Motor Selection, Inertia PDF
Motor Selection, Inertia PDF
Motor Selection, Inertia PDF
First, determine the driving mechanism and its dimensions. And then check the conditions required for the mechanism such as the mass of the load and traveling speed.
Hoisting application
Band wheel D
SI units
T= 1 2 D W (Nm)
Calculate the load torque, moment of inertia and speed which are converted to those at the motor output shaft. Refer to page A-52 for the rotation speed, load torque and moment of inertia of the load for various mechanism.
Motor W
Check the required specifications such as positioning accuracy, holding of position, speed range, operating voltage and other environmental resistances for the mechanism and the machine.
Flywheel application
Flywheel
SI units
N J T= t 9.55 x 104 J : Inertia (kgcm
2)
N GD2 t 3750000
(kgfm)
Select the most appropriate motor model to meet the required specifications.
Motor
: Time (s)
SI units
T= D W g F 1 D (F + Wg) (Nm) 2
Motor
Make sure that the selected gear head and the motor combination meets all of the required specifications including mechanical strength, acceleration time and torque, then make a final determination.
: Diameter of roll (m) : Mass of load (kg) : Gravitational acceleration (m/s2) : Friction coefficient : External force (N)
: Diameter of roll (m) : Weight of load (kgf) : Friction coefficient : External force (kgf)
T=
1 2
D Wg (Nm)
SI units
T= 1 P (F + Wg) (Nm) 2
F : External force (kgf) W : Weight of load (kgf) : Friction coefficient of sliding surfaces (approx. 0.05 to 0.2) P : Lead of ball screw (m)
: Friction coefficient of sliding surfaces (approx. 0.05 to 0.2) g : Gravitational acceleration (m/s2) P : Lead of ball screw (m)
A-46
A-47
Motor selection
Inertia
To describe the moment of inertia, J and GD2 is used. J is generally called inertia and has the same value of physical moment of inertia in SI units. Unit is in kgm2. GD2 (GD square) is called flywheel effect and generally used in industrial application with gravitational systems of units. Unit is in kgfm2 or kgfcm2. A relation between J and GD2 is described as:
T = J
J = GD2 / 4
For the purpose of this document, both J for SI units and GD2 for gravitational system of units are used. Unit of J should be kgm2 in dynamical significance, however, kgcm2 is used as well for convenience. Refer to pages A-52 and A-53 for calculation of J and GD2 depending on the shape of the load.
where, T : Torque (Nm) J : Moment of inertia (kgm2) : Angular speed (rad/s) t : Time (s) n : Rotational speed (r/s) GD2 : Flywheel effect (GD2 = 4J) g : Gravitational accelerationg = 9.8 (m/s2) : Angular acceleration (rad/s2) In the case of induction motor, torque generated at the starting varies depending on the speed. Therefore, an average acceleration torque is generally used, which is the averaged torque from the starting and the constant speed. A necessary average acceleration torque TA to accelerate the load inertia of J (kgcm2) (GD2 (kgfcm2)) up to a speed n (r/min) in time t (s) can be obtained by the following formula. SI units TA = J x 9.55 x 104 N t (Nm) Gravitational system of units TA = GD2 x 3750000 N t (kgfcm)
JM = JG
x1 i2
JG : Inertia of gear head output shaft (kgcm2) JM : Permissible inertia at motor shaft (kgcm2) i : Reduction ratio (e.g. 5 if the ratio is 1/5) * The formula also applies to GD2 system.
A-48
A-49
Motor selection
Inertia
When using single-phase reversible motor and brake unit When using single-phase variable speed reversible motor and electric brake of speed controller
No. of phases Size Rotor inertia Output (W) J (kgcm2) J (oz-in2) GD2 (kgfcm2) Average acceleration torque (Nm) (oz-in) Permissible load inertia at motor shaft
42 mm sq.
(1.65 inch sq.)
