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Usa Tech Calculation PDF
Usa Tech Calculation PDF
Motors
Motors ············································· G-2
Selection Calculations
Linear and
Actuators
Linear and
Rotary
Selection
Rotary ··········································· G-18
Calculations
Actuators
Cooling
Fans
Cooling Fans ··········································· G-34
Service
Life
Service Life ··········································· G-36
Stepping
Motors
Technical Reference Stepping Motors ··········································· G-40
Motors
Servo
Servo Motors ··········································· G-51
Standard
Motors
··········································· G-54
AC
Standard AC Motors
Speed Control
Motors/AC
Brushless
Motors
Brushless Motors
··········································· G-60
AC Speed Control Motors
Gearheads
Gearheads ··········································· G-66
Linear and
Actuators
Rotary
Linear and Rotary Actuators ··········································· G-74
Cooling
Fans
Cooling Fans ··········································· G-82
G-1
Selection Calculations
Motors
Selection Calculations
For Motors
Selecting a motor that satisfies the specifications required by the equipment is an important key to ensuring the
desired reliability and economy of the equipment.
This section describes the procedure to select the optimum motor for a particular application, as well as the
selection calculations, selection points and examples.
■ Selection Procedure
An overview of selection procedure is explained below.
● First, determine the drive mechanism. Representative drive mechanisms include a simple body of
rotation, a ball screw, a belt pulley, and a rack-and-pinion. Along with the type of drive mechanism, you
must also determine the dimensions, mass and friction coefficient etc., that are required for the load
Determine the drive mechanism calculation. The general items are explained below.
● Dimensions and mass (or density) of load
● Dimensions and mass (or density) of each part
● Friction coefficient of the sliding surface of each moving part
● Check the equipment specifications. The general items are explained below.
● Operating speed and operating time
● Positioning distance and positioning time
Check the required specifications ● Resolution
(Equipment specifications) ● Stopping accuracy
● Position holding
● Power supply voltage and frequency
● Operating environment
● Calculate the values for load torque and load inertia at the motor drive shaft. Refer to the left column on
Calculate the load page G-3 for the calculation of load torque for representative mechanisms.
Refer to the right column on page G-3 for the calculation of inertia for representative shapes.
● Select a motor type from standard AC motors, brushless motors or stepping motors based on the
Select motor type required specifications.
● Make a final determination of the motor after confirming that the specifications of the selected motor
Selection calculation and gearhead satisfy all of the requirements, such as mechanical strength, acceleration time and
acceleration torque. Since the specific items that must be checked will vary depending on the motor
model, refer to the selection calculations and selection points explained on page G-4 and subsequent
pages.
Motors
Mechanism TL [N·m] ● Calculate the Moment of Inertia
Selection Calculations
● Calculate the Load Torque ◇ Inertia of a Cylinder
1
Linear and
Actuators
◇ Ball Screw Drive π
Jx = mD12 = ρLD14 [kg·m2] ⑦
Rotary
8 32
FPB μ0F0PB 1
TL =( + )× [N·m] ① 1 D12 L2
2πη 2π i Jy = m ( + ) [kg·m2] ⑧
4 4 3
D1
F = FA + mg (sin θ + μ cos θ ) [N] ②
Cooling
Fans
x
Direct Connection
F
FA m m y L
Service
FA θ
Life
◇ Pulley Drive ◇ Inertia of a Hollow Cylinder
μFA + mg πD 1 π
Stepping
TL = × Jx = m (D12 + D22) = ρL (D14 − D24) [kg·m2] ⑨
Motors
2π i 8 32
(μFA + mg) D 1 D12 + D22 L2
= [N·m] ③ Jy = m ( + ) [kg·m2] ⑩
2i 4 4 3
x
D1
Motors
D2
Servo
ϕD
y L
Standard
Motors
FA m
AC
◇ Inertia on Off-Center Axis
◇ Wire or Belt Drive, Rack and Pinion Drive
Speed Control
1
Motors/AC
Brushless
Jx = Jx0 + ml 2 = m (A2 + B2 + 12l 2) [kg·m2] ⑪
Motors
F πD FD 12
TL = × = [N·m] ④
2πη i 2ηi x0
x
F = FA + mg (sin θ+ μ cos θ ) [N] ⑤
C
Gearheads
FA F
m FA m F
l : Distance between x and x0 axes [m] B
ϕD A
ϕD
◇ Inertia of a Rectangular Pillar
Linear and
1 1
Actuators
◇ By Actual Measurement
Rotary
Jx = m (A2 + B2) = ρABC (A2 + B2) [kg·m2] ⑫
12 12
FBD
TL = [N·m] ⑥ 1 1
2 Jy = m (B2 + C 2) = ρABC (B2 + C 2) [kg·m2] ⑬
Spring Balance 12 12
A x
Cooling
B
Fans
FB
Mac
hine
C
ry y
ϕD
Pulley
◇ Inertia of an Object in Linear Motion
F : Force of moving direction [N] A
F0 : Preload [N] ( 1/3F) J = m ( 2π )2 [kg·m2] ⑭
0 : Internal friction coefficient of preload nut (0.1∼0.3) A : Unit of movement [m/rev]
Ș : Efficiency (0.85∼0.95)
i : Gear ratio (This is the gear ratio of the mechanism and not the Density
gear ratio of the Oriental Motor's gearhead you are Stainless ρ=8.0×103 [kg/m3]
selecting.) Iron ρ=7.9×103 [kg/m3]
PB : Ball screw lead [m/rev] Aluminum ρ=2.8×103 [kg/m3]
FA : External force [N] Brass ρ=8.5×103 [kg/m3]
FB : Force when main shaft begins to rotate [N] Nylon ρ=1.1×103 [kg/m3]
(FB = value for spring balance [kg] × g [m/s2]) Jx : Inertia on x axis [kg·m2]
m : Total mass of the table and load [kg] Jy : Inertia on y axis [kg·m2]
: Friction coefficient of sliding surface (0.05) Jx0: Inertia on x0 axis
ș : Tilt angle [deg] (passing through center of gravity) [kg·m2]
D : Final pulley diameter [m] m : Mass [kg]
g : Gravitational acceleration [m/s2] (9.807) D1 : Outer diameter [m]
D2 : Inner diameter [m]
ρ : Density [kg/m3]
L : Length [m]
CAD Data
Manuals
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Support
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G-3
Selection Calculations
Motors
● Operating Pattern f1
There are two basic motion profiles.
Time [ms]
Acceleration/deceleration operation is the most common. When t1
operating speed is low and load inertia is small, start/stop operation ● Calculate the pulse speed in full-step equivalents.
● In this example, speed is calculated in [kHz], while time is calculated in [ms].
can be used.
Pulse Speed
f2 Pulse Speed ● Calculate the Operating Speed NM [r/min] from Operating
f2
Pulse Speed f2 [Hz]
θs
A A NM = f2 × × 60
360
f1
Motors
Calculate the effective load torque when selecting the BX Series
brushless motors and servo motors.
Selection Calculations
When the required torque for the motor varies over time, determine if
Linear and
the motor can be used by calculating the effective load torque.
Actuators
Rotary
The effective load torque becomes particularly important for
operating patterns such as fast-cycle operations where acceleration/
deceleration is frequent.
Cooling
Fans
2 2 2
(Ta + TL) · t1 + TL · t2 + (Td − TL) · t3
Trms =
tf
Service
Speed NM
Life
[r/min] (Speed pattern)
Stepping
Motors
Time [s]
Torque T
Motors
Servo
[N·m] (Torque pattern)
Ta
TL
Standard
Motors
Td
AC
Time [s]
t1 t2 t3 t4
Speed Control
tf
Motors/AC
Brushless
Motors
Gearheads
Linear and
Actuators
Rotary
Cooling
Fans
CAD Data
Manuals
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Support
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G-5
Selection Calculations
Motors
NM Speed
f2 Pulse Speed
Motors
① Permissible Load Inertia
A permissible load inertia is specified to enable stable control of ● Ball Screw Mechanism
Selection Calculations
the servo motor. Please select a load inertia that does not exceed Using Stepping Motors ( )
Linear and
this permissible value.
Actuators
Rotary
(1) Specifications and Operating Conditions of the Drive
Product Permissible Load Inertia
NX Series 50 times the rotor inertia or less✽
Mechanism
✽ Up to 50 times the rotor inertia can be supported with auto-tuning and up to 100 times with Controller Stepping
manual tuning.
Cooling
Motor m
Fans
② Rated Torque Coupling
The motor can be operated if the ratio between load torque TL and
the rated torque of the servo motor is 1.5 to 2 or higher. Direct
Connection
Service
Rated torque
Life
Driver
1.5∼2
Load torque
Stepping
DB
Motors
Confirm that the required torque is no higher than the maximum
instantaneous torque of the servo motor (the safety factor Sf of the
required torque should be 1.5 to 2). Programmable
Controller
Note, the amount of time the maximum instantaneous torque can
Motors
Servo
be used varies depending on the motor. Total mass of the table and load ........................................ m = 40 [kg]
Maximum instantaneous torque and operating time Friction coefficient of sliding surface ...................................... = 0.05
Product Operating Time Maximum Instantaneous Torque
Ball screw efficiency ................................................................. Ș = 0.9
Internal friction coefficient of preload nut ................................0 = 0.3
Standard
NX Series
Motors
Approximately 0.5 seconds or less 3 times the rated torque (at rated speed)
AC
Ball screw shaft diameter ................................................DB = 15 [mm]
④ Effective Load Torque Total length of ball screw ................................................LB = 600 [mm]
The motor can be operated if the effective load safety factor, the Ball screw material ......................... Iron (density ȡ = 7.9 × 103 [kg/m3])
Speed Control
Motors/AC
Brushless
ratio between effective load torque and the rated torque of the Ball screw lead ................................................................ PB = 15 [mm]
Motors
servo motor, is 1.5 to 2 or higher. Desired resolution ................................................... Δl = 0.03 [mm/step]
Rated torque (feed per pulse)
Effective load safety factor =
Effective load torque Feed ................................................................................. l = 180 [mm]
Gearheads
⑤ Settling Time Positioning time ......................................................t0 = within 0.8 sec.
