley is
the sum of all individual forces resisting the belt
motion. The individual loads contributing to the
effective tension must be identified and calculated
based on the loading conditions and drive configu-
ration. However, some loads cannot be calculated
until the layout has been decided.
To determine the effective tension Te use one of the
following methods for either conveying or linear
positioning.
Conveying
Te for conveying application is primarily the sum of
the following forces (see Figs. 1 and 2).
1. The friction force Ff between the belt and the slider
bed resulting from the weight of the conveyed mate-
rial.

For all applications where the loads are significant, Ff = µ • wm • Lm • cosß

the following step-by-step procedure should be used where: µ = coefficient of friction between the slider bed
and the belt (see Table 1A)
for proper belt selection.
wm = load weight per unit length over conveying
length
Lm = conveying length
ß = angle of conveyor incline
U.S. customary units: Ff [lb], wm [lb/ft], Lm [ft].
Metric units: Ff [N], wm [N/m], Lm [m].
2. The gravitational load Fg to lift the material being
transported on an inclined conveyor.
Fg = wm • Lm • sinß

L a

T1
Lm
L wa
Lw μ1
μ Te
M
Fg(k) F fa
F s1
v,a d
T2 N(k)
W(k) driver
Ff

d
Fs2 β

idler

Ti

Fig. 1

Gates Mectrol • Belt Sizing Guide 2

Belt Sizing Guide
5. The force Fai required to accelerate the idler. Step 2. Select Belt Pitch
Use Graphs 2a, 2b, 2c or 2d to select the nominal
J •α mi • ro2 a mi • a
Fai = i = • = belt pitch p according toTe. The graphs also provide
ro 2 • ro ro 2 an estimate of the required belt width. (For H pitch
belts wider than 6" (152.4mm) and T10 pitch belts
m • r2 wider than 150mm, use Graph 1).
where: Ji = i o = inertia of the idler
2
mi = mass of the idler
ro = idler outer radius
α= a = angular acceleration
Step 3. Calculate Pulley Diameter
ro
Use the preliminary pulley diameter d̃ desired for
In the formula above, the mass of the idler mi is the design envelope and the selected nominal pitch
approximated by the mass of a full disk. p to determine the preliminary number of pulley
mi = ρ • bi • π • ro2 teeth z̃p.
where: ρ = density of idler material
bi = width of the idler z̃p = π • d̃
U.S. units: ρ [lb • s2/ft4], bi and ro [ft].
p
Metric units: ρ [kg/m3], bi and ro [m].
Round to a whole number of pulley teeth zp. Give
6. The force Fab required to accelerate the belt mass.
preference to stock pulley diameters. Check against
Fab = mb • a the minimum number of pulley teeth zmin for the
The belt mass mb is obtained from the specific belt selected pitch given in Table 1 or Table 2.
weight wb and belt length and width. Determine the pitch diameter d according to the
chosen number of pulley teeth zp.
mb = wb • L • b
g p • zp
d=
π
U.S. units:Fab [lb], mb [lb•s2/ft], a [ft/s2], wb [lb/ft2], L and
b [ft],
g = 32.2 ft/s2.
Metric units: Fab [N], mb [kg], a [m/s2], wb [N/m2], L and Step 4. Determine Belt Length and Center
b [m], Distance
g = 9.81 m/s2.*
Thus for linear positioners, Te is expressed by: Use the preliminary center distance C̃ desired for
Te = Fa + Ff + Fw + Ws + [Fai] + [Fab] the design envelope to determine a preliminary
number of belt teeth z̃b.
Note that the forces in brackets can be calculated by
estimating the belt mass and idler dimensions. In most
cases, however, they are negligible and can be ignored.