1 4 6 10 15 20 25 40
0.029 0.113 0.173 0.235 0.336 0.460 0.600 1.341 1.841 2.265
0.159 0.618 0.946 1.284 1.837 2.515 3.280 7.332 10.066 12.384
0.114 0.452 0.691 0.940 1.343 1.839 2.399 5.363 7.364 9.060
50 Hz 60 Hz 50 Hz 60 Hz 50 Hz 60 Hz 50 Hz 60 Hz 50 Hz 60 Hz 50 Hz 60 Hz 50 Hz 60 Hz 50 Hz 60 Hz 50 Hz 60 Hz 50 Hz 60 Hz
0.0140 0.0153 0.0402 0.0392 0.0539 0.0549 0.0676 0.0657 0.105 0.101 0.146 0.141 0.218 0.205 0.400 0.381 0.621 0.600 0.796 0.736
1.98 2.17 5.69 5.55 7.63 7.77 9.57 9.30 14.87 14.30 20.68 19.97 30.87 29.03 56.64 53.95 87.94 84.97 112.72 104.23
0.14 0.16 0.41 0.40 0.55 0.56 0.69 0.67 1.07 1.03 1.49 1.44 2.22 2.09 4.08 3.89 6.33 6.12 8.12 7.51
0.0125 0.125 0.125 0.125 0.125 0.138 0.138 0.4 0.650 0.650
0.068 0.683 0.683 0.683 0.683 0.755 0.755 2.187 3.554 3.554
0.05 0.50 0.50 0.50 0.50 0.55 0.55 1.60 2.60 2.60
60 mm sq.
(2.36 inch sq.)
Single-phase Reversible
70 mm sq.
(2.76 inch sq.)
42 mm sq.
(1.65 inch sq.)
1 3
0.027 0.027 0.103 0.163 0.221 0.322 0.438 0.578 1.287 1.787 2.211 0.578 1.287 1.787 2.211
0.148 0.148 0.563 0.891 1.208 1.761 2.395 3.160 7.037 9.770 12.089 3.160 7.037 9.770 12.089
0.106 0.106 0.412 0.650 0.883 1.286 1.751 2.311 5.146 7.147 8.843 2.311 5.146 7.147 8.843
60 mm sq.
(2.36 inch sq.)
3 6
70 mm sq.
(2.76 inch sq.)
10 15
80 mm sq.
(3.15 inch sq.)
15 25 40
90 mm sq.
(3.54 inch sq.)
60 90
80 mm sq.
(3.15 inch sq.)
25 40
90 mm sq.
90
50 Hz 60 Hz 50 Hz 60 Hz 50 Hz 60 Hz 50 Hz 60 Hz 50 Hz 60 Hz 50 Hz 60 Hz 50 Hz 60 Hz 50 Hz 60 Hz 50 Hz 60 Hz 50 Hz 60 Hz 50 Hz 60 Hz 50 Hz 60 Hz 50 Hz 60 Hz 50 Hz 60 Hz 50 Hz 60 Hz
0.0127 0.0146 0.0127 0.0146 0.0353 0.0333 0.0549 0.0529 0.0755 0.0745 0.0971 0.0951 0.126 0.118 0.199 0.201 0.319 0.319 0.524 0.522 0.692 0.691 0.310 0.316 0.667 0.513 1.03 0.767 1.46 1.065
1.80 2.07 1.80 2.07 5.00 4.72 7.77 7.49 10.69 10.55 13.75 13.47 17.84 16.71 28.18 28.46 45.17 45.17 74.20 73.92 98.00 97.85 43.90 44.75 94.46 72.65 145.86 108.62 206.75 150.82
0.13 0.15 0.13 0.15 0.36 0.34 0.56 0.54 0.77 0.76 0.99 0.97 1.28 1.20 2.03 2.05 3.25 3.25 5.34 5.32 7.06 7.05 3.16 3.22 6.80 5.23 10.50 7.82 14.89 10.86
0.0125 0.0125 0.125 0.125 0.125 0.125 0.138 0.138 0.4 0.650 0.650 0.138 0.4 0.650 0.650
0.068 0.068 0.683 0.683 0.683 0.683 0.755 0.755 2.187 3.554 3.554 0.755 2.187 3.554 3.554
0.05 0.05 0.50 0.50 0.50 0.50 0.55 0.55 1.60 2.60
80 mm sq.
(3.15 inch sq.)
90 mm sq.
(3.54 inch sq.)