With servo motors, there is a lag between the position command Tilt angle .............................................................................. ș = 0 [deg]
from the pulse signal and actual operation of the motor. This (2) Calculate the Required Resolution θ s
Linear and
Actuators
difference is called the settling time. Therefore, this settling time 360˚ × Δl 360˚ × 0.03
Rotary
θs = = = 0.72˚
added to the positioning time calculated from the operation PB 15
pattern is the actual positioning time.
AR Series can be connected directly to the application.
Cooling
Pulse speed Speed (3) Determine the Operating Pattern (Refer to page G-4 for
Fans
Motor speed formula)
① Calculate the number of operating pulses A [Pulse]
Pulse signal
l 360°
A= ×
PB θs
180 360°
= × = 6000 [Pulse]
15 0.72°
Settling time Time
Positioning time ② Determine the acceleration (deceleration) time t1 [s]
An acceleration (deceleration) time of 25% of the positioning time
● The settling time at the time of shipment is 60 to 70 ms in the NX series. However, the is appropriate.
settling time changes when the gain parameters are adjusted with the mechanical rigidity
setting switch. t1 = 0.8 × 0.25 = 0.2 [s]
③ Calculate the operating pulse speed f2 [Hz]
A − f1 × t1 6000 − 0
f2 = = = 10000 [Hz]
t0 − t1 0.8 − 0.2
Pulse Speed [Hz] t1 = 0.2
10000
6000 Pulses
t1 t1 Time [s]
0.8
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G-7
Selection Calculations
Motors
④ Calculate the operating speed NM [r/min] (6) Check the Inertia Ratio (Refer to formula on page G-6)
θs 0.72˚ JL 2.52 × 10−4
NM = f2 × × 60 = 10000 × × 60 = 6.6
360 360 J0 380 × 10−7
= 1200 [r/min]
Since the inertia ratio of AR66AA-3 is 30 or less, if the inertia ratio
(4) Calculate the Required Torque TM [N·m] (Refer to page G-4) is 6.6 you can judge whether motor operation is possible.
① Calculate the load torque TL [N·m]
Force of moving direction F = FA + mg (sin θ + μ cos θ)
= 0 + 40 × 9.807 (sin 0˚ + 0.05 cos 0˚)
= 19.6 [N]
F 19.6
Preload F0 = = = 6.53 [N]
3 3
F · PB μ0 · F0 · PB
Load torque TL = +
2πη 2π
19.6 × 15 × 10−3 0.3 × 6.53 × 15 × 10−3
= +
2π × 0.9 2π
= 0.0567 [N·m]
PB 2
Inertia of table and load JT = m ( )
2π
15 × 10−3 2
= 40 × ( ) = 2.28 × 10−4 [kg·m2]
2π
Load inertia JL = JB + JT
= 0.236 × 10−4 + 2.28 × 10−4 = 2.52 × 10−4 [kg·m2]
Operating Area
1.0 and required torque
falls within the
pullout torque of
0.5
the speed – torque
characteristics.
0
0 1000 2000 3000 4000
Speed [r/min]
0 10 20 30 40 50 60 70
Pulse Speed [kHz]
(Resolution setting: 1000 P/R)
Motors
Force of moving direction F = FA + m · g (sin ș + ȝ · cos ș )
(1) Specifications and Operating Conditions of the Drive
= 29.4 + 100 × 9.807 (sin 0˚ + 0.04 cos 0˚)
Selection Calculations
Mechanism
= 68.6 [N]
A servo motor for driving a single-axis table is selected, as shown in
Linear and
Actuators
Load torque of motor shaft conversion
Rotary
the figure below.
Servo Motor F · PB μ0 · F0 · PB
Programmable External Force FA TL = +
m 2π · ŋ 2π
Controller Controller Driver
Cooling
−3 −3
68.6 × 10 × 10 0.3 × 22.9 × 10 × 10
Fans
= +
2π × 0.9 2π
Ball Screw
0.13 [N·m]
1
Service
Here, the ball screw preload F0 = 3 F .
Life
Max. speed of table ........................................................VL = 0.2 [m/s]
Resolution .................................................................... ¨l = 0.02 [m/s] (5) Calculation of Load Inertia JL [kg·m2]
Stepping
Motor power supply .........................................Single-Phase 115 VAC Inertia of ball screw
Motors
JB = π · ρ · LB · DB
4
Total mass of table and load ............................................m = 100 [kg] 32
External force .................................................................. FA = 29.4 [N]
π 3 −3 −3 4
Friction coefficient of sliding surface ...................................... ȝ = 0.04 = × 7.9 × 10 × 1000 × 10 × (25 × 10 )
32
Efficiency of ball screw ............................................................. Ș = 0.9
Motors
Servo
−4 2
Internal friction coefficient of preload nut ................................0 = 0.3 3.03 × 10 [kg·m ]
Ball screw shaft diameter ............................................... DB = 25 [mm]
Total length of ball screw ............................................. LB = 1000 [mm] PB 2
Inertia of table and work Jm = m ( 2π )
Standard
Motors
Ball screw lead ............................................................... PB = 10 [mm]
AC
−3
Ball screw material ......................... Iron (density ȡ = 7.9 × 103 [kg/m3]) 10 × 10 2
= 100 × ( 2π
)
Operating cycle ... Operation for 2.1 sec./stopped for 0.4 sec. (repeated)
Speed Control
Acceleration/deceleration time ..................................... t1 = t3 = 0.1 [s] −4
Motors/AC
2
2.53 × 10
Brushless
[kg·m ]
Motors
(2) Calculation of the Required Resolution ș Load inertia JL = JB + Jm
The resolution of the motor is calculated from the resolution required = 3.03 × 10−4 + 2.53 × 10−4 = 5.56 × 10−4 [kg·m2]
Gearheads
to drive the table.
(6) Tentative Selection of Servo Motor
θ = 360˚ · Δl = 360˚ × 0.02 = 0.72˚ Safety factor Sf = 1.5
PB 10
The resolution of the NX series, șM = 0.36˚/pulse, satisfies this Load torque T’L = Sf · TL
Linear and
Actuators
condition. = 1.5 × 0.13 = 0.195 [N·m]
Rotary
Load inertia JL = 5.56 ×10−4 [kg·m2]
(3) Determination of Operating Pattern This gives us a speed of 1200 [r/min], and a rated torque of 0.195
The motor speed NM is calculated using the following formula.
[N·m] or higher is output. A servo motor with a permissible load
Cooling
NM = 60 · VL = 60 × 0.2−3 inertia of 5.56 × 10−4 [kg·m2] or higher is selected.
Fans
= 1200 [r/min]
PB 10 × 10
A speed pattern is created from this NM and operating cycle, as well ➜ NX620AA-3
as the acceleration/deceleration time.
Rated speed N = 3000 [r/min]
t1 =t3 = 0.1
Speed [r/min] Rated torque TM = 0.637 [N·m]
1200 Rotor inertia J0 = 0.162 × 10−4 [kg·m2]
Permissible load inertia J = 8.1 × 10−4 [kg·m2]
Maximum instantaneous torque TMAX = 1.91 [N·m]
The above values are appropriate.
t1 ( 1.9) t3 0.4 Time [s]
(7) Calculation of Acceleration Torque Ta [N·m] and
2.1
Deceleration Torque Td [N·m]
( 2.5) Acceleration/deceleration torque is calculated using the following
formula.
( JL + J0 ) NM
Ta = (Td) =
9.55t1
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G-9
Selection Calculations
Motors
Gearhead
Torque [N·m] Coupling
0.72
Ball Screw
FA
0.13 Linear Guide
0.72 Time [s]
v
t1 (1.9) t3 0.4 m
(2.5)
Motors
permissible torque of gearhead based on the calculation results Using Standard AC Motors
(gear ratio i = 9, load torque TL = 0.86 [N·m]) obtained so far.
Selection Calculations
Here, 4RK25GN-AW2MU and 4GN9SA are tentatively selected (1) Specifications and Operating Conditions of the Drive
as the motor and gearhead respectively, by referring to the Mechanism
Linear and
Actuators
Rotary
"Gearmotor – Torque Table" on page C-125. Here is an example of how to select an induction motor to drive a
Next, convert this load torque to a value on the motor output shaft to belt conveyor.
obtain the required torque TM, as follows: In this case, a motor must be selected that meets the following
required specifications.
0.86
Cooling
TL
TM = = = 0.118 [N·m]= 118 [mN·m] V
Fans
i · ηG 9 × 0.81
load
(Gearhead efficiency ηG = 0.81)
Service
Life
earlier is 140 mN·m. Since this is greater than the required torque of
118 mN·m, this motor can start the mechanism in question. D Belt Conveyor
Next, check if the gravitational load acting upon the mechanism in
Motor
Stepping
Motors
standstill state can be held with the electromagnetic brake. Gearhead
Here, the load equivalent to the load torque obtained earlier is
Total mass of belt and load ............................................... m1 = 25 [kg]
assumed to act.
