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Orientalmotor 2015-2016 Technical Reference Overview PP H1-H17
Orientalmotor 2015-2016 Technical Reference Overview PP H1-H17
Linear &
Rotary
Actuators
Technical
Cooling
Cooling Fans ················································ H-29 Fans
Stepper
Motors
Standard
Standard AC Motors ............................ H-44 AC
Motors
Brushless
Brushless Motors/ ................... H-47 Motors/AC
Speed Control
AC Speed Control Motors Motors
H-1
Selection Calculations
H-2 Motors
■Selection Procedure
An overview of the selection procedure is explained below.
● Check the required specifications for the motor from the equipment specifications. The general items
are explained below.
●Confirmation of the operation functions
Check the Required ●Operating time (Operating pattern)
Specifications ●Resolution
(Equipment specifications) ●Stopping accuracy
●Position holding
●Power supply voltage and frequency
●Operating environment
● Determine the drive mechanism. Representative drive mechanisms include simple body of rotation,
ball screw, belt pulley, and rack-and-pinion. Along with the type of drive mechanism, determine the
dimensions, mass and coefficient, etc. that are required for the load calculation. The general items are
Determining the Drive
explained below.
Mechanism
●Dimensions and mass (or density) of the load
●Dimensions and mass (or density) of each part
●Friction coefficient of the sliding surface of each moving part
● Calculate the load torque and inertia at the motor output shaft. Refer to page H-3 for the formula to
Calculate the Load calculate load torque in representative mechanisms.
Refer to page H-4 for the formula to calculate the inertia in representative configurations.
● Select the optimal product from standard AC motors, speed control motors, stepper motors or servo
Select Motor Type
motors based on the required specifications.
● Determine the most suitable motor after checking that the specifications of the selected motor/
gearhead satisfy all of the required specifications, such as mechanical strength, acceleration time and
Selection Calculation
acceleration torque. Since the items that must be checked will vary depending on the motor type,
check the selection calculations and selection points on page H-5.
●Phone
Requests for sizing and section can be made online by contacting our technical support team at:
USA/Canada: TEL: 800-468-3982
Mexico: TEL: 01-800-681-5309
●Website
Requests for sizing and section can be made online by contacting our technical support team at techsupport@orientalmotor.com.
Use our online Motor Sizing Tool to calculate the necessary torque, speed, stopping accuracy and the system inertia that is important
to consider when selecting a proper motor for the application.
◇Pulley Drive
Linear &
Rotary
μ · FA + m · g π · D Actuators
TL = ·
2π i
ϕD
μ
( · FA + m · g)D
= [N·m] ③ Cooling
2·i Fans
FA m Service
Life
Pulley
F : Force of moving direction [N] Cooling
1 Fans
F0 : Preload [N] ( 3 F )
μ 0 : Internal friction coefficient of preload nut (0.1∼0.3)
K : Efficiency (0.85∼0.95)
i : Gear ratio (This is the gear ratio of the mechanism -and not the gear ratio of an Oriental Motor's gearhead.)
PB : Ball screw lead [m/rev]
FA : External force [N]
FB : Force when main shaft begins to rotate [N] (FB = Spring balance value [kg]×g [m/s2])
m : Total mass of table and load [kg]
μ : Friction coefficient of sliding surface
θ : Inclination angle [ ˚ ]
D : Final pulley diameter [m]
g : Gravitational acceleration [m/s2] (9.807)
1 π D1
Jx = m · D12 = ρ · L · D14 [kg·m2] ⑦
8 32 x
2 2
1 D1 L
Jy = m ( + ) [kg·m2] ⑧
4 4 3
y L
1 π x
Jx = m (D12 + D22) = ρ · L (D14 − D24) [kg·m2] ⑨ D1
8 32 D2
1 D1 + D 2
2 2
L2
Jy = m( + ) [kg·m2] ⑩
4 4 3
y L
1 x0
Jx = Jx0 + m · l 2 = m (A2 + B2 + 12 · l 2) [kg·m2] ⑪ x
12
B
A
1 1
ρ · A · B · C (A2 + B2) [kg·m2] A x
Jx = m (A2 + B2) = ⑫ B
12 12
1 1
Jy = m (B2 + C 2) = ρ · A · B · C (B2 + C 2) [kg·m2] ⑬ C
12 12
y
A
J = m ( 2π )2 [kg·m2] ⑭
Conversion formula for the inertia of the motor shaft when using a decelerator
Decelerator Driven Side Device
1 Gear Ratio i
Jm = JL Inertia JL
i2
Motor
Formula for the relation between J and GD2
1
J= GD2
4
Density
Iron ρ = 7.9 × 103 [kg/m3]
Stainless steel (SUS304) ρ = 8.0 × 103 [kg/m3]
Aluminum ρ = 2.8 × 103 [kg/m3]
Brass ρ = 8.5 × 103 [kg/m3]
Nylon ρ = 1.1 × 103 [kg/m3]
Jx : Inertia on x-axis [kg·m ]2
Time [ms]
t1 TL
●Calculate the pulse speed in full step conversion. Td
Time [s]
●For this formula, the unit for speed is [kHz] and the unit for time is [ms].