60 90
When using single-phase electromagnetic brake motor When using single-phase variable speed reversible motor and electric brake of speed controller
No. of phases Size Rotor inertia Output 2 (W) J (kgcm ) J (oz-in2) GD2 (kgfcm2) Average acceleration torque (Nm) (oz-in) Permissible load inertia at motor shaft
60 mm sq.
(2.36 inch sq.)
6 15 25 40
0.201 0.329 0.603 1.362 1.862 2.353 0.603 1.362 1.862 2.286
1.099 1.799 3.299 7.447 10.180 12.865 3.297 7.447 10.180 12.499
0.805 1.316 2.411 5.446 7.447 9.413 2.411 5.446 7.447 9.143
50 Hz 60 Hz 50 Hz 60 Hz 50 Hz 60 Hz 50 Hz 60 Hz 50 Hz 60 Hz 50 Hz 60 Hz 50 Hz 60 Hz 50 Hz 60 Hz 50 Hz 60 Hz 50 Hz 60 Hz
0.0637 0.0647 0.120 0.114 0.235 0.222 0.439 0.420 0.639 0.615 0.859 0.804 0.388 0.306 0.667 0.513 1.031 0.767 1.429 1.065
9.02 9.16 16.99 16.14 33.28 31.44 62.17 59.48 90.49 87.09 121.64 113.86 54.95 43.33 94.46 72.65 146.00 108.62 202.36 150.82
0.65 0.66 1.22 1.16 2.40 2.26 4.48 4.28 6.52 6.27 8.76 8.20 3.96 3.12 6.80 5.23 10.51 7.82 14.57 10.86
0.437 0.864 0.973 4.019 4.784 5.468 0.973 4.019 4.784 5.468
0.32 0.63 0.71 2.94 3.50 4.0 0.71 2.94 3.50 4.0
Single-phase Reversible
70 mm sq.
(2.76 inch sq.)
80 mm sq.
(3.15 inch sq.)
90 mm sq.
(3.54 inch sq.)
60 90
80 mm sq.
(3.15 inch sq.)
25 40
3-phase
90 mm sq.
(3.54 inch sq.)
60 90
A-50
A-51
Motor selection
Inertia
Straight bar
Shape
Discrete shaft
Shape
S
J=
Sphere
Shape
D
GD2 (Flywheel effect calculation) GD2 = WD2 (kgfcm2) W : Weight on the conveyor (kgf) D : Drum diameter (cm) * Flywheel effect of drum not included
J=
WD2 (kgcm2) 4
W : Mass on the conveyor (kg) D : Drum diameter (cm) * Inertia of drum not included
Cube
Shape
c a b
Ball screw
Shape
W
W : Mass (kg) P : Lead of feed screw (cm) JA : Inertia of feed screw (kgcm2)
W : Weight (kgf) P : Lead of feed screw (cm) GD2A : Flywheel effect of feed screw (kgfcm2)
Reducer
Shape
J1 (GD2 1) a n1 n2
2 b J2 (GD 2)
J (Inertia calculation) Equivalent all inertia on axis a n2 2 J = J1 + J2 (kgcm2) n1 n1 : Speed of axis a (r/min) n2 : Speed of axis b (r/min) J1 : J of axis a (kgcm2) J2 : J of axis b (kgcm2)
GD2 (Flywheel effect calculation) Equivalent all flywheel effect on axis a n2 2 GD2 = GD21 + GD22 (kgfcm2) n1 n1 : Speed of axis a (r/min) n2 : Speed of axis b (r/min) GD2 1 : GD2 of axis a (kgfcm2) GD2 2 : GD2 of axis b (kgfcm2)
D L/ 2 L/ 2
( )
( )
A-52
A-53
Motor selection
Service factor Calculation of motor capacity
Life expectancy of motor varies depending on load fluctuation. To determine the life expectancy, a factor called service factor, as shown in the table below is used.First choose the appropriate service factor according to the type of load and multiply the result by the required power to determine the design power. Service factor
Type of load Constant Light-impact Medium-impact Heavy-impact Typical load Belt conveyor, One-directional rotation Start/Stop, Cam-drive Instant FWD/REV, Instant stop Frequent medium-impact Service factor 5 hours/day 0.8 1.2 1.5 2.5 8 hours/day 1.0 1.5 2.0 3.0 24 hours/day 1.5 2.0 2.5 3.5
Torque curve
Vibration curve
1100
1500 1800
Speed (r/min)
The standard life can be expected when the product is operated at service factor 1.0. The life of a component during particular application is estimated by dividing the standard life expectancy by the service factor. If the service factor is 2.0, then the actual life will be one half the expected life.