L2
Fw
Fa = msa
T1 Ti
v, a T2
ms

F S2 Ff F S1 d
d yolk and piston pillow block Te
M
idler driver

T1 Ti T1

L1

Fig. 3

Gates Mectrol • Belt Sizing Guide 4

Belt Sizing Guide
3. The friction force Ffv resulting from vacuum in may also account for some power requirement. In
vacuum conveyors. start-stop applications, acceleration forces as pre-
Ffv = µ • P • Av sented for linear positioning, may have to be evalu-
ated.
where: P = pressure (vacuum) relative to atmospheric
A v = total area of vacuum openings Linear Positioning
U.S. units: Ffv [lb], P [lb/ft2], A v [ft]
Metric units: Ffv [N], P [Pa], A v [m] Te for a linear positioning application is primarily
The formula above assumes a uniform pressure and the sum of the following six factors (see Fig. 3).
a constant coefficient of friction. 1. The force Fa required for the acceleration of a
loaded slide with the mass ms (replace the mass of
4. The friction force Ffa over the accumulation length
the slide with the mass of the package in convey-
in material accumulation applications.
ing).
Ffa = (µ + µa) • wma • La • cosß
Fa = ms • a
where: La = accumulation length
µa = friction coefficient between accumulated The average acceleration a is equal to the change in
material and the belt (see Table 1A) velocity per unit time.
wma = material weight per unit length over the
accumulation length a = vf – vi
U.S. customary units: La [ft], wma [lb/ft].
Metric units: La [m], wma [N/m]. t
where: vf = final velocity
5. The inertial force Fa caused by the acceleration of
vi = initial velocity
the conveyed load (see linear positioning). t = time
U.S. customary units: Fa [lb], a [ft/s2], vf and vi [ft/s] t[s].
6. The friction force Ffb between belt and
The mass is derived from the weight Ws [lb] and the
slider bed caused by the belt weight. acceleration due to gravity g (g = 32.2 ft/s2):
Ffb = µ • wb • b • Lc • cosß
where: wb
b
= specific belt weight
= belt width
ms =
Ws
g
=
Ws lb • s2
32.2 ft [ ]
Lc = conveying length
Metric units: Fa [N], a [m/s2], vf and vi [m/s], t [s], ms [kg].
U.S. customary units: wb [lb/ft2], b [ft], Lc [ft].
Metric units: wb [N/m2], b [m], Lc [m].*
2. The friction force Ff between the slide and the lin-
For initial calculations, use belt width which is ear rail is determined experimentally, or from data
required to handle the size of the conveyed product. from the linear bearing manufacturer. Other con-
Thus for conveyors, Te is expressed by: tributing factors to the friction force are bearing
losses from the yolk, piston and pillow blocks (see
Te = Ff + Fg + Ffv + Ffa + Fa + (Ffb) + ...
Fig. 3).
Ffb can be calculated by estimating the belt mass. In
3. The externally applied working load Fw
most cases, this weight is insignificant and can be
(if existing).
ignored.
4. The weight Ws of the slide (not required in
Note that other factors, such as belt supporting
horizontal drives).
idlers, or accelerating the material fed onto the belt,

* If working in US units, wb found in the belt specifications must

be converted to the units lb/ft 2. If working in metric units, T1 =T1max
wb must be converted to the units N/m 2.
T1

T2 =T1min Ti V

vacuum chamber
Ffv
F s2 M Te
floating cylinder Fs1
=Fe

θe
idler driver

T2 Ti T2

Fig. 2

Gates Mectrol • Belt Sizing Guide 3

Belt Sizing Guide
For equal diameter pulleys: For two unequal diameter pulleys:

z̃b = 2 • C̃ + zp
p
zm ≈ zp
1
• (0.5 – d22π– dC1)
•

For unequal diameter pulleys: (See Fig. 4)

