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Motor Sizing Calculations PDF
Motor Sizing Calculations PDF
Motor Sizing Calculations PDF
This section describes certain items that must be calculated to find the optimum motor for a particular application.
Selection procedures and examples are given.
Selection Procedure
Determine the drive First, determine certain features of the design, such as drive mechanism, rough dimensions,
mechanism component distances moved, and positioning period.
Confirm the required specifications for the drive system and equipment (stop accuracy,
Confirm the required specifications
position holding, speed range, operating voltage, resolution, durability, etc.).
Calculate the value for load torque, load inertia, speed, etc. at the motor drive shaft of the
mechanism. Refer to page 3 for calculating the speed, load torque and load inertia for various
Calculate the speed and load mechanisms.
Select a motor type from AC Motors, Brushless DC 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
Check the selected motor motor/gearhead satisfy all of the requirements (mechanical strength, acceleration time,
acceleration torque etc.).
FA x
m
FA
y L
4 4 3
Systems
D
Inertia of a Hollow Cylinder
x
D1
D2
Motors Gearheads
FA m y L
FA m D
TL 1
2 i Jx m (D 12 D 2 2 ) L ( D 14
D 24 ) [oz-in2] ............
Motion
Linear
8 32
(FA m ) D
[oz-in] .................................................... 1 D 12 D 2 2 L 2
2i Jy m( ) [oz-in2] .................................
Cooling
4 4 3
Fans
Wire Belt Mechanism, Rack and Pinion Mechanism Inertia for Off-center Axis of Rotation
l x0
FA F FA m F x
m
D C
B
A
F D FD
TL [oz-in] .............................................. l Distance between x and x0 axes [in.]
2 i 2i
1
F FA m (sin cos ) [oz.] ....................................... J x Jx0 m l 2 m ( A2 B 2 12 l 2 )[oz-in2] ...............
12
FB
C
y
Machine
D
1 1
Pulley
Jx m ( A2 B 2 ) A B C ( A 2 B 2 )[oz-in2] ...........
12 12
FBD
TL [oz-in] ...............................................................
2 1 1
Jy m ( B2 C2 ) A B C ( B 2 C 2 )[oz-in2] ...........
12 12
Inertia of an Object in Linear Motion
F Force of moving direction [oz.] 2 A 2
Pilot pressure weight [oz.] (1/3 F) Jm( ) m( ) [oz-in2] .........................................
F0 2
0 Internal friction coefficient of pilot pressure nut (0.1 to 0.3)
Efficiency (0.85 to 0.95) A Unit of movement [inch/rev]
i Gear ratio Jx Inertia on x axis [oz-in2]
PB Ball screw pitch [inch/rev] Jy Inertia on y axis [oz-in2]
FA External force [oz.] Jx0 Inertia on x0 axis [oz-in2]
m Weight [oz.] Density
FB Force when main shaft begins to rotate [oz.]
m Total weight of work and table [oz.] D1 External diameter [inch] Iron 4.64 [oz/in3]
Frictional coefficient of sliding surfaces (0.05) D2 Internal diameter [inch] Aluminum 1.65 [oz/in3]
Angle of inclination [] Density [oz/in3] Bronze 5 [oz/in3]
D Final pulley diameter [inch] L Length [inch] Nylon 0.65 [oz/in3]
A
f1 t1 Calculate the Required Torque TM
t0
t1 Required Torque (Load Torque Acceleration Torque) Safety Factor
TM [oz-in] [oz-in] [oz-in]
(TLTa)Sf
F-4 ORIENTAL MOTOR GENERAL CATALOG 2003/2004
Technical Reference
Choosing Between Standard AC Check the Acceleration/Deceleration Rate
Most controllers, when set for acceleration or
Motors and Stepping Motors
deceleration, adjust the pulse speed in steps. For that
Selection Considerations
reason, operation may sometimes not be possible, even
There are differences in characteristics between standard AC
though it can be calculated.
motors and stepping motors. Shown below are some of the
Calculate the acceleration/deceleration rate from the
points you should know when sizing a motor.
following equation and check that the value is at or above
Systems
ratings, due to the difference in motor specifications,
despite the fact that two motors have the same output Calculate the pulse speed in full-step equivalents.
power. Motor selection should be based on the operating
Motors Gearheads
time (operating pattern).