External force ....................................................................... FA = 0 [N]
Torque T'M required for load holding on the motor output shaft:
Friction coefficient of sliding surface ........................................ = 0.3
Motors
Servo
TL 0.86 Roller diameter ................................................................. D = 90 [mm]
T'M = = = 0.0956 [N·m] = 95.6 [mN·m]
i 9
Roller mass ..........................................................................m2 = 1 [kg]
The static friction torque generated by the electromagnetic brake of Belt and roller efficiency ...........................................................Ș = 0.9
the 4RK25GN-AW2MU motor selected earlier is 100 mN·m, which
Standard
Belt speed .......................................................... V = 150 [mm/s]±10%
Motors
AC
is greater than 95.6 mN·m required for the load holding. Motor power supply ..............................Single-Phase 115 VAC 60 Hz
Operating time .................................................................. 8 hours/day
(4) Check the Moment of Load Inertia J [kg·m2]
Speed Control
Motors/AC
Brushless
(2) Determine the Gear Ratio
Motors
π
Inertia of ball screw JB = · ρ · LB · D B 4
32 V · 60 (150 ± 15) × 60
Speed at the gearhead output shaft NG = =
π π·D π × 90
= × 7.9 × 103 × 800 × 10−3 × (20 × 10−3)4
32
= 31.8 ± 3.2 [r/min]
Gearheads
= 0.993 × 10−4 [kg·m2]
Because the rated speed for a 4-pole motor at 60 Hz is 1450 to
A 2 1550 r/min, the gear ratio is calculated as follows:
Inertia of table and load Jm = m ( )
2π
1450∼1550 1450∼1550
Linear and
Actuators
5 × 10−3 2 Gear ratio i = = = 41.4∼54.2
Rotary
= 45 ( ) NG 31.8 ± 3.2
2π
= 0.286 × 10−4 [kg·m2] This gives us a gear ratio of i = 50.
Cooling
(3) Calculate the Required Torque TM [N·m]
Fans
Load inertia at the gearhead shaft J is calculated as follows:
Friction coefficient of sliding surface F is calculated as follows:
J = JB + Jm = 0.993 × 10−4 + 0.286 × 10−4 F = FA + m · g (sin ș + ȝ · cos ș )
= 1.28 × 10−4 [kg·m2] = 0 + 25 × 9.807 (sin 0˚ + 0.3 × cos 0˚)
= 73.6 [N]
Here, permissible load inertia of gearhead 4GN9SA (gear ratio i = 9)
JG is (Refer to page C-18): F·D 73.6 × 90 × 10−3
Load torque T'L = = = 3.68 [N·m]
2·η 2 × 0.9
JG = 0.31 × 10−4 × 92
= 25.1 × 10−4 [kg·m2]
Allow for a safety factor of 2 times.
Therefore, J<JG, the load inertia is less than the permissible value, so TL = TƍL · 2 = 3.68 × 2 = 7.36 [N·m]
there is no problem. There is margin for the torque, so the traveling
Select an induction motor and gearhead satisfying the permissible
speed is checked with the speed under no load (approximately
torque of gearhead based on the calculation results (gear ratio
1750 r/min).
i = 50, load torque TL = 7.36 [N·m]) obtained so far.
NM · PB 1750 × 5 Here, 5IK60GE-AW2U and 5GE50SA are tentatively selected as
V= = = 16.2 [mm/s]
60 · i 60 × 9 NM: Motor speed
the motor and gearhead respectively, by referring to the “Gearmotor –
This confirms that the motor meets the specifications. Torque Table” on page C-47.
Based on the above, 4RK25GN-AW2MU and 4GN9SA are Next, convert this load torque to a value on the motor output shaft to
selected as the motor and gearhead, respectively. obtain the required torque TM, as follows:
TL 7.36
TM = = = 0.22 [N·m] = 220 [mN·m]
i · ηG 50 × 0.66
(Gearhead efficiency ηG = 0.66)
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G-11
Selection Calculations
Motors
(4) Check the Moment of Load Inertia J [kg·m2] Using Low-Speed Synchronous Motors (SMK Series)
π·D 2 (1) Specifications and Operating Conditions of the Drive
Inertia of belt and load Jm1 = m1 ( 2π ) Mechanism
π × 90 × 10−3 2
The mass of load is selected that can be driven with
= 25 × ( 2π ) SMK5100A-AA when the belt-drive table shown in Fig. 1 is driven in
the operation pattern shown in Fig. 2.
= 507 × 10−4 [kg·m2]
1 Load
Inertia of roller Jm2 = · m 2 · D2
8 V m
Roller 2
1
= × 1 × (90 × 10−3)2 F
8
Roller 1
= 10.2 × 10−4 [kg·m2]
Therefore, J<JG, the load inertia is less than the permissible inertia, 60
so there is no problem. Since the motor selected has a rated torque
15 [sec]
of 405 mN·m, which is greater than the actual load torque, the motor 5 10
will operate at a higher speed than the rated speed. −60
Therefore, the belt speed is calculated from the speed under no load Fig. 2 Operating Pattern
(approximately 1470 r/min), and thus determine whether the selected
Low-speed synchronous motors share the same basic operating
product meets the required specifications.
principle with 1.8° stepping motors. Accordingly, the torque for a
NM · π · D 1750 × π × 90
V = = = 165 [mm/s] low-speed synchronous motor is calculated in the same manner as
60 · i 60 × 50
NM: Motor speed for a 1.8° stepping motor.
This confirms that the motor meets the specifications. (2) Belt speed V [mm/s]
Based on the above, 5IK60GE-AW2U and 5GE50SA are selected Check the belt (load) speed
as the motor and gearhead respectively.
V = π D · N = π × 30 × 72 = 113 [mm/s]
60 60
Motors
Ta = (J0 + JL) × π · θs × f 2 = (J0 + 3.5 × 10−4) × π × 7.2 × 602 (1) Specifications and Operating Conditions of the Drive
180 · n 180 × 0.5
Selection Calculations
Mechanism
= 905 · J0 + 0.32 [N·m]
Here is an example of how to select a brushless motor to drive a belt
Linear and
Actuators
Rotary
Here, ș s = 7.2˚, f = 60 Hz, n = 3.6˚/ș s = 0.5 conveyor.
J0: Rotor Inertia V
Load D
(6) Calculate the Required Torque TM [N·m] (Look for a margin
Cooling
Roller
Fans
of safety of 2 times)
Required Torque TM = (TL + Ta) × 2
= (9.82 × 10−3 + 905 · J0 + 0.32) × 2
Service
= 1810 · J0 + 0.66 [N·m]
Life
(7) Select a Motor Motor
Select a motor that satisfies both the required torque and the Belt speed ................................................................ VL = 0.05∼1 [m/s]
Stepping
Motors
permissible load inertia. Motor power supply ........................................Single-Phase 115 VAC
Rotor Inertia Permissible Load Inertia Output Torque Belt conveyor drive
Motor
[kg·m2] [kg·m2] [N·m] Roller diameter ................................................................... D = 0.1 [m]
SMK5100A-AA 1.4×10−4 7×10−4 1.12 Roller mass ..........................................................................m2 = 1 [kg]
Motors
Total mass of belt and load .................................................m1 = 7 [kg]
Servo
When the required torque is calculated by substituting the rotor
External force ....................................................................... FA = 0 [N]
inertia, T M is obtained as 0.914 N·m, which is below the output
Friction coefficient of sliding surface ........................................ = 0.3
torque. Next, check the permissible load inertia. Since the load
Belt and roller efficiency ........................................................... Ș = 0.9
Standard
inertia calculated in (4) is also below the permissible load inertia,
Motors
AC
SMK5100A-AA can be used in this application.
(2) Find the Required Speed Range
For the gear ratio, select 15:1 (speed range: 5.3∼200) from the
Speed Control
“Gearmotor – Torque Table of Combination Type” on page D-67 so
Motors/AC
Brushless
Motors
that the minimum/maximum speed falls within the speed range.
60 · VL
NG = NG: Speed at the gearhead shaft
π·D
Gearheads
60 × 0.05
Belt speed 0.015 [m/s] .......... = 9.55 [r/min] (Minimum speed)
π × 0.1
60 × 1
1 [m/s] ................. = 191 [r/min] (Maximum speed)
π × 0.1
Linear and
Actuators
Rotary
(3) Calculate the Moment of Load Inertia JG [kg·m2]
π·D 2 π × 0.1 2
Inertia of belt and load Jm1 = m1 ( ) =7×( )
2π 2π
Cooling
Fans
1 2
Inertia of roller Jm2 = · m2 · D
8
1
= × 1 × 0.12 = 12.5 × 10−4 [kg·m2]
8
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G-13
Selection Calculations
Motors
= 120 mm
t1 t1 Time [s]
t 0 = 0.25
④ Calculate the operating speed NM [r/min]
θS
NM = f2 · 60
360˚
Controller 0.072˚
= × 3334 × 60
360˚
40 [r/min]
Driver
The permissible speed range for the PN geared motor with a gear
ratio of 10 is 0 to 300 r/min.
