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Small Gearmotors - Overview

QCalculation Formula of Load Torque

QMotor Selection SI Unit Gravitational Metric Unit
1. Determination of the Motor Application When Lifting a Load Take-up Wheel
D
Specify the motor application and overall dimensions, then check required conditions, such as the mass and travel speed of the load to be moved. T= 1 D · W[N · m] 1
T= 2 D · W [kgf · m]
2. Calculations for Rotational Speed and Loads 2
Calculate the load torque, loading moment of inertia and rotational speed of the motor driving shaft. D : Drum Diameter [m] D : Drum Diameter [m]
3. Confirmation of Required Specifications Motor W : Load [N] W : Load [kgf]
W
Confirm the required specifications, position accuracies, position holding, speed ranges, operating environment, and environmental resistance, etc.
4. Motor Model Selection
When Inertial Object is Driven J N GD2 N
Select the models most suitable for the required specifications. T= 9.55×104 · t [N · m] T= 375×104 · t [kgf · m]
Flywheel
5. Selection of Motor and Gearhead
N : Rotational Speed [r/min] N : Rotational Speed [r/min]
Select motor and gearhead candidates based on calculated speeds, load torque, and inertia values.
J : Inertia [kg·cm2] GD2: Flywheel Effect [kgf · cm2]
6. Confirmation of the Selected Motor
Motor t : Time [sec.] t : Time [sec.]
Finalize the selection by confirming that all the specifications of the motor and the gearhead adequately meet the requirements.
For Belt Conveyors 1
F T= 2 D (F+µWg) [N · m] 1
T= 2 D (F+µW) [kgf · m]
W D
D : Roller Diameter [m]
QModel Selection Table D : Roller Diameter [m]
W : Load Mass [kg]
Induction Motor Reversible Motor Variable Speed Motor Unit Motor with Electromagnetic Brake (1-Phase) Motor with Electromagnetic Brake (3-Phase)
W : Load Weight [kgf]
Motor g : Gravitational Acceleration [m/s2]
µ : Friction Coefficient
PACMS, PACMT PACMR PACMV-U PACMB PACMTB µ : Friction Coefficient
F : External Force [kgf]
F : External Force [N]
wP.979 wP.981 wP.985

When Moving Horizontally over T= 1 D · µWg [N · m] 1

Contact Surface 2 T= 2 D · µW [kgf · m]
Type
D W D : Drum Diameter [m]
D : Drum Diameter [m]
W : Mass [kg]
Take-up Wheel W : Weight [kgf]
µ : Friction Coefficient
µ : Friction Coefficient
Motor g : Gravitational Acceleration [m/s2]