Motion
Linear
Stepping Motors t1
Checking the Running Duty Cycle Acceleration Rate (Reference Values with EMP Series)
A stepping motor is not intended to be run continuously
Cooling
Fans
Acceleration/
with rated current. Lower than 50% running duty cycle is Model
Motor Frame Size
Deceleration Rate If below the minimum
inch (mm)
recommended. TR [ms/kHz] value, change the
Running Time 1.10(28), 1.65(42), operating patterns
Running Duty Cycle 100 A 0.5 Min.
Running Time Stopping Time 2.36(60), 3.35(85) acceleration
1.65(42), 2.36(60) 20 Min.
Checking the Inertia Ratio RK Series (deceleration)
3.35(85), 3.54(90) 30 Min.
Large inertia ratios cause large overshooting and period.
undershooting during starting and stopping, which can Checking the Required Torque
affect start-up times and settling times. Depending on the Check that the required torque falls within the pull-out
conditions of usage, operation may be impossible. torque of the speed-torque characteristics.
Calculate the inertia ratio with the following equation and Safety Factor: Sf (Reference Value)
check that the values found are at or below the inertia
Product Series Safety Factor
ratios shown in the table. A 1.52
Inertia Ratio
Rotor Inertia of the Motor [oz-in2]
JL
J0
Required Torque
6000
0 10000 Hz
Stepping
Motor 0.8
0.2
Coupling
PB
DB
0.2 t1 t 1 0.2 Period [sec]
Programmable t 0 =0.8
Controller
(4) Calculate the Operating Speed N [r/min]
Determine the Drive Mechanism
S 60
Operating Speed f 2
Total mass of the table and work: m 90 lb. (40 kg) 360
Frictional coefficient of sliding surfaces: 0.05 10000 0.72 60 1200 [r/min]
Ball screw efficiency: 0.9 360
Internal frictional coefficient of pilot pressure nut: 0 0.3 Calculate the Required Torque TM [oz-in]
Ball screw shaft diameter: D B 0.6 inch (1.5 cm) (see page F-4)
Total length of ball screw: L B 23.6 inch (60 cm) (1) Calculate the Load Torque TL [oz-in]
Material of ball screw: Iron [density 4.64 oz/in3
Load in Shaft Direction F F A m (sin cos )
(7.910-3 kg /cm3)] 0 90 (sin 0 0.05 cos 0)
Pitch of ball screw: P B 0.6 inch (1.5 cm) 4.5 lb.
Desired Resolution (feed per pulse): l 0.001 inch (0.03 mm)/step
Feed: l 7.01 inch (180 mm) Pilot Pressure Load F 0 F 4.5 1.5 lb.
3 3
Positioning period: t 0 0.8 sec.
Load Torque T L F P B 0 F 0 P B
2 2
Calculate the Required Resolution
4.5 0.6 0.3 1.5 0.6
360 Desired Resolution (l) 2 0.9 2
Required Resolution
S
Ball Screw Pitch (PB ) 0.52 lb-in 8.3 oz-in
3600.001 0.72
15 (2) Calculate the Acceleration Torque Ta [oz-in]
A can be connected directly to the application. Calculate the total moment of inertia JL [oz-in2]
(See page F-3 for basic equations)
Determine the Operating Pattern Inertia of Ball Screw J B
L B D B4
(see page F-4, see basic equations on pages F-3) 32
(1) Finding the Number of Operating Pulses (A) 4.64 23.6 0.6 4
32
[pulses] 1.39 oz-i n 2
Feed per Unit (l) 360
Operating pulses (A) Inertia of Table and Work J T m P B 90 0.6
2 2
(2) Determine the Acceleration (Deceleration) Total Inertia J L J B J T 1.39 13.1 14.5 oz- in2
Period t1 [sec] Calculate the acceleration torque Ta [oz-in]
An acceleration (deceleration) period of 25% of the Acceleration
J0 J L
S f 2
f 1
positioning period is appropriate. torque Ta g 180 t1
Acceleration (deceleration) period (t 1) 0.8 0.25 0.2 sec 0.72
J 0 14.5 10000
0
386 180 0.2
1.63 J0 23.6 oz-in
1.5
Calculate the Required Torque
200
F, the load weight in the direction of the ball screw shaft, is
Torque [oz-in]
Torque [Nm]
150
1.0 obtained as follows:
F FAm (sin cos ) 0100 (sin 90 0.05 cos 90 )
Systems
100
0.5
50 100 lb.