Programmable (3) Calculate the Required Torque TM [N·m] (Refer to page G-4)
Controller
Geared Stepping Motor ① Calculate the load torque TL [N·m]
Friction load is negligible and therefore omitted. The load torque is
Index table diameter ...................................................... DT = 300 [mm]
assumed as 0.
Index table thickness ........................................................ LT = 5 [mm]
Load diameter ................................................................ DW = 40 [mm] TL = 0 [N·m]
Load thickness ................................................................ LW = 30 [mm]
Material of table .................... Aluminum (density ȡ = 2.8 × 103 [kg/m3]) ② Calculate the acceleration torque Ta [N·m]
Number of loads ......................................................10 (one every 36˚) ②-1 Calculate the moment of load inertia JL [kg·m2]
Material of loads ..................... Aluminum (density ȡ = 2.8 × 103 [kg/m3]) (Refer to page G-3 for formula)
Distance from center of index table to center of load......... l = 120 [mm] π
Positioning angle ...................................................................... ș = 36˚ Inertia of table JT = × ρ × LT × DT4
32
Positioning time .............................................................. t0 = 0.25 sec. π
= × 2.8 × 103 ×(5 × 10−3)×(300 × 10−3)4
32
The RK Series PN geared type (gear ratio 10, resolution per pulse
= 1.11 × 10−2 [kg·m2]
= 0.072˚) can be used.
The PN geared type can be used at the maximum starting/stopping
torque in the inertial drive mode. π
Inertia of load JW1 = × ρ × LW × DW4
Gear ratio ............................................................................... i = 10 32
(Center shaft of load)
Resolution ......................................................................șs = 0.072˚ =
π
× 2.8 × 103 ×(30 × 10−3)×(40 × 10−3)4
32
(2) Determine the Operating Pattern (Refer to page G-4 for = 0.211 × 10−4 [kg·m2]
formula)
① Calculate the number of operating pulses A [Pulse] π
Mass of load mW = × ρ × LW × DW 2
4
θ
A= π
θs = × 2.8 × 103 ×(30 × 10−3)×(40 × 10−3)2
4
36°
=
0.072° = 0.106 [kg]
= 500 [Pulse] Inertia of load JW [kg·m2] relative to the center of rotation can be
② Determine the acceleration (deceleration) time t1 [s] obtained from distance L [mm] between the center of load and
center of rotation, mass of load mW [kg], and inertia of load (center
An acceleration (deceleration) time of 25% of the positioning time is
shaft of load) JW1 [kg·m2].
appropriate.
Since the number of loads, n = 10 [pcs],
Here we shall let
Inertia of load JW = n × (JW1 + mW × L2)
t1 = 0.1 [s]. (Center shaft of load)
= 10 × {(0.211 × 10−4) + 0.106 × (120 × 10−3)2}
③ Calculate the operating pulse speed f2 [Hz]
= 1.55 × 10−2 [kg·m2]
A 500
f2 = =
t0 − t1 0.25 − 0.1
Load inertia JL = JT + JW
3334 [Hz] = (1.11 + 1.55) × 10−2
= 2.66 × 10−2 [kg·m2]
Motors
π×θs f2 − f1 The RK566AAE-N10 has a gear ratio 10, therefore, the inertia ratio
Ta = (J0 × i 2 + JL) × ×
180° t1 is calculated as follows.
Selection Calculations
π × 0.072° 3334 − 0
= (J0 × 102 + 2.66 × 10−2) × ×
180° 0.1
Linear and
Actuators
Rotary
−2
JL = 2.66 × 10
= 4.19 × 103J0 + 1.11 [N·m] 2 −7 2
J0 · i 280 × 10 × 10
③ Calculate the required torque TM [N·m]
9.5
Safety factor Sf = 2.0
Cooling
Fans
TM = (TL + Ta) × Sf RK566AAE-N10 motor is the equivalent of the RK566AAE motor.
= {0 + (4.19 × 103 J0 + 1.11) } × 2.0 Since the inertia ratio is 10 or less, if the inertia ratio is 9.5, you can
= 8.38 × 103 J0 + 2.22 [N·m] judge that motor operation is possible.
Service
Life
(4) Select a Motor (6) Check the Acceleration/Deceleration Rate (Refer to
① Tentative motor selection page G-6)
Stepping
Motors
Rotor Inertia Required Torque
Note when calculating that the units for acceleration/deceleration
Model rate TR are [ms/kHz].
[kg·m2] [N·m]
RK566AAE-N10 280×10-7 2.45
Motors
0.1 [s]
Servo
t1
② Determine the motor from the speed – torque characteristics TR = =
f2 − f1 3334 [Hz] − 0 [Hz]
RK566AAE-N10
15 100 [ms]
=
Standard
3.334 [kHz] − 0 [kHz]
Motors
AC
Operating Area
10 30 [ms/kHz]
Torque [N·m]
Speed Control
Motors/AC
Brushless
The RK566AAE-N10 motor is the equivalent of the RK566AAE
Motors
Permissible Torque
5 and it has an acceleration/deceleration rate of 20 [ms/kHz] or more.
Therefore an acceleration/deceleration rate of 30 [ms/kHz] allows you
to judge whether motor operation is possible.
Gearheads
0
0 100 200 300
Speed [r/min]
0 5 10 15 20 25 Microsteps/Step 1
(0) (50) (100) (150) (200) (250) (Microsteps/Step 10)
Linear and
Actuators
Pulse Speed [kHz ]
Rotary
PN geared type can operate inertia load up at starting/stopping to
acceleration torque less than maximum torque.
Select a motor for which the operating area indicated by operating
Cooling
Fans
speed and required torque falls within the speed – torque
characteristics.
Check the inertia ratio and acceleration/deceleration rate to ensure
that your selection is the most appropriate.
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G-15
Selection Calculations
Motors
● Winding Mechanism
This example demonstrates how to select winding equipment when
② Calculate the Required Torque
a torque motor is used.
Calculate the torque T1 required at the start of winding.
F · D1 4 × 0.015
T1= = = 0.03 [N·m]
2 2
③ Select a Motor
Tensioning motor
Check the Speed – Torque Characteristics
Select a motor that meets the required conditions specified above.
Winding motor If the required conditions are plotted on the Speed – Torque
Characteristics for 4TK10A-AW2U, it is clear that the conditions
(1) Specifications and Operating Conditions of the Drive roughly correspond to the characteristics at a torque setting voltage
Mechanism of 1.9 VDC.
Winding roller diameter ϕD
Diameter at start of winding .......................D1 = 15 [mm] = 0.015 [m] Speed – Torque Characteristics
Diameter at end of winding ..........................D2 = 30 [mm] = 0.03 [m] 4TK10A-AW2U
Tensioning roller diameter ...............................D3 = 20 [mm] = 0.02 [m]
[oz-in]
[N·m]
Winding speed ............................................. V = 47 [m/min] (constant)
Tension ..................................................................F = 4 [N] (constant) 0.35
60 Hz
Power .............................................................. Single-phase 115 VAC 115 VAC
Operating time ...................................................................Continuous 0.30
40
Motors
If tension is not applied, the material slackens as it is wound and
cannot be wound neatly. Torque motors also have reverse-phase
Selection Calculations
brake characteristics and can be used as tensioning motors.
Linear and
Actuators
How to select a tensioning motor suitable for the winding
Rotary
equipment shown on page G-16 is explained below.
Cooling
Fans
V 47
N3= = = 748.4 [r/min] 750 [r/min]
ʌ · D3 ʌ × 0.02
Service
② Calculate the Required Torque T3
Life
F · D3 4 × 0.02
T3= = = 0.04 [N·m]
2 2
Stepping
Motors
③ Select a Motor
Select a motor that meets the required conditions specified above.
If the required conditions are plotted on the speed – brake torque
Motors
Servo
characteristics✽ for the 4TK10A-AW2U reverse-phase brake, it is
clear that the conditions roughly correspond to the characteristics at
a torque setting voltage of 1.0 VDC.
Standard
Motors
AC
Speed – Brake Torque Characteristics with Reverse-Phase Brake
0.40
4TK10A-AW2U
115 VAC
50
Speed Control
0.35 110 VAC
Motors/AC
Brushless
Motors
40 0.30
Brake Torque [oz-in]
0.25
Gearheads
30 80 VAC
0.20
20 0.15
60 VAC
0.10 50 VAC
Linear and
Actuators
10
Rotary
40 VAC
0.05
0 0
0 500 1000 1500
Speed [r/min]
Cooling
Fans
Note
● If a torque motor is operated continuously in a brake application, how much the motor
temperature rises varies depending on the applicable speed and torque setting voltage. Be
sure to keep the temperature of the motor case at 90˚C max.
✽ Please contact the nearest Oriental Motor sales office or customer support centre for
information on the speed – brake torque characteristics of each product.
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G-17
Selection Calculations
Linear and Rotary Actuators
Selection Calculations
For Linear and Rotary Actuators
Select the cylinder or linear slide size that satisfies your Example: Check of the operating speed and acceleration
desired conditions. (Check the frame size, table height, in order to execute the positioning time and this
transport mass and thrust force.) operation at a positioning distance of 300 mm.
14 15 kg
methods. 12
10
8
6
4
2
0
Selection complete 0 100 200 300 400 500 600 700
Positioning Distance [mm ]
Motors
When a load is transported with the motorized linear slides, the load moment acts on the linear guide if the load position is offset from the
center of the table. The direction of action applies to three directions, pitching (MP), yawing (MY), and rolling (MR) depending on the position of
Selection Calculations
the offset.