2
Step 6. Determine Pre-tension
z + zp1 zp2 – zp1
z̃b ≈ 2 • C̃ + p2
p 2
+ p •
4C̃
( π
) The pre-tension Ti, defined as the belt tension in an
idle drive, is illustrated as the distance between the
Choose a whole number of belt teeth zb. If you have belt and the dashed line in Figs. 1, 2, and 3. The pre-
profiles welded to the belt, consider the profile tension prevents jumping of the pulley teeth during
spacing while choosing the number of belt teeth. belt operation. Based on experience, timing belts
Determine the belt length L according to the perform best with the slack side tension as follows:
chosen number of belt teeth. T2 = (0.1,...,0.3) Te
L = zb • p Drives with a fixed center to center distance
Determine the center distance C corresponding Drives with fixed center distances have the position
to the chosen belt length. of the adjustable shaft locked after pre-tensioning
For equal diameter pulleys: the belt (see Figs. 1 and 3). Assuming tight and slack
side tensions are constant over the respective belt
C=L–π•d
2 lengths, and a minimum slack side tension in the
range of the above relationship (uni-directional load
For unequal diameter pulleys: only), the pre-tension is calculated utilizing the fol-
Y + √Y2 – 2 (d2 – d1)2 lowing equation:
C≈
4 L
Ti = T2 + Te • 1
L
where: Y = L – π
• (d2 + d1)
2 where: L = belt length = L1 + L2
L1 = tight side belt length
Step 5. Calculate The Number of Teeth L2 = slack side belt length
in Mesh of the Small Pulley U.S. units: L1 [ft], and L2 [ft].
Metric units: L1 [m], and L2 [m].
Calculate the number of teeth in mesh zm , Drives with a fixed center to center distance are
using the appropriate formula. used in linear positioning, conveying and power
For two equal diameter pulleys: transmission applications. In linear positioning
zp applications, the maximum tight side length is
zm = inserted in the equation above.
2
The pre-tension for drives with a fixed center dis-
tance can also be approximated using the

C
P

d2 Zp1 Zb

d1 θ

Zp2

Fig. 4

Gates Mectrol • Belt Sizing Guide 5

Belt Sizing Guide
following formulas: T2 are obtained by:
Conveying T1 ≈ Ti + 0.75Te

(see Figs. 1 and 2) T2 = T1 – Te

Ti = (0.45,...,0.55) Te
Linear Positioning
(see Fig. 3)
Ti = (1.0,...,1.2) Te
Ti = (1.0,..., 2.0) Te => for ATL series only
Drives with a constant slack side tension
Drives with constant slack side tension have an
adjustable idler, tensioning the slack side, which is
not locked (Figs. 2 and 5). During operation, the con-
sistency of the slack side tension is maintained by
the external tensioning force, Fe. Drives with a con-
stant slack side tension may be considered for some
conveying applications, they have the advantage of
minimizing the required pre-tension.
The minimum pre-tension can be calculated
from the analysis of the forces at the idler
in Fig. 5:
Fe
Ti ≈ T2 =
2sin θe
2 U.S. units: T1 [lb], T1all [lb/in], b [in].
where θe is the wrap angle of the belt
around the back bending idler (Fig. 5).
Step 7. Calculate Tight Side Tension
and Slack Side Tension
Conveying
(see Figs. 1 & 2)
The tight side tension T1 and the slack side tension
Linear Positioning
(see Fig. 3)
The maximum tight side tension T1max is
obtained by:
T1max ≈ Ti + Te
The respective minimum slack side tension T2min is
obtained by:
T2min ≈ Ti – Te
for a fixed center distance.
Step 8. Calculate Belt Width
Determine the allowable tension T1all for the cords
of a 1" (or 25 mm) wide belt of the selected pitch
given in Table 1 or Table 2. Note that T1all is different
for open end (positioning) and welded (conveying)
belts. Determine the necessary belt width to with-
stand T1max.
T1max
b≥
T1all
Metric units: T1 [N], T1all [N/25mm], b [mm].
Determine the allowable effective tension Teall
for the teeth of a 1" ( or 25 mm) wide belt of the
selected pitch from Table 1 or Table 2. Note that Teall
is different for open end (positioning) and welded
(conveying) belts.
Use Table 3 (Tooth in Mesh Factor) that follows to
determine the tooth-in-mesh-factor tm correspon-
ding to the number of teeth in mesh zm .