0 0
Preload weight F0:
1000 2000 3000 4000
Motors Gearheads
Speed [r/min] F
0 10 20 30 40 50 60 F0 33.3 lb.
Pulse Speed [kHz] 3
(Resolution Setting: 1000 P/R)
Load torque TL:
Select a motor for which the required torque falls within the FPB 0F0PB 1000.197 0.333.30.197
pull-out torque of the speed-torque characteristics. TL
2 2 20.9 2
3.8 lb-in
Ball Screw
Motion
Linear
This value is the load torque at the gearhead drive shaft, and
Using Standard AC Motors must be converted into load torque at the motor output shaft.
Cooling
This example demonstrates how to select an AC motor with The required torque at the motor output shaft (TM) is given by:
Fans
an electromagnetic brake for use on a tabletop moving TL 3.8
TM 0.52 [lb-in] 8.32 oz-in
vertically on a ball screw. In this case, a motor must be i G 90.81
selected that meets the following basic specifications. (Gearhead transmission efficiency G 0.81)
Look for a margin of safety of 2 times.
Required and Structural Specifications
8.322 = 16.64 oz-in
Motor
To find a motor with a start-up torque of 16.64 oz-in or more,
Gearhead
Coupling select motor 5RK40GN-AWMU. This motor is equipped
with an electromagnetic brake to hold a load. A gearhead
Ball Screw with a gear ratio of 9:1 that can be connected to the motor
FA
Slide Guide 5RK40GN-AWMU is 5GN9KA.
v The rated motor torque is greater than the required torque,
m1
so the speed under no-load conditions (1740 r/min) is used
to confirm that the motor produces the required speed.
Load Inertia Check
Ball Screw LBDB4 4.6431.5(0.787)4
Total weight of table and work ............................ m 100 lb. J1
Moment of Inertia 32 32
Table speed ............................................. V 0.6 in./s10%
5.5 oz-in2
Ball screw pitch .............................................. P B 0.197 in.
Ball screw efficiency .................................................. 0.9 Table and Work A 2 0.197 2
2 m 100 16
Ball screw friction coefficient .................................... 0 0.3 Moment of Inertia J 2 2
Friction coefficient of sliding surface (Slide guide) ..... 0.05 1.57 oz-in2
Motor power supply ................ Single-Phase 115 VAC 60 Hz Gearhead shaft total load inertia J5.51.577.07 [oz-in2]
Ball screw total length ....................................... L B 31.5 in.
Here, the 5GN9KA permitted load inertia is (see page A-12):
Ball screw shaft diameter ............................... D B 0.787 in. JG JM i2 492 324 oz-in2
Ball screw material .................. Iron (density 4.64 oz/in.3) Therefore, J < JG, the load inertia is less than the permitted
Distance moved for one rotation of ball screw .... A 0.197 in. inertia, so there is no problem. There is margin for the
External force ......................................................... FA 0 lb. torque, so the rotation rate is checked with the no-load
Ball screw tilt angle ................................................... 90 rotation rate (about 1750 r/min).
Movement time ....................................................5 hours/day NM P
Brake must provide holding torque V 0.64 in./s (where NM is the motor speed)
60 i
This confirms that the motor meets the specifications.
Performance
Belt speed VL is 0.6 in./s40 in./s
Specifications for belt and work
Systems
Condition: Motor power supply ...... Single-Phase 115 VAC
Belt conveyor drive
Roller diameter .................................. D 4 inch
Motors Gearheads
Mass of roller ................................. m1 2.2 lb.
Total mass of belt and work ............ m2 33 lb.