●Conversion Formula for the Operating Speed NM [r/min] t1 t2 t3 t4
from the Operating Pulse Speed f2[Hz] tf
θs
NM = f2 · · 60
360
Select an electromagnetic brake motor and gearhead satisfying the Using Stepper Motors
permissible torque of gearhead based on the calculation results (1) Specifications and Operating Conditions of the Drive
(gear ratio i = 9, load torque TL = 0.86 [N·m]) obtained so far.
Mechanism
Here, 4IK25GN-SW2M and 4GN9SA are tentatively selected as
the motor and gearhead respectively, by referring to the Controller Stepper
"Gearmotor – Torque Table" on page C-73. Motors m
Couplings
Next, convert this load torque to a value on the motor output shaft to
obtain the required torque TM, as follows:
TL 0.86
TM = = = 0.118 [N·m]= 118 [mN·m]
i · ηG 9 × 0.81 Driver
(Gearhead efficiency ηG = 0.81)
PB
The starting torque of the 4IK25GN-SW2M motor selected earlier
DB
is 160 [mN·m]. Since this is greater than the required torque of
118 [mN·m], this motor can start the mechanism in question.
Programmable
Next, check if the gravitational load acting upon the mechanism in Controller
standstill state can be held with the electromagnetic brake.
Here, the load equivalent to the load torque obtained earlier is Total mass of table and load ···························································m = 40 [kg]
assumed to act. Friction coefficient of sliding surface ··················································· μ = 0.05
Torque T'M required for load holding on the motor output shaft: Ball screw efficiency ·············································································· K = 0.9
Internal friction coefficient of preload nut ··············································μ 0 = 0.3
TL 0.86
T'M = = = 0.0956 [N·m] = 95.6 [mN·m] Shaft diameter of ball screw ·······················································DB = 15 [mm]
i 9
Overall length of ball screw ························································LB = 600 [mm]
The static friction torque generated by the electromagnetic brake of Ball screw material ···································Iron (Density ρ = 7.9 × 103 [kg/m3])
the 4IK25GN-SW2M motor selected earlier is 100 [mN·m], which is Ball screw lead ··········································································· PB = 15 [mm]
greater than 95.6 [mN·m] required for the load holding. Required resolution ··························································· ' l = 0.03 [mm/step]
(Feed per pulse)
(4) Check the Moment of Inertia J [kg·m2] Feed ···························································································· l = 180 [mm]
Positioning time ······························································ t0 = 0.8 seconds max.