T1

Ti T1
v,a

Te M2

θe M1 Te
d1
d2

Ti Ti T2
T2 Fe

T2

Fig. 5

Gates Mectrol • Belt Sizing Guide 6

Belt Sizing Guide
Determine the speed factor tv using Table 4 (Speed θ<180° (unequal diameter pulleys):
Factor) that follows. Fs2 = T2 • √2 (1 – cosθ) when load moves
Calculate the width of the belt teeth b necessary to toward the driver and
transmit Te using the following formula:
Fs2 = T1 • √2 (1 – cosθ) when the load moves
Te away from the driver.
b≥
Teall • tm • tv
U.S. units: Te [lb], Teall [lb/in], b [in]. Step 10. Calculate the Stiffness of a Linear
Metric units: Te [N], Teall [N/25mm], b [mm]. Positioner
Select the belt width that satisfies the last two
conditions, giving preference to standard belt The total stiffness of the belt depends mainly on the
widths. However, belts of nonstandard widths are stiffness of the belt segments between the pulleys.
also available. In most cases, the influence of belt teeth and belt
The factors tm and tv prevent excessive tooth cords in the tooth-in-mesh area can be ignored.
loading and belt wear. Calculate the resultant stiffness coefficient of tight
The forces contributing to Te, which in Step 1 were and slack sides k, as a function of the slide position
estimated, can now be calculated more accurately. (Fig. 6).
Evaluate the contribution of these forces to the
effective tension and, if necessary, recalculate Te L
k = csp • b •
and repeat steps 6, 7 and 8. L1 • L2
For conveyors, the dimensions of the transported
products will normally determine the belt width. where: L1 = tight side length
L2 = slack side length
csp = specific stiffness (Table 1).
Step 9. Calculate Shaft Forces U.S. units: k [lb/in], Csp [lb/in], b [in], L [in].
Metric units: k [N/mm], Csp [N/mm], b [mm], L [mm].
Determine the shaft force Fs1 at the driver pulley: Note that k is at its minimum when the tight and
For angle of wrap θ = 180°: slack sides are equal.
Fs1 = T1 + T2
Determine the positioning error Δx due to belt elon-
For angle of wrap around the small pulley θ gation caused by the remaining static force Fst on
<180° (unequal diameter pulleys):
the slide:
Fs1 = √T12 + T22 – 2T1 • T2 cosθ Fst
d – d1 Δx =
where θ = 2 • π • 0.5 – 2 k
( 2•π•C ) In Fig. 6, for example, Fst is comprised of Ff and Fw
Determine the shaft force Fs2 at the idler pulley: and is balanced by the static effective tension Test
For angle of wrap θ = 180°: at the driver pulley.
Fs2 = 2 • T2 when load moves toward the driver Note that Δx is inversely proportional to the belt
pulley, and width. If you want reduced Δx, increase the belt
Fs2 = 2 • T1 when load moves away from the width or select a belt with stiffer cords and/or
driver pulley. with a larger pitch.
For angle of wrap around the small pulley

ΔX L2

Fw
T1 Ti
v=0 T2
ms

F S2 Ff F S1
d d Test
idler driver Mst

T1 Ti T1

L1

Fig. 6

Gates Mectrol • Belt Sizing Guide 7

Technical Design Tools

1800

1600
Effective Tension Te (lb)

1400
-XW
1200 and T10
H-XW
1000

800

600

400

200

0
6 8 10 12 14 16 18

Belt Width b (in)

Graph 1

Tooth In Mesh Factor Speed Factor

No. of Teeth Tooth in Mesh Speed Speed Factor
in Mesh Factor
zm tm ft/min m/s tv
3 0.39 0 0 1
4 0.5 200 1 0.99
5 0.59
400 2 0.98
6 0.67
600 3 0.97
7 0.74
8 0.8 800 4 0.95
9 0.85 1000 5 0.93
10 0.89 1200 6 0.9
11 0.92 1400 7 0.87
12 0.95
1600 8 0.84
13 0.97
14 0.99 1800 9 0.81