Friction coefficient of sliding surface .... 0.3
Pulse Generator
Belt roller efficiency .............................. 0.9
Programmable
Controller
Find the Required Speed Range
Motion
Linear
For the gear ratio, select 15:1 (speed range: 2200) from the Diameter of index table: D T 11.8 inch (300 mm)
permissible torque table for combination type on page B-14 Index table thickness: LT 0.39 inch (10 mm)
so that the minimum/maximum speeds fall within the speed Thickness of work: LW 1.18 inch (30 mm)
Cooling
Fans
range. Diameter of work: D W 1.57 inch (40 mm)
60VL Material of table and load: Iron [density 4.64 oz/in3
NG NG: Speed at the gearhead output shaft
D (7.910
3 kg /cm3)]
Belt Speed Number of loads: 12 (one every 30)
600.6 Distance from center of index table
0.6 inch/s ......... 2.87 r/min (Minimum Speed)
4 to center of load: l 4.92 inch (125 mm)
6040 Positioning angle:
30
40 inch/s .......... 191 r/min (Minimum Speed)
4 Positioning period: t0 0.3 [sec]
Calculate the Load Inertia JG The A PN geared (gear ratio 7.2:1) can be used.
Load Inertia of Roller : Jm1 Gear Ratio: i 7.2
1 1 Resolution:
s0.05
J m1 m1D 2.2164270.4 oz-in2
2
8 8
Speed Range (Gear Ratio 7.2:1) is 0416 r/min
Load inertia of belt and work : Jm2
D 2 4 2 Determine the Operating Pattern
Jm2 m2( ) 33( ) 132 oz-in2
2 2 (see page F-4, see basic equations on page F-3)
The load inertia JG is calculated as follows: (1) Find the Number of Operating Pulses (A) [pulses]
JGJm12Jm2270.4132273 oz-in2 Operating pulses (A)
Angle rotated per movement (
)
From the specifications on page B-15, the permissible load Gear output shaft step angle (
s)
inertia for BX5120A-15 is 2300 oz-in2 (4.210
2 kgm2) 30 600 Pulses
0.05
Calculate the Load Torque TL (2) Determine the Acceleration (Deceleration)
Friction Coefficient of the Sliding Surface: F m20.3339.9 lb. Period t1 [sec]
FD 9.94 An acceleration (deceleration) period of 25% of the
Load Torque TL 22 lb-in
2 20.9 positioning period is appropriate.
Select BX5120A-15 from the permissible torque table on Acceleration (deceleration) period (t 1) t 00.25
page B-14. 0.30.25 0.075 sec
Since the permissible torque is 47 lb-in (5.4 Nm), the safety (3) Calculate the Operation Speed
60
60 30
margin is Operating N
360 t0
t1 360 0.3
0.075
TM/TL50/222.3
Usually, a motor can operate at the safety margin of 1.52 or 22.2 [r/min]
more.
T M [oz-in]
{0 (4.16 J 0 527) } 2
8.32 J 0 1054 [oz-in]
Select a Motor
(1) Provisional Motor Selection
0.075 t1 t1 0.075 Period [sec] Rotor Inertia Required Torque
Model
oz-in2 lb-in [Nm]
t 0 =0.3 AS66AA-N7.2 J02.2 67 7.6
Calculate the Required Torque TM [oz-in] (2) Determine the Motor from the Speed-Torque
(See page F-4) Characteristics
(1) Calculate the Load Torque TL [oz-in] AS66AA-N7.2
(See page F-3 for basic equations) 25
200
Frictional load is omitted because it is negligible. Load torque 20
is considered 0. 150
Torque [lb-in]
Torque [Nin]
15
3442 oz-in2 Select a motor for which the required torque falls within the
pull-out torque of the speed-torque characteristics.
Inertia of Work J C L W D W4
(Center of gravity) 32 PN geared type can operate inertia load up to acceleration
torque less than Maximum torque.
4.64 1.18 1.574
32
3.3 oz-in2
DW 2
Weight of Work m ( ) LW
2
1.57 2
( ) 1.18 4.64
2
10.6 oz.
The center of the load is not on the center of rotation, so
since there are 12 pieces of work:
Inertia of Work JW 12 (JCml 2)
(Center of rotation)
12(3.310.64.922)
3118 [oz-in2]
Total Inertia JL JTJW 34423118
6560 oz-in2