π
Inertia of ball screw JB = · ρ · LB · D B 4 Inclination angle ··················································································· θ = 0 [˚ ]
32
=
π
× 7.9 × 103 × 800 × 10−3 × (20 × 10−3)4
(2) Calculate the Required Resolution θ S
32
360° · Δ l
θs =
= 0.993 × 10−4 [kg·m2] PB
A 2 360° × 0.03
Inertia of table and load Jm = m ( ) = = 0.72°
2π 15
6000 Pulses
t1 t1 Time [s]
0.8
ORIENTAL MOTOR GENERAL CATALOG
H-8 2015/2016
Technical Reference H-9
④ Calculate the operating speed NM [r/min] (5) Select a Motor
① Tentative motor selection
θs
NM = f2 · 60 Rotor Inertia Required Torque
360˚ Product Name
[kg·m2] [N·m]
0.72˚
=
360˚
× 10000 × 60 AR66AA-3 380 × 10-7 0.48
Selection
= 1200
[r/min]
② Determine the motor from the speed – torque characteristics Calculations
(4) Calculate the Required Torque TM [N·m] (Refer to page H-5) AR66AA-3
① Calculate the load torque TL [N·m] 2.0 Motors
Torque [N·m]
= 19.6 [N] Duty Region
1.0
F 19.6 Cooling
Preload F0 = = = 6.53 [N] Fans
3 3
F · PB μ 0 · F0 · PB
Load Torque TL = + 0.5
2π · η 2π
Service
19.6 × 15 × 10 −3
0.3 × 6.53 × 15 × 10 −3
Life
= +
2π × 0.9 2π
0
= 0.0567 [N·m] 0 1000 2000 3000 4000
Speed [r/min] Stepper
Motors
② Calculate the acceleration torque Ta [N·m] 0 10 20 30 40 50 60 70
②-1 Calculate the inertia JL [kg·m2] Pulse Speed [kHz]
(Resolution Setting: 1000 P/R) Servo
(Refer to the formula on page H-4) Motors
Since the duty region of the motor (operating speed and required
Inertia of Ball Screw torque) falls within the pullout torque of the speed – torque Standard
π characteristics, the motor can be used. AC
JB = · ρ · LB · DB4 Motors
32
π Brushless
= × 7.9 × 103 × 600 × 10−3 × (15 × 10−3)4 Motors/AC
32 (6) Check the Inertia Ratio (Refer to page H-6)
Speed Control
= 0.236 × 10−4 [kg·m2] Motors
JL 2.52 × 10−4
PB 2 = 6.6
Inertia of Table and Load JT = m ( ) J0 380 × 10−7 Gearheads
2π
15 × 10−3 2
= 40 × (
2π
) Since the inertia ratio of AR66AA-3 is 30 or less, if the calculated
inertia ratio is 6.6, then operation of that motor is possible. Cooling
= 2.28 × 10−4 [kg·m2] Fans
Inertia JL = JB + JT
= 0.236 × 10−4 + 2.28 × 10−4 = 2.52 × 10−4 [kg·m2]
(J0 + JL) NM
Ta = ·
9.55 t1
(J0 + 2.52 × 10−4) 1200
= ×
9.55 0.2
TM = (TL + Ta) Sf
= {0.0567 + (628 J0 + 0.158)} × 2
= 1256 J0 + 0.429 [N·m]
F · PB μ0 · F0 · PB 0.72
TL = +
2π · η 2π
68.6 × 10 × 10−3 0.3 × 22.9 × 10 × 10−3 0.13
= +
2π × 0.9 2π 0.72 Time [s]
0.13
[N·m] t1 (1.9) t3 0.4
1
Here F0 = F represents the ball screw preload. (2.5)
3
Linear &
Here, t1 + t2 + t3 = 2.1 [s] from the operating cycle and t1 = t3 = 0.1
Rotary
for acceleration and deceleration time. Therefore, t2 = 2.1 − 0.1 × 2 Actuators
= 1.9 [s] Belt Conveyor
D
The ratio (effective load safety factor) of Trms and the rating torque of Cooling
Fans
servo motor TM is expressed by the formula below. Motor
Gearhead
TM 0.637
= = 2.65 Total mass of belt and load ··························································· m1 = 25 [kg] Service
Trms 0.24 Life
External force ··················································································· FA = 0 [N]
Generally a motor can operate at an effective load safety factor of Friction coefficient of sliding surface ····················································· μ = 0.3
Stepper
1.5∼2 or more. Roller diameter ·············································································D = 90 [mm] Motors
Roller mass ······················································································m2 = 1 [kg]
Belt and roller efficiency ······································································· K = 0.9
Servo
Belt Speed ···································································· V = 150 [mm/s]±10% Motors
Motor power supply ················································Single-Phase 115 VAC, 60 Hz
Operating time ····························································· 8 hours operation per day Standard
AC
Motors
(2) Determine the Gear Ratio of Gearhead
Brushless
Motors/AC
V · 60 (150 ± 15)× 60 Speed Control
Gearhead Output Shaft Speed NG = =
π·D π × 90 Motors
= 31.8 ± 3.2 [r/min]
Gearheads
Since the rated speed for an induction motor (4-pole) at 60 Hz is
1450∼1550 [r/min], select a gearhead gear ratio within this range.
Cooling
Fans
1450∼1550 1450∼1550
Gearhead Gear Ratio i = = = 41.4∼54.2
NG 31.8 ± 3.2
Select the motor that satisfies the rated torque based on the
calculation results so far (Gear ratio i =50, load torque
TL = 7.36 [N·m]).