15 1 2000 10 0.77

Table 3 Table 4

Gates Mectrol • Belt Sizing Guide 8

Technical Design Tools

Pitch Selection – Linear Positioning Pitch Selection – Conveying

(Open Ended) Belts (Welded) Belts
Belt Width [mm] Belt Width [mm]
0 25 50 75 100 125 150 0 25 50 75 100 125 150
1700 –l l l l l l l– 7500 1400 –l l l l l l l
– 6000
1600 – XL – 7000
1500 – L – 5500
– 6500 1200 –
1400 – H – 6000 – 5000
1300 – H-HF
– 5500 – 4500
1200 – XH 1000 –
– 5000
1100 – – 4000
– 4500
Effective Tension (lb)

Effective Tension (lb)

Effective Tension (N)

Effective Tension (N)

1000 –
800 – – 3500
900 – – 4000

800 – – 3500 – 3000

600 –
700 – – 3000 – 2500
600 –
– 2500 – 2000
500 – 400 –
– 2000
400 – – 1500
– 1500
300 – – 1000
– 1000 200 –
200 –
– 500
100 – – 500

0 –l l l l l l –l 0 0 –l l l l l l –l 0
0 1 2 3 4 5 6 0 1 2 3 4 5 6

Belt Width [in] Belt Width [in]

GRAPH 2a

Gates Mectrol • Belt Sizing Guide 9

Technical Design Tools

Pitch Selection – Linear Positioning Pitch Selection – Conveying

(Open Ended) Belts (Welded) Belts
Belt Width [in] Belt Width [in]
0 1 2 3 4 5 0 1 2 3 4 5
7500 –l l l l l l 6500 –l l l l l l
– 1600 – 1400
7000 – T5 6000 –
– 1500 – 1300
6500 – T10
– 1400 5500 –
T10-HF – 1200
6000 –
– 1300 5000 –
T20 – 1100
5500 –
– 1200
4500 – – 1000
5000 – – 1100
4000 – – 900
4500 –
Effective Tension (lb)

Effective Tension (lb)

– 1000
Effective Tension (N)

Effective Tension (N)

– 900 3500 – – 800

4000 –

3500 – – 800 – 700

3000 –
– 700 – 600
3000 –
2500 –
– 600
2500 – – 500
– 500 2000 –
2000 – – 400
– 400 1500 –
1500 – – 300
– 300
1000 –
1000 – – 200
– 200
500 – 500 – – 100
– 100

0 –l l l l l l –l 0 0 –l l l l l l –l 0
0 25 50 75 100 125 150 0 25 50 75 100 125 150

Belt Width [mm] Belt Width [mm]

GRAPH 2b

Gates Mectrol • Belt Sizing Guide 10

Technical Design Tools

Pitch Selection – Linear Positioning Pitch Selection – Conveying

(Open Ended) Belts (Welded) Belts
Belt Width [in] Belt Width [in]
0 1 2 3 4 5 0 1 2 3 4 5
l l l l l l 14000 –l l l l l l
– 3000
16000 – AT5 – 3600 13000 –
ATL5
– 2750
AT10 – 3300 12000 –
14000 – ATL10
11000 – – 2500
AT20 – 3000
ATL10-HF
ATL20 10000 – – 2250
12000 – – 2700
9000 – – 2000
– 2400
Effective Tension (lb)

Effective Tension (lb)

Effective Tension (N)

Effective Tension (N)

10000 – 8000 – – 1750

– 2100
7000 –
8000 – – 1500
– 1800
6000 –
– 1500 – 1250
6000 – 5000 –
– 1200 – 1000
4000 –
4000 – – 900 – 750
3000 –

– 600 – 500
2000 –
2000 –
– 300 1000 – – 250

0 –l l l l l l l –l 0 0 –l l l l l l l –l 0
0 25 50 75 100 125 150 175 0 25 50 75 100 125 150 175

Belt Width [mm] Belt Width [mm]