When Driving a Ball Screw 1 1

F
T= 2π P (F+µWg) [N · m] T= 2π P (F+µW) [kgf · m]
Motor combined with a speed
Motor suitable for continuous one- Motor capable of instantaneous Motor integrated with a power-OFF electromagnetic brake, capable of
Feature controller, capable of infinitely
way direction operations. rotation reversals.
variable speeds.
braking and position holding.
W F : External Force [N] F : External Force [kgf]
1-Phase 100V/200V W : Workpiece Mass [kg] W : Load Weight [kgf]
Voltage 1-Phase 100V/200V 1-Phase 100V/200V 1-Phase 100V/200V 3-Phase 200V/220V
3-Phase 200V/220V µ : Friction Coefficient of Sliding Surface [approx. 0.05 ~ 0.2] µ : Friction Coefficient of Sliding Surface
µ
Continuous Operation g n g n g g : Gravitational Acceleration [m/s2] [approx. 0.05 ~ 0.2]
Instantaneous Direction Reversal Operation n g n g n P : Ball Screw Lead [m] P : Ball Screw Lead [m]
Variable Speed n n g n n
P
Load Holding n n n g g
QAllowable Moment of Inertia at Gear Head Output Shaft and Motor Shaft · How to Calculate Moment of Inertia Applied to Motor Shaft
QExample of Motor Selection EIf a large inertial load is linked to the gearhead, a large torque is instantaneously 1
JM= JG x i2
generated when a frequent, intermittent motion starts. If this shock load is too
· Required Specifications JG : Gear Head Output Shaft Inertia [kg · cm2]
large, the gearhead and motor may be damaged.
Applications: Conveyer / Operation Condition: Continuous / Voltage: 100VAC / Frequency: 60Hz / Rotational Speed: 25r/min JM : Motor Shaft Inertia [kg · cm2]
To select motors, convert inertia of load (JG) applied to gearhead output shaft
1Motor Model Selection to motor shaft inertia (JM), to be within the values listed below. The inertia i : Reduction Ratio [e.g. i=5 if 1/5]
A single phase induction motor with leads (PACMS) is selected from the type chart above based on application, operational condition and environment, and varies depending on the type of load.
available voltage.
Part Number Allowable Moment of Inertia at Motor Shaft * The allowable load inertia for the 3-phase motors are for
2Selection of Reduction Ratio Output Except Electromagnetic Brake Motor Motors with Electromagnetic Brake
Type A (W) static reversal operation.
Based on the target rotational speed of 25r/min, a reduction ratio 60 is selected to obtain 1500 ~ 1550r/min (induction motor rated speed at 60 Hz) divided by JM (kg·cm2) GD2M (kgf·cm2) JM (kg·cm2) GD2M (kgf·cm2) * Inertia moments are expressed with J or GD2. The J is generally called "inertia" and is equal to
25r/min=60. 60 6 0.125 0.50 0.08 0.32 physical inertia moments used in SI Units, expressed with the unit. The unit is [kg · m2]. On the
70 15 0.125 0.50 0.158 0.63 other hand, the unit "GD2" (gee-dee-square) is typically used in industrial calculations using
3Calculation of Required Torque PACMGX 80 25 0.138 0.55 0.178 0.71 conventional gravitational units, and is also called a "Flywheel Effects". The units used to express
Approximated load is measured with a spring scale, etc. (Ex.) 2.65N·m are [kgf·m2] and/or [kgf·cm2]. The relationship between "J" and "GD2" is: J=GD2/4.
90 40 0.400 1.60 0.735 2.94
By referring to the data for 60:1 ratio gearhead in "Allowable Torque when Gearheads are Mounted on P.980", select a 25W motor (PACMS80-W25-V100) and a (The unit for "J" should primarily be expressed with [kg · m2] from the physics standpoint, but [kg ·
60 0.650 2.60 0.875 3.50 cm2] will be used here in order to simplify the calculation steps.)
60:1 ratio gearhead (PACMGX80-60) with a 200% margin. PACMGZ 90 90 0.650 2.60 1.000 4.00
QService Factor
4Confirmation of Selected Motor by Actual Measurement
Usually when the conveyer starts moving, the largest torque is required.
QAllowable Overhang Load and Allowable Thrust Generally load is fluctuant. When thinking of service life in such a case, use
Load on Gear Heads coefficient called Service Factor according to type of load.
Therefore, points below are to be confirmed by measuring (*) the minimum starting voltage. Select Service Factor from the following table, and multiply necessary power
An overhanging load applied perpendicular to the gear head output shaft is generated when
E
a. Motor Starting Torque > Required Torque (=Minimum Starting Torque) the gear head output shaft is linked to the other machine with a chain or belt, but not when it is to calculate design power.
b. Actual Measured Rotational Speed > Rated Rotational Speed directly coupled with couplings. Service Factor
Overhang loads and thrust loads on output shafts greatly affect the bearing life. Ensure that
E Load Type Example of Load
5 hours/day 8 hours/day 24 hours/day
(For example, it is assumed that the actual measurement result of minimum starting voltage is 75V with rotational speed 1700r/min) applied loads do not exceed the allowed values shown below.
Constant Load Belt Conveyer, Continuous One-way Operation 0.8 1.0 1.5
a. About Torque Part Number Allowable Allowable Thrust Light Impact Start, Stop, Cam Drive 1.2 1.5 2.0
From P.980 Starting torque of PACMS80-W25-V100 is 0.16N·m Overhang Load * Load Moderate Impact Instantaneous Direction Reversal, Instantaneous Stop 1.5 2.0 2.5
Type A N(kgf) N(kgf) Heavy Impact Frequently Occurring Impact 2.5 3.0 3.5
Min. Starting Torque = Starting Torque x (Min. Starting Voltage/Rated Voltage)2=0.16x (75/100)2=0.09N·m
Starting Torque of PACMS80-W25-V100 (0.16N·m) > Min. Starting Torque (0.09N·m) 60 98 (10) 29 (3)
PACMGX EFor technical data on temperature increase of motor, see our website.
70 196 (20) 39 (4)
b. About Rotational Speed (for Motor Output 40W Overhang Load
80 294 (30) 49 (5)
From P.980 Rated Rotational Speed of PACMS80-W25-V100 is 1550r/min or lower)
90 392 (40) 98 (10)
Actually Measured Rotational Speed (1700r/min) > Rated Rotational Speed (1550r/min)
PACMGZ Thrust Load
From the above, the PACMS80-W25-V100 motor is adequate for the case. (for Motor Output 60W 90 588 (60) 147 (15) L
or higher)
* How to Measure Min. Starting Voltage
* Applied at L/2 of output shaft
Connect the motor with the load, and connect a variable AC transformer with a voltmeter.
Apply and raise the voltage slowly using a variable AC transformer, and measure the voltage when the load starts to move.
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