At this time, refer to the specifications table on page C-126 and
tentatively select motor 5IK40UA-50A.
(4) Check the 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
= 25 × ( 2π ) The mass of load is selected that can be driven with
SMK5100A-AA when the belt-drive table shown in Fig. 1 is driven in
= 507 × 10−4 [kg·m2]
the operation pattern shown in Fig. 2.
1
Inertia of Roller Jm2 = · m2 · D 2
8 Load
1
= × 1 × (90 × 10−3)2 V m
8 Roller 2
= 10.2 × 10−4 [kg·m2] F
Roller 1
Calculate the load inertia for the gearhead output shaft J.
Take into account that there are 2 rollers (Jm2). Motor
J = Jm1 + 2Jm2
Fig. 1 Example of Belt Drive
= 507 × 10−4 + 10.2 × 10−4 × 2
= 528 × 10−4 [kg·m2] Total mass of belt and load ····························································· m1 = 1.5 [kg]
Roller diameter ··············································································· D = 30 [mm]
The value of the permissible inertia JG for the 5IK40UA-50A can be Mass of roller ·················································································· m2 = 0.1 [kg]
found on the specifications table on page C-18. Frictional coefficient of sliding surfaces ··················································μ = 0.04
Belt and pulley efficiency ·········································································K = 0.9
JG = 2750 × 10−4 [kg·m2] (During instantaneous stop) Frequency of power supply ····································· 60 Hz (Motor speed: 72 r/min)
Therefore, since J < JG, the inertia is less than the permissible value, Motor speed [r/min]
so there is no problem. Since the motor selected has a rated torque 72
of 11.2 [N·m], which is larger than the actual load torque, the motor
will operate at a higher speed than the rated speed. 15 [sec]
5 10
Therefore, use the speed that is without load (approx. 1750 r/min) to −72
calculate belt speed, and check whether the selected product meets
Fig. 2 Operating Pattern
the required specifications.
Low-speed synchronous motors share the same basic operating
NM · π · D 1750 × π × 90 principle with 1.8° stepper motors. Accordingly, the torque for a low-
V = = = 165 [mm/s]
60 · i 60 × 50 NM : Motor Speed
speed synchronous motor is calculated in the same manner as for a
This confirms that the motor meets the specifications. 1.8° stepper motor.
Therefore, the 5IK40UA-50A motor is selected. (2) Belt Speed V [mm/s]
Check the belt (load) speed
V = π · D · N = π × 30 × 72 = 113 [mm/s]
60 60
1 2
Inertia of roller Jm2 = · m2 · D
8
1
= × 1 × 0.12 = 12.5 × 10−4 [kg·m2]
8
Geared stepper motors are ideal for systems with big inertia, such as
index tables.
DT =300 mm
=120 mm
t1 t1 Time [s]
t0=0.25
TL = 0 [N·m]
3334
[Hz]
④ Calculate the operating speed NM [r/min].
θS
NM = f2 · 60
360˚
0.072˚
= × 3334 × 60
360˚
40
[r/min]
The permissible speed range for the PS geared motor with a gear
ratio of 10 is 0∼300 [r/min].
15
Gearheads
Pullout Torque
Cooling
10
Fans
Torque [N·m]
Permissible Torque
5
Duty Region
0
0 100 200 300
Speed [r/min]
0 5 10 15 20 25 Resolution 1
(0) (50) (100) (150) (200) (250) (Resolution 10)
Pulse Speed [kHz]
JL 2.66 × 10−2
=
J0 · i2 270 × 10−7 × 102
9.85
●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 60 VAC.
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
Power .............................................................. Single-phase 115 VAC 60 Hz
115 VAC
Operating time ...................................................................Continuous 0.30
40
In general, a winding motor must satisfy the following conditions: Wind up end
30
●Able to provide a constant winding speed 0.20
Torque
F · D3 4 × 0.02
T3= = = 0.04 [N·m] Cooling
2 2 Fans
Brushless
40 0.30
Motors/AC
Brake Torque [oz-in]
Speed Control
0.25 Motors
30 80 VAC
0.20
Gearheads
20 0.15
60 VAC
0.10 50 VAC Cooling
10 40 VAC Fans
0.05
0 0
0 500 1000 1500
Speed [r/min]
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 center for
information on the speed – brake torque characteristics of each product.