Linear and
Actuators
Pitching Direction (M P) Yawing Direction (MY) Rolling Direction (M R)
Rotary
Cooling
Fans
Support Point Guide Block Support Point Support Point Guide Block
(Linear slide bottom face, center of table) (Center of table) (Linear slide bottom face, center of table)
Service
Life
Even though the selected actuator satisfies the transport mass and positioning time, when the fixed load is overhung from the table, the run
life may decrease as a result of the load moment. Load moment calculations must be completed and the conditions entered in as specified
values must be checked. The moment applied under static conditions is the static permissible moment. The moment applied under
Stepping
Motors
movement is the dynamic permissible moment.
Calculate the load moment of the linear slide based on loads. Check that the static permissible moment and dynamic permissible moment
Motors
Servo
are within limits and check that strength is sufficient.
Standard
Motors
Z Axis Z Axis a: Acceleration (m/s2)
AC
h: Linear slide table height (m)
X Axis G: Position at Center of Gravity of the Load Y Axis
Speed Control
LX LY LX: Overhung distance in the direction of the
Motors/AC
Brushless
Motors
x-axis (m)
G G
LY: Overhung distance in the direction of the
y-axis (m)
LZ
Gearheads
LZ: Overhung distance in the direction of the
z-axis (m)
h
Linear and
Actuators
' MY: Load moment in the yawing direction (N·m)
Rotary
' MR: Load moment in the rolling direction (N·m)
Cooling
∣' MP∣ ∣' MY∣ ∣' MR∣
Fans
+ + 1
MP MY MR
When there are several overhung loads, etc., this equation determines the moment from all loads.
∣' MP1 + ' MP2 + ···' MPn∣ ∣' MY1 + ' MY2 + ···' MYn∣ ∣' MR1 + ' MR2 + ··· ' MRn∣
+ + 1
MP MY MR
CAD Data
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G-19
Selection Calculations
Linear and Rotary Actuators
∣' M R∣ ∣' M P∣
' M R=m·g·LY 1 ' M P=m·g·L X 1
MR MP
∣' M P∣ ∣' M P∣
1 ∣' M P∣ ∣' M Y∣ 1
MP + MP
Vertical
Direction 1
Load Center of Gravity 1 (MY)
MP MP
Pitching ∣' M P∣ ∣' M Y∣ Pitching Direction (MP)
Pitching Direction (MP) Load Center
of Gravity Direction (MP) + 1
MP MY
Acceleration Acceleration Acceleration
a [m/s2] a [m/s2] a [m/s2]
The linear guide of the linear slide is designed with an expected life of 5000 km. However, when the load factor of the load moment for the
calculated dynamic permissible moment is one or more, the expected life distance is halved. How much of the expected life distance can be
checked in the formula below.
1
Expected life ✽ (km)=Reference value of the service life of each series ✽ × 3
∣' M P∣ ∣' M Y∣ ∣' M R∣
MP
+
MY
+ MR
✽ Refer to "●Concept of Service Life" on page G-38 for the reference value of the service life of each series.
Motors
Positioning Distance – Operating Speed, Positioning Distance – Acceleration
Selection Calculations
● EZS3D□-K (Lead 12 mm, 24 VDC)
Linear and
Actuators
◇ Horizontal Installation
Rotary
● Positioning Distance – Operating Speed Maximum Speed by Stroke ● Positioning Distance – Acceleration
700 20
Stroke [mm] Max. Speed [mm/s] 18 Load Mass
600
50∼550 600 16 0 kg
Operating Speed [mm/s]
4 kg
Cooling
500
Acceleration [m/s2]
600 550 14
Fans
7.5 kg
Load Mass 12
400
0 kg 650 460 10
300 4 kg
7.5 kg 700 400 8
200 6
4
Service
100
Life
2
0 0
0 100 200 300 400 500 600 700 0 100 200 300 400 500 600 700
Positioning Distance [mm] Positioning Distance [mm]
◇ Vertical Installation
Stepping
Motors
● Positioning Distance – Operating Speed Maximum Speed by Stroke ● Positioning Distance – Acceleration
700 20
Stroke [mm] Max. Speed [mm/s] 18 Load Mass
600
50∼550 600 16 0 kg
Operating Speed [mm/s]
2 kg
500
Acceleration [m/s2]
600 550 14
Motors
3.5 kg
Servo
400 12
650 460 10
300 700 400 8
Load Mass 6
200
0 kg
4
2 kg
Standard
100
Motors
3.5 kg 2
AC
0 0
0 100 200 300 400 500 600 700 0 100 200 300 400 500 600 700
Positioning Distance [mm] Positioning Distance [mm]
Speed Control
● EZS3E□-K (Lead 6 mm, 24 VDC)
Motors/AC
Brushless
Motors
◇ Horizontal Installation
● Positioning Distance – Operating Speed Maximum Speed by Stroke ● Positioning Distance – Acceleration
700 20
Stroke [mm] Max. Speed [mm/s]
Gearheads
Load Mass 18 Load Mass
600
0 kg 50∼550 300 16 0 kg
Operating Speed [mm/s]
7.5 kg 7.5 kg
500
Acceleration [m/s2]
15 kg 600 270 14 15 kg
400 12
650 220 10
300 700 200 8
Linear and
Actuators
200 6
Rotary
4
100
2
0 0
0 100 200 300 400 500 600 700 0 100 200 300 400 500 600 700
Positioning Distance [mm] Positioning Distance [mm]
Cooling
Fans
◇ Vertical Installation
● Positioning Distance – Operating Speed Maximum Speed by Stroke ● Positioning Distance – Acceleration
700 20
Load Mass
Stroke [mm] Max. Speed [mm/s] 18 Load Mass
600
0 kg 50∼550 300 16 0 kg
Operating Speed [mm/s]
3.5 kg 3.5 kg
500
Acceleration [m/s2]
7 kg 600 270 14 7 kg
400 12
650 220 10
300 700 200 8
200 6
4
100
2
0 0
0 100 200 300 400 500 600 700 0 100 200 300 400 500 600 700
Positioning Distance [mm] Positioning Distance [mm]
700
Load Mass
Acceleration [m/s2]
550 650 14
600 Load Mass 0 kg
0 kg 12
500 600 550 4 kg
4 kg 10 7.5 kg
400 7.5 kg 650 460 8
300
6
200
700 400
4
100 2
0 0
0 100 200 300 400 500 600 700 0 100 200 300 400 500 600 700
Positioning Distance [mm] Positioning Distance [mm]
CAD Data
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G-21
Selection Calculations
Linear and Rotary Actuators
◇ Vertical Installation
● Positioning Distance – Operating Speed Maximum Speed by Stroke ● Positioning Distance – Acceleration
900 20
Stroke [mm] Max. Speed [mm/s] 18
800
50∼500 800 16
Operating Speed [mm/s]
700
Acceleration [m/s2]
14 Load Mass
600 Load Mass 550 650 0 kg
0 kg 12
500
2 kg 600 550 10
2 kg
3.5 kg
400 3.5 kg
650 460 8
300 6
700 400
200 4
100 2
0 0
0 100 200 300 400 500 600 700 0 100 200 300 400 500 600 700
Positioning Distance [mm] Positioning Distance [mm]
7.5 kg 7.5 kg
500
Acceleration [m/s2]
550 320 14 15 kg
15 kg
400 12
600 270 10
300 650 220 8
6
200 700 200
4
100
2
0 0
0 100 200 300 400 500 600 700 0 100 200 300 400 500 600 700
Positioning Distance [mm] Positioning Distance [mm]
◇ Vertical Installation
● Positioning Distance – Operating Speed Maximum Speed by Stroke ● Positioning Distance – Acceleration
700 20
Load Mass
Stroke [mm] Max. Speed [mm/s] 18 Load Mass
600
0 kg 50∼500 400 16 0 kg
Operating Speed [mm/s]
3.5 kg 3.5 kg
500
Acceleration [m/s2]
550 320 14 7.5 kg
7 kg
400 12
600 270 10
300 650 220 8
6
200 700 200
4
100
2
0 0
0 100 200 300 400 500 600 700 0 100 200 300 400 500 600 700
Positioning Distance [mm] Positioning Distance [mm]
500 7.5 kg
Acceleration [m/s2]
600 550 14 15 kg
400 12
650 460 10
300 700 400 8
Load Mass 6
200
0 kg
7.5 kg 4
100
15 kg 2
0 0
0 100 200 300 400 500 600 700 0 100 200 300 400 500 600 700
Positioning Distance [mm] Positioning Distance [mm]
◇ Vertical Installation
● Positioning Distance – Operating Speed Maximum Speed by Stroke ● Positioning Distance – Acceleration
700 20
Stroke [mm] Max. Speed [mm/s] 18 Load Mass
600
50∼550 600 16 0 kg
Operating Speed [mm/s]
0 kg 600 550 14 7 kg
3.5 kg 12
400
7 kg 650 460 10
300 700 400 8
200 6
4
100
2
0 0
0 100 200 300 400 500 600 700 0 100 200 300 400 500 600 700
Positioning Distance [mm] Positioning Distance [mm]
Motors
◇ Horizontal Installation
● Positioning Distance – Operating Speed Maximum Speed by Stroke ● Positioning Distance – Acceleration
Selection Calculations
700 10