GRAPH 2c

Gates Mectrol • Belt Sizing Guide 11

Technical Design Tools

Pitch Selection – Linear Positioning Pitch Selection – Conveying

(Open Ended) Belts (Welded) Belts
Belt Width [in] Belt Width [in]
0 1 2 3 4 5 6 0 1 2 3 4 5 6
28000 16000
3500
HTD5 6000 HTD5
26000 STD5
STD5
HTD8, STD8 5500 14000 HTD8
24000 HTD14 STD8 3000
HTDL14 HTD14
22000 5000
12000
20000 4500
2500
18000 4000 10000
Effective Tension (lb)

Effective Tension (N)

Effective Tension (N)

Effective Tension (lb)

16000
3500 2000
14000 8000
3000
12000
1500
2500
6000
10000
2000
8000 1000
1500 4000
6000

1000
4000 500
2000
2000 500

0 0 0 0
0 25 50 75 100 125 150 175 0 25 50 75 100 125 150 175

Belt Width [mm] Belt Width [mm]

GRAPH 2d

Gates Mectrol • Belt Sizing Guide 12

Belt Sizing Examples
Conveying Step 4
Preliminary number of belt teeth z̃b = 2 • C̃ + zp
v = 120 ft/min Speed p
W = 60 lb Box weight z̃b = 2 • 336 in + 22 z̃b = 1366
18" x 12" Box bottom size 0.5 in
C = 28 ft (336 in) Center distance
b = 15° Conveyor angle of incline Chosen number of belt teeth zb = 1366
d ≈ 3.5" Pulley outside diameter Belt length L = zp • p
°
slider bed made of steel
L = 1366 • 0.5 in L = 683 in
belt teeth covered with nylon fabric
Considering only the box size, a belt width of approxi- Step 5
mately 12" would be necessary. Instead of using one 12" zp
Number of teeth in mesh zm =
wide belt, however, we decide to build a conveyor with 2
two parallel running belts. The minimum belt width will zm = 22 zm = 11
be determined. 2

Step 1 Step 6
The boxes are carried lengthwise on 2 ft centers Pre-tension Ti = 0.5Te
Ti = 0.5 • 460.8 lb Ti = 230.4 lb
Weight distribution over conveyor length wm = 30 lb/ft.
Friction force Step 7
Ff = µ • wm • Lm • cosß Tight side tension
T1 ≈ Ti + 0.75Te
Ff = 0.3 • 30 lb • 28 ft • cos15° Ff = 243.4 lb
ft T1 ≈ 230.4 lb + 0.75 • 460.8 lb T1 = 576 lb
(coefficient of friction µ = 0.3 obtained fromTable 1A) Slack side tension T2 = T1 – Te
Gravitational load T2 = 576 – 460.8 lb T2 = 115.2 lb
Fg = wm • Lm • sinß
Step 8
Ff = 30 lb • 28 ft • sin15° Ff = 217.4 lb Allowable belt tension T1all = 245 lb/in
ft (from Table 1)
Effective tension T1max
Belt width b to withstand T1max b≥
Te = 243.4 lb + 217.4 lb Te = Ff + Fg T1all
Te = 460.8 lb b ≥ 576 lb
Step 2 245 lb b ≥ 2.35 in
in
Selected belt tooth profile =>H (Graph 2a)
Allowable effective tension Teall = 330 lb/in
An effective tension of 460.8 lb can be transmitted by (from Table 1)
either L or H belt. We choose H tooth profile (0.5").
Tooth in mesh factor t m = 0.92
The minimum belt width to transmit the load will be
(from Table 3; for zm = 11)
approximately 2.5 inches.
Speed factor tv = 1
Step 3 (from Table 4; for v = 120 ft/min)
Te
Approximate number of z̃p = π • d̃ Belt width to transmit Te b≥
pulley teeth p Teall • tm • tv
b≥ 460.8 lb
π • 3.5 in
z̃p = = z̃p = 21.99 330 lb • 0.92 • 1 b ≥ 1.52 in
0.5 in in
Chosen number of teeth z = 22 Chosen belt width—boxes will be conveyed on two
(chosen number of teeth is greater than the recom- belts 1.5" wide each
mended minimum number of pulley teeth for H tooth (Note that each belt is loaded by half of the calculated
profile belt [zmin = 14] given in Table 1) forces)
p • zp
Pulley pitch diameter d=
π
d = 0.5 in • 22 d = 3.501 in
π