Stroke [mm] Max. Speed [mm/s] Load Mass
600
Linear and
Actuators
50∼550 300 8 0 kg
Operating Speed [mm/s]
Rotary
500 15 kg
Acceleration [m/s2]
600 270 30 kg
400 6
650 220
300 700 200 4
Load Mass
200
0 kg
Cooling
2
Fans
15 kg
100
30 kg
0 0
0 100 200 300 400 500 600 700 0 100 200 300 400 500 600 700
Positioning Distance [mm] Positioning Distance [mm]
◇ Vertical Installation
Service
Life
● Positioning Distance – Operating Speed Maximum Speed by Stroke ● Positioning Distance – Acceleration
700 10
Load Mass
Stroke [mm] Max. Speed [mm/s] Load Mass
600
0 kg 50∼550 300 8 0 kg
Operating Speed [mm/s]
Stepping
7 kg 7 kg
Motors
500
Acceleration [m/s2]
14 kg 600 270 14 kg
400 6
650 220
300 700 200 4
200
2
Motors
100
Servo
0 0
0 100 200 300 400 500 600 700 0 100 200 300 400 500 600 700
Positioning Distance [mm] Positioning Distance [mm]
Standard
Motors
◇ Horizontal Installation
AC
● Positioning Distance – Operating Speed Maximum Speed by Stroke ● Positioning Distance – Acceleration
900 20
Speed Control
Stroke [mm] Max. Speed [mm/s]
Motors/AC
18
Brushless
800
Motors
50∼500 800 16 Load Mass
Operating Speed [mm/s]
700
0 kg
Acceleration [m/s2]
550 650 14
600 7.5 kg
Load Mass 12 15 kg
500 0 kg 600 550 10
400 7.5 kg
15 kg 650 460 8
Gearheads
300
6
200
700 400
4
100 2
0 0
0 100 200 300 400 500 600 700 0 100 200 300 400 500 600 700
Positioning Distance [mm] Positioning Distance [mm]
Linear and
Actuators
Rotary
◇ Vertical Installation
● Positioning Distance – Operating Speed Maximum Speed by Stroke ● Positioning Distance – Acceleration
900 20
Stroke [mm] Max. Speed [mm/s] 18
800
50∼500 800
Cooling
16
Operating Speed [mm/s]
700
Fans
Load Mass
Acceleration [m/s2]
550 650 14
600 0 kg
12 3.5 kg
500 600 550 10 7 kg
400
650 460 8
300 Load Mass 6
0 kg 700 400
200 4
3.5 kg
100 7 kg 2
0 0
0 100 200 300 400 500 600 700 0 100 200 300 400 500 600 700
Positioning Distance [mm] Positioning Distance [mm]
15 kg
500
Acceleration [m/s2]
550 320 14 30 kg
400 12
600 270 10
300 Load Mass
0 kg
650 220 8
15 kg 6
200
30 kg
700 200
4
100
2
0 0
0 100 200 300 400 500 600 700 0 100 200 300 400 500 600 700
Positioning Distance [mm] Positioning Distance [mm]
CAD Data
Manuals
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G-23
Selection Calculations
Linear and Rotary Actuators
◇ Vertical Installation
● Positioning Distance – Operating Speed Maximum Speed by Stroke ● Positioning Distance – Acceleration
700 20
Stroke [mm] Max. Speed [mm/s] 18 Load Mass
600
50∼500 400 16 0 kg
Operating Speed [mm/s]
7 kg
500
Acceleration [m/s2]
550 320 14 14 kg
400 12
600 270 10
300 650 220 8
Load Mass 6
200
0 kg 700 200
4
100 7 kg
14 kg 2
0 0
0 100 200 300 400 500 600 700 0 100 200 300 400 500 600 700
Positioning Distance [mm] Positioning Distance [mm]
15 kg
500
Acceleration [m/s2]
700 550 14 30 kg
Load Mass 12
400
0 kg 750 470 10
300 15 kg
30 kg 800 420 8
6
200 850 360
4
100
2
0 0
0 100 200 300 400 500 600 700 800 0 100 200 300 400 500 600 700 800
Positioning Distance [mm] Positioning Distance [mm]
◇ Vertical Installation
● Positioning Distance – Operating Speed Maximum Speed by Stroke ● Positioning Distance – Acceleration
700 20
Stroke [mm] Max. Speed [mm/s] 18 Load Mass
600
50∼650 600 16 0 kg
Operating Speed [mm/s]
Acceleration [m/s2]
0 kg 700 550 14 15 kg
7.5 kg 12
400
15 kg 750 470 10
300 800 420 8
6
200 850 360
4
100
2
0 0
0 100 200 300 400 500 600 700 800 0 100 200 300 400 500 600 700 800
Positioning Distance [mm] Positioning Distance [mm]
30 kg 30 kg
500
Acceleration [m/s2]
60 kg 700 260 60 kg
400 6
750 230
300 800 200 4
200 850 180
2
100
0 0
0 100 200 300 400 500 600 700 800 0 100 200 300 400 500 600 700 800
Positioning Distance [mm] Positioning Distance [mm]
◇ Vertical Installation
● Positioning Distance – Operating Speed Maximum Speed by Stroke ● Positioning Distance – Acceleration
700 10
Load Mass
Stroke [mm] Max. Speed [mm/s] Load Mass
600
0 kg 50∼650 300 8 0 kg
Operating Speed [mm/s]
15 kg 15 kg
500
Acceleration [m/s2]
30 kg 700 260 30 kg
400 6
750 230
300 800 200 4
200 850 180
2
100
0 0
0 100 200 300 400 500 600 700 800 0 100 200 300 400 500 600 700 800
Positioning Distance [mm] Positioning Distance [mm]
Motors
◇ Horizontal Installation
● Positioning Distance – Operating Speed Maximum Speed by Stroke ● Positioning Distance – Acceleration
Selection Calculations
900 20
Stroke [mm] Max. Speed [mm/s] 18 Load Mass
800
Linear and
Actuators
50∼600 800 16 0 kg
Operating Speed [mm/s]
700
Rotary
15 kg
Acceleration [m/s2]
650 640 14 30 kg
600
Load Mass 12
500
0 kg
700 550 10
400 15 kg 750 470 8
300 30 kg
6
800 420
Cooling
200 4
Fans
100 850 360 2
0 0
0 100 200 300 400 500 600 700 800 0 100 200 300 400 500 600 700 800
Positioning Distance [mm] Positioning Distance [mm]
◇ Vertical Installation
Service
Life
● Positioning Distance – Operating Speed Maximum Speed by Stroke ● Positioning Distance – Acceleration
900 20
Stroke [mm] Max. Speed [mm/s] 18 Load Mass
800
50∼600 800 16 0 kg
Operating Speed [mm/s]
700
Stepping
7.5 kg
Motors
Acceleration [m/s2]
650 640 14 15 kg
600
12
500 700 550 10
400
750 470 8
300 Load Mass
6
200
0 kg 800 420
7.5 kg 4
Motors
850 360
Servo
100 15 kg 2
0 0
0 100 200 300 400 500 600 700 800 0 100 200 300 400 500 600 700 800
Positioning Distance [mm] Positioning Distance [mm]
Standard
Motors
AC
◇ Horizontal Installation
● Positioning Distance – Operating Speed Maximum Speed by Stroke ● Positioning Distance – Acceleration
700 10
Speed Control
Stroke [mm] Max. Speed [mm/s]
Motors/AC
Brushless
Load Mass Load Mass
Motors
600
0 kg 50∼550 400 8 0 kg
Operating Speed [mm/s]
30 kg 30 kg
500
Acceleration [m/s2]
60 kg 600 350 60 kg
400 6
650 300
300 700 260 4
Gearheads
200 750 230
2
100 800 200
0
0 100 200 300 400 500 600 700 800
850 180 0
0 100 200 300 400 500 600 700 800
Positioning Distance [mm] Positioning Distance [mm]
Linear and
Actuators
Rotary
◇ Vertical Installation
● Positioning Distance – Operating Speed Maximum Speed by Stroke ● Positioning Distance – Acceleration
700 10
Load Mass
Stroke [mm] Max. Speed [mm/s] Load Mass
600
Cooling
0 kg 50∼550 400 8 0 kg
Fans
Operating Speed [mm/s]
15 kg 15 kg
500
Acceleration [m/s2]
30 kg 600 350 30 kg
400 6
650 300
300 700 260 4
200 750 230
2
100 800 200
0
0 100 200 300 400 500 600 700 800
850 180 0
0 100 200 300 400 500 600 700 800
Positioning Distance [mm] Positioning Distance [mm]
■ EZC Series
Positioning Distance-Operating Speed, Positioning Distance-Acceleration
➜Refer to pages E-62 to E-69 for the EZC series.
CAD Data
Manuals
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Support
TEL: (800) 468-3982
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G-25
Selection Calculations
Linear and Rotary Actuators
Select the combination of ● Select the combination of motorized linear slides using the table of transportable mass per
motorized linear slides acceleration. Once the combination is determined, you can figure out required dual axes
mounting bracket.
Check the acceleration ● Find an acceleration from the table of transportable mass per acceleration, and check a speed
Check the operating speed of each axis in the speed – transportable mass characteristics graph.
● Calculate a positioning time. Check if your preferred positioning time can be met.
Check the positioning time
Selection
● Example of Selection
Follow the procedure for selection based on the following conditions.
Z
[Conditions]
Load 3 kg mass in X-Y mounting with 100 mm in 0.5 s. G3
G1
Y X
45
25
(1) Select the Combination of Motorized Linear Slides and Dual Axes Mounting Bracket
Check the combination of motorized linear slides using the "transportable mass per acceleration" table (Refer to page G-27).
Find the maximum absolute value within G1, G2, G3. As the conditions state | G1 | = 45 is the maximum value, check the table for center of
gravity conditions of 30 < | Gn | 50.
The following combination of linear slides can bear a mass of 3 kg with a 250 mm stroke.
[Combination 1] X-axis: EZS6D Y-axis: EZS3D
or
[Combination 2] X-axis: EZS6D Y-axis: EZS4D
Motors
◇ X-Y Mounting Y-axis transportable mass [kg] ◇ X-Y Mounting Y-axis transportable mass [kg]
Selection Calculations
30< | Gn | 50 30< | Gn | 50
Stroke [mm] Stroke [mm]
Acceleration Acceleration
Linear and
Actuators
50 100 150 200 250 300 50 100 150 200 250 300
Rotary
X-Axis: EZS4D X-Axis: EZS6D
1.0 m/s2 2.0 1.6 1.3 1.0 0.7 0.4 1.0 m/s2 4.1 4.1 4.1 4.1 4.1 4.1
Y-Axis: EZS3D Y-Axis: EZS3D
2.5 m/s2 1.1 0.8 0.5 0.2 − − 2.5 m/s2 3.3 3.3 3.3 3.3 3.3 3.3
5.0 m/s2 0.3 − − − − − 5.0 m/s2 2.6 2.6 2.6 2.6 2.6 2.6
Stroke [mm]
Cooling
Acceleration
Fans
50 100 150 200 250 300
X-Axis: EZS6D
1.0 m/s2 4.1 4.1 4.1 4.1 4.1 4.1
Y-Axis: EZS3D
2.5 m/s2 3.3 3.3 3.3 3.3 3.3 3.3
5.0 m/s2 2.6 2.6 2.6 2.6 2.6 2.6
Service
Life
Stroke [mm]
Acceleration
50 100 150 200 250 300
X-Axis: EZS6D
1.0 m/s2 8.7 8.7 8.7 8.1 7.0 6.0
Y-Axis: EZS4D
2.5 m/s2 7.0 7.0 7.0 6.3 5.3 4.5
Stepping
Motors
5.0 m/s2 5.3 5.3 5.2 4.3 3.6 2.9
Motors
Servo
The maximum acceleration is 2.5 m/s2 when a transportable mass is 3 kg.
Standard
Motors
AC
Check the "speed – transportable mass characteristics" graph (Refer to page G-29).
Draw a horizontal line for 3 kg mass in Y-axis.
The speed at which the acceleration 2.5 m/s2 line intersects with the above-mentioned line is the maximum speed (upper limit) for dual axes
Speed Control
Motors/AC
Brushless
combined configuration.
Motors
X-axis speed: 460 mm/s or less
Y-axis speed: 560 mm/s or less
Gearheads
Speed and acceleration can be increased for the same mass, by replacing the power supply with single-phase 100-115 VAC/single-phase
200-230 VAC and/or by using linear slides with greater size.
Linear and
Actuators
Rotary
◇ X-Axis Speed ◇ Y-Axis Speed
● 24 VDC ● 24 VDC
EZS6D□(M)-K EZS3D□(M)-K
Cooling
14.0 Acceleration 7.0 Acceleration
Fans
1.0 m/s2 1.0 m/s2
Y/Z-Axis Transportable Mass [kg]
12.0 6.0
2.5 m/s2 2.5 m/s2
5.0 m/s2 5.0 m/s2
10.0 5.0
8.0 4.0
6.0 3.0
560 mm/s
4.0 2.0
2.0 1.0
460 mm/s
0 0
0 100 200 300 400 500 600 0 100 200 300 400 500 600
Speed [mm/s] Speed [mm/s]
CAD Data
Manuals
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Support
TEL: (800) 468-3982
E-mail: techsupport@orientalmotor.com
G-27
Selection Calculations
Linear and Rotary Actuators
◇ Example of Calculation
Check if the combination on page G-26 can move 100 mm in 0.5 seconds.
● X-Axis: EZS6D050-K ● Y-Axis: EZS3D025-K
Conditions Speed VR : 460 mm/s Conditions Speed VR : 560 mm/s
Acceleration a : 2.5 mm/s2 Acceleration a : 2.5 mm/s2
Positioning distance L : 100 mm Positioning distance L : 100 mm
Check the operating pattern VRmax = 100 × 2.5 × 103 Check the operating pattern VRmax = 100 × 2.5 × 103
= 0.401 s = 0.400 s
Calculation revealed that the preferred positioning time can be met.
● Transportable Mass per Acceleration
◇ X-Y Mounting Y-axis transportable mass [kg]
| Gn | 30 [mm] 30< | Gn | 50 [mm] 50< | Gn | 100 [mm]
Stroke [mm] Stroke [mm] Stroke [mm]
Acceleration
50 100 150 200 250 300 50 100 150 200 250 300 50 100 150 200 250 300
X-Axis: EZS4D
1.0 m/s2 2.3 1.9 1.5 1.1 0.7 0.4 2.0 1.6 1.3 1.0 0.7 0.4 1.5 1.2 1.0 0.7 0.5 0.3
Y-Axis: EZS3D
2.5 m/s2 1.3 0.9 0.6 0.2 − − 1.1 0.8 0.5 0.2 − − 0.8 0.6 0.4 0.2 − −
5.0 m/s2 0.3 − − − − − 0.3 − − − − − 0.2 − − − − −
Stroke [mm] Stroke [mm] Stroke [mm]
Acceleration
50 100 150 200 250 300 50 100 150 200 250 300 50 100 150 200 250 300
X-Axis: EZS6D
1.0 m/s2 5.8 5.8 5.8 5.8 5.8 5.8 4.1 4.1 4.1 4.1 4.1 4.1 2.3 2.3 2.3 2.3 2.3 2.3
Y-Axis: EZS3D
2.5 m/s2 4.8 4.8 4.8 4.8 4.8 4.8 3.3 3.3 3.3 3.3 3.3 3.3 1.9 1.9 1.9 1.9 1.9 1.9
5.0 m/s2 3.6 3.6 3.6 3.6 3.6 3.6 2.6 2.6 2.6 2.6 2.6 2.6 1.5 1.5 1.5 1.5 1.5 1.5
Stroke [mm] Stroke [mm] Stroke [mm]
Acceleration
50 100 150 200 250 300 50 100 150 200 250 300 50 100 150 200 250 300
X-Axis: EZS6D
1.0 m/s2 12.7 12.4 10.4 8.9 7.6 6.5 8.7 8.7 8.7 8.1 7.0 6.0 4.8 4.8 4.8 4.8 4.8 4.8
Y-Axis: EZS4D
2.5 m/s2 10.1 9.8 8.2 6.9 5.8 4.9 7.0 7.0 7.0 6.3 5.3 4.5 3.9 3.9 3.9 3.9 3.9 3.8
5.0 m/s2 7.5 7.1 5.8 4.7 3.9 3.1 5.3 5.3 5.2 4.3 3.6 2.9 3.0 3.0 3.0 3.0 3.0 2.5
Motors
◇ X-Axis Speed (Common to electromagnetic brake type)✽ Acceleration
● 24 VDC 1.0 m/s2 2.5 m/s2 5.0 m/s2
Selection Calculations
EZS4D□(M)-K EZS6D□(M)-K
Linear and
Actuators
4.0 14.0
Rotary
Y/Z-Axis Transportable Mass [kg]
Y/Z-Axis Transportable Mass [kg]
3.5 12.0
3.0
10.0
2.5
8.0
2.0
6.0
Cooling
1.5
Fans
4.0
1.0
0.5 2.0
0 0
0 100 200 300 400 500 600 0 100 200 300 400 500 600
Speed [mm/s] Speed [mm/s]
Service
Life
● Single-Phase 100-115 VAC/Single-Phase 200-230 VAC
EZS4D□(M)-A/EZS4D□(M)-C EZS6D□(M)-A/EZS6D□(M)-C
4.0 14.0
Stepping
Motors
Y/Z-Axis Transportable Mass [kg]
Y/Z-Axis Transportable Mass [kg]
3.5 12.0
3.0
10.0
2.5
8.0
2.0
6.0
1.5
Motors
Servo
4.0
1.0
0.5 2.0
0 0
0 100 200 300 400 500 600 700 800 0 100 200 300 400 500 600 700 800
Speed [mm/s] Speed [mm/s]
Standard
Motors
✽ For X-axis, the maximum speed read from the graph is limited by the stroke. Check the maximum speed for each stroke in Series products.
AC
◇ Y-Axis Speed (Common to electromagnetic brake type) Acceleration
● 24 VDC
Speed Control
1.0 m/s2 2.5 m/s2 5.0 m/s2
Motors/AC
Brushless
Motors
EZS3D□(M)-K EZS4D□(M)-K
7.0 14.0
Y-Axis Transportable Mass [kg]
Y-Axis Transportable Mass [kg]
6.0 12.0
5.0 10.0
Gearheads
4.0 8.0
3.0 6.0
2.0 4.0
1.0 2.0
Linear and
Actuators
Rotary
0 0
0 100 200 300 400 500 600 0 100 200 300 400 500 600
Speed [mm/s] Speed [mm/s]
Cooling
Fans
7.0 14.0
Y-Axis Transportable Mass [kg]
12.0
Y-Axis Transportable Mass [kg]
6.0
10.0
5.0
8.0
4.0
6.0
3.0
4.0
2.0
2.0
1.0
0
0 0 100 200 300 400 500 600 700 800
0 100 200 300 400 500 600 700 800
Speed [mm/s]
Speed [mm/s]
● Enter the stroke in the box (□) within the model name.