Gates Mectrol • Belt Sizing Guide 13

Belt Sizing Examples
Step 9 Step 5
zp
Shaft force at driver Number of teeth in mesh zm =
Fs1 = T1+ T2 2
zm = 32 zm = 16
Fs1 = 576 lb + 115.2 lb Fs1 = 691.2 lb 2
Shaft force at idler
Step 6
Fs2 = 2T2 Belt pre-tension Ti = 1.1 • Te
Fs2 = 2 • 115.2 lb Fs2 = 230.4 lb Ti = 1.1 • 650N Ti = 715N

Linear Positioning Step 7

v = 3.5 m/s Speed Maximum tight side tension T1max ≈ Ti + Te
a = 20 m/s2 Slide acceleration
T1max ≈ 715N + 650N T1max = 1365N
ms = 30 kg Slide mass
Ff = 50 N Friction force Maximum slack side tension T2max ≈ T1max – Te
Δχ ≤ 0.1 mm Positioning error
do ≈ 50mm Pulley diameter T2max ≈ 1365N – 650N T2max = 715N
C = 3000 mm Center distance
S = 2500 mm Travel Step 8
Lp = 160 mm Platform length Allowable belt tension T1all = 1615N/25mm
(from Table 1)
Step 1 T1max
Force to accelerate the slide Fa = ms • a Belt width b to withstand T1max b≥
T1all
Fa = 30 kg • 20 m/s2 Fa = 600N
b ≥ 1365N 25mm
•
1615N b ≥ 21.1mm
Friction force Ff = 50N
Allowable effective tension Teall = 1270N/25mm
Effective tension Te = Fa + Ff (from Table 1)
Te = 600N + 50N Te = 650N Tooth in mesh factor tm = 1
(from Table 3; for zm = 16)
Step 2
Speed factor t v = 0.96
Selected belt tooth form =>AT5 (Graph 2c) (from Table 4; for v = 3.5 m/s)
For linear positioning, belts of the AT series are preferred, Te
Belt width to transmit Te b≥
because of the higher cord and tooth stiffness. Teall • tm • tv
650N
b≥
Step 3 1270N 1 0.96 b ≥ 13.3mm
• •
Approximate number z̃p = π • d̃ 25mm
of pulley teeth p Chosen belt width (for increased b = 50mm
stiffness a wider belt is chosen)
z̃p = π • 50mm z̃p = 31.4
5mm Step 9
Chosen number of teeth zp = 32 Maximum shaft force at driver Fs1max =T1max +T2max
(greater than the recommended minimum number of Fs1max = 1365N + 715N Fs1max = 2080N
pulley teeth for an AT5 belt [zmin = 12] given in Table 1) Maximum shaft force at idler Fs2max = 2 • T1max
p • zp
Pulley pitch diameter d= Fs2max = 2 • 1365N Fs2max = 2730N
π
d = 5mm • 32 d = 50.93mm
Step 10
π L1 + L2
Belt stiffness k = csp • b •
Step 4 L1 • L2
k = 17600 • N • 50mm • 6000mm
Preliminary number of belt teeth z̃b = 2 • C̃ + zp
p mm 3290mm • 2710mm
z̃b = 2 • 3000mm + 32 z̃b = 1232
5mm N
k = 592.2 mm
Chosen number of belt teeth z = 1232
Fst
Belt length L = zb • p Slide displacement Δx =
L = 1232 • 5mm L = 6160mm 50N k
Δx = N Δx = 0.084mm < 0.1mm
(incl. 160mm over the slide) 592.2 mm

Static load on the slide Fst is equal to the friction force

(Fst = Ff = 50N)

Gates Mectrol • Belt Sizing Guide 14

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GM_Belt Sizing Guide_06_US

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