CAD Data
Manuals
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TEL: (800) 468-3982
E-mail: techsupport@orientalmotor.com
G-29
Selection Calculations
Linear and Rotary Actuators
3.5 7.0
Z-Axis Transportable Mass [kg]
2.5 5.0
2.0 4.0
1.5 3.0
1.0 2.0
0.5 1.0
0 0
0 100 200 300 400 500 600 0 100 200 300 400 500 600
Speed [mm/s] Speed [mm/s]
3.5 7.0
Z-Axis Transportable Mass [kg]
2.5 5.0
2.0 4.0
1.5 3.0
1.0 2.0
0.5 1.0
0 0
0 100 200 300 400 500 600 700 800 0 100 200 300 400 500 600 700 800
Speed [mm/s] Speed [mm/s]
● Enter the stroke in the box (□) within the model name.
Motors
① Check the operating conditions
Cylinders (Obtained by calculations) Check the following conditions:
Selection Calculations
The parameters listed below are required when selecting motorized Mounting direction, load mass, positioning distance, starting speed,
linear slides and motorized cylinders for transferring a load from A to
Linear and
acceleration, operating speed
Actuators
Rotary
B, as shown below.
② From the above operating conditions, check to see if the drive
A pattern constitutes a triangular drive or trapezoidal drive.
B Load Calculate the maximum speed of triangular drive from the
Cooling
Fans
A positioning distance, starting speed, acceleration and operating
B
speed. If the calculated maximum speed is equal to or below the
operating speed, the operation is considered a triangular drive. If
Guide
the maximum speed exceeds the operating speed, the operation is
Service
Life
considered a trapezoidal drive.
The required parameters are as follows:
• Mass of load (m) or thrust force (F ) 2 × a1 × a2 × L
• Positioning distance (L) VRmax = × 103 + Vs2
a1 + a2
Stepping
Motors
• Positioning time (T )
VRmax VR ➞ Triangular drive
• Repetitive positioning accuracy
• Maximum stroke VRmax > VR ➞ Trapezoidal drive
Among the above parameters, the thrust force and positioning time ③ Calculate the positioning time
Motors
Servo
can be calculated using the formula shown below. Trapezoidal drive
● Calculate the Thrust Force T = T1 + T 2 + T 3
The specified maximum thrust force indicates the value when no VR − VS VR − VS L (a1 + a2) × (VR2 − VS2)
= + + −
Standard
Motors
load is added to the rod, which is operating at a constant speed. a1 × 103 a2 × 103 VR 2 × a1 × a2 × VR × 103
AC
In an application where an external force is pushed or pulled, the load is
Triangular drive
generally mounted to the rod receives and external force. The method
T = T1 + T 2
Speed Control
to check the thrust force in this application is explained below:
Motors/AC
Brushless
VRmax − VS VRmax − VS
Motors
① Calculate the required thrust force when accelerating the load = +
a1 × 103 a2 × 103
mounted to the rod.
Fa = m × {a + g × ( ȝ × cos Į + sin Į )} Pattern 1 Pattern 2
② Calculate the thrust force that allows for pushing or pulling Speed Speed
Gearheads
F = Fmax − Fa VR
a1 a2 VRmax
If the external force applied to the load is smaller than F, then push- a1 a2
pull motion is enabled. VS Trapezoidal Drive VS
Triangular Drive
Linear and
Fmax : Maximum thrust force of the motorized cylinder [N]
Actuators
Rotary
Fa : Required thrust force during acceleration/deceleration operation [N] T3
T1 T2 Time T1 T2 Time
F : Thrust force that allows for pushing or pulling of external force [N] T T
m : Mass of load mounted to the rod [kg]
a : Acceleration [m/s2] VRmax : Calculated maximum speed of triangular drive [mm/s]
Cooling
g : Gravitational acceleration 9.807 [m/s2]
Fans
VR : Operating speed [mm/s]
ȝ : Friction coefficient of the guide supporting the load 0.01
Vs : Starting speed [mm/s]
ș : Angle formed by the traveling direction and the horizontal plane [deg]
L : Positioning distance [mm]
External Force a1 : Acceleration [m/s2]
a2 : Deceleration [m/s2]
T : Positioning time [s]
T1 : Acceleration time [s]
T2 : Deceleration time [s]
T3 : Constant speed time [s]
CAD Data
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G-31
Selection Calculations
Linear and Rotary Actuators
Among the above parameters, the thrust force and positioning time 1.5 ①
can be calculated using the formula shown below. 1.0
Triangular drive
T = T1 + T2
VRmax − VS VRmax − VS
= +
a1 × 103 a2 × 103
Motors
load torque due to friction resistance plus the acceleration torque
VR due to inertia, multiplied by the safety factor.
a1 a2 VRmax
Selection Calculations
a1 a2
VS Trapezoidal Drive VS Required torque T = (load torque [N·m] + acceleration torque [N·m]) × safety factor
Linear and
Actuators
Triangular Drive
= (TL + Ta) × S
Rotary
T1 T3 T2 Time T1 T2 Time Set the safety factor S to at least 1.5.
T T
⑧ Check whether the required torque T falls within the speed –
Cooling
VRmax : Calculated maximum speed of triangular drive [mm/s]
Fans
torque characteristics. If the required torque does not fall within
VR : Operating speed [mm/s]
the range, return to ④ to change the conditions, and recalculate
Vs : Starting speed [mm/s]
the value.
L : Positioning distance [mm]
Service
a1 : Acceleration [m/s2]
Life
a2 : Deceleration [m/s2]
Torque [N·m]
T : Positioning time [s]
T1 : Acceleration time [s]
Stepping
Motors
T2 : Deceleration time [s]
T3 : Constant speed time [s] Required Torque
Motors
Servo
Speed [r/min]
(Pulse speed [kHz])
The following sections describe the selection calculations for the DG
Use the following formula to convert the speed into a pulse
Series.
speed.
Standard
Motors
● Calculate the Required Torque 6N
AC
f [Hz] =
① Calculate the inertia (load inertia) of the load. θs
Use less than 30 times the actuator inertia as a reference for the f : Pulse speed [Hz]
Speed Control
Motors/AC
Brushless
inertia of the load. N : Speed [r/min]
Motors
② Determine the positioning angle.
șs : Output table step angle [deg/step]
③ If there is no friction torque, check the positioning time from the
load inertia – positioning time graph for the DG Series. Refer to ● Calculate the Thrust Load and Moment Load
Gearheads
page E-136 for the load inertia – positioning time graph. If the output table is subject to a load as indicated in the following
④ Determine the positioning time and acceleration/deceleration diagram, use the formula below to calculate the thrust load and
time. moment load, and check that the values are within the specified
However, make sure that: values.
Linear and
Actuators
Rotary
Positioning time shortest positioning time identified from the L [m]
F [N]
load inertia – positioning time graph
Acceleration/deceleration time t1 × 2 positioning time m1 [kg]
⑤ Determine the starting speed N1, and calculate the operating
Cooling
Fans
speed N2 using the following formula. Set N1 to a low speed
[0 to several r/min] but be careful not to increase it more than
necessary.
m2 [kg]
If you cannot achieve N1 N2 200 [r/min] with the above
formula, return to ④ and review the conditions.
⑥ Calculate the acceleration torque using the following formula.
CAD Data
Manuals
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G-33
Selection Calculations
Cooling Fans
Selection Calculations
For Cooling Fans
◇ Obtaining by a Graph
① Search for the cross point A between heat generation Q (450 W)
and permissible temperature rise Δ T (20˚C).
Operating Air Flow Max. Air Flow ② Draw a line parallel with the horizontal axis from point A.
Air Flow - Static Pressure Characteristics ③ Search for the cross point B between the parallel line and surface
area S (2.37 m2) line.
■ Fan Selection Procedure ④ Draw a line perpendicular to the horizontal axis from point B.
Required air flow is approximately 0.5 m3/min.
Determine the requirements of the machinery ⑤ Allow for a safety factor (Sf ) of 2 times. Required air flow will be
Determine how many degrees to lower the internal temperature 1.00 m3/min.
based on the guaranteed operating temperatures of the internal 5 0 10 9
8
components and elements of the machinery. 7
10 6
4 5
2 3
Permissible Temperature Rise ΔT [˚C]
0 1
Calculate the amount of heat produced
Heat Radiation Area S [m2]
Motors
Based on the above, MU Series MU925M-21 is selected.
MU925M-21 Specifications
Selection Calculations
Input Voltage Frequency Input Current Speed Max. Air Flow Max. Static Pressure Noise Level
VAC Hz W A r/min m3/min Pa dB (A)
Linear and
Actuators
Rotary
Single-Phase 115 60 8 0.1 2700 1 44 36
Cooling
Fans
Service
Life
Stepping
Motors
Motors
Servo
Standard
Motors
AC
Speed Control
Motors/AC
Brushless
Motors
Gearheads
Linear and
Actuators
Rotary
Cooling
Fans
CAD Data
Manuals
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Support
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E-mail: techsupport@orientalmotor.com
G-35