F (Thrust load)
Output 1W 3W 3 to 6 W 10 to 15 W 15 to 25 W 20 to 60 W 40 W 60 to 90 W 60 W 90 to 150 W
Size
42 mm sq.
(1.65 inch sq.)
Model M4GA MX6G MX6G MX7G MX7G MX8G MX8G MX9G MX9G MZ9G MY9G MR9G MP9G MX9G MZ9G F B(A) M(A) B(A) M(A) B M B M B B B B R R
Permissible overhung load (W) N (kgf) lbf 20 (2) 98 (10) 49 (5) 196 (20) 98 (10) 294 (30) 196 (20) 392 (40) 294 (30) 588 (60) 784 (80) 392 (40) 588 (60) 4.4 22 11 44 22 66 44 88 66 132 176 88 132
Permissible thrust load (F) N (kgf) lbf 15 (1.5) 29 (3) 39 (4) 49 (5) 98 (10) 147 (15) 147 (15) 98 (10) 147 (15) 3.3 6.6 8.8 11 22 33
When the load of the equipment is (1), (3) or (4) in Fig. 2 Calculate the approximate value of the required starting torque Ts. In Fig. 3 (Conveyor), for example, calculate the required force F from T = Fr. Then select suitable motors from our catalog or the attached S-T data and check the minimum starting voltage, the minimum stable voltage and the speed in stable rotation. In accordance with the equipment load status calculated based on the above-mentioned examination, select a motor with the most suitable S-T curve.
2P 60 mm sq. (2.36 inch sq.) 4P 70 mm sq. Motor (2.76 inch sq.) 4P unit 80 mm sq. 4P (round (3.15 inch sq.) 2P shaft) 4P 90 mm sq. 4P (3.54 inch sq.) 2P 2P
60 mm sq.
(2.36 inch sq.)
70 mm sq.
(2.76 inch sq.)
80 mm sq.
(3.15 inch sq.)
90 mm sq.
(3.54 inch sq.)
90 mm sq.
(3.54 inch sq.)
Right-angle
Drive the equipment in a stable state. Using the above-mentioned variable transformer, decrease the voltage gradually. Measure the voltage at the limit of the motor speed allowing the equipment to function, that is, when the equipment begins to stop. A-55
A-54
Motor selection
Calculation of motor capacity
n = i x n1
n : Motor speed (r/min) n1 : Speed of gear output shaft or pulley etc. attached to it (r/min) i : Reduction ratio of gear head (e.g. i = 30 for 1/30) When measuring the speed of a gear output shaft having a large reduction ratio, do not measure the number of revolutions per minute, but measure the time taken for the gear output shaft to rotate 100 turns using a stopwatch after putting a mark on the shaft. Then calculate the number of revolutions per minute from the measured time.
Nm (12.75 oz-in)
55 100
(Torque at motor speed of 1700 r/min) = 0.12 Nm (16.99 oz-in) From the above, it can be seen that this application is a constant torque load and that the 4-pole 25 W induction motor still has a more than sufficient capacity. In addition, as is evident from the S-T curve of the attached S-T data, Ts and Tm of the 4-pole 15 W induction motor are as follows: Ts = 0.1 Nm (14.16 oz-in) Tm = 0.15 Nm (21.24 oz-in) Considering the voltage drop and variation when used for conveyors, Ts and Tm of the 4-pole 15 W induction motor at 90 V are assumed to be as follows: Ts = 0.08 Nm (11.33 oz-in) Tm = 0.12 Nm (16.99 oz-in) When the voltage drop and variation or load variation is thought to be insignificant, the 4-pole 15 W induction motor and gear head MX7G50B can be used. When the voltage variation or load variation is significant, the 4-pole 25 W induction motor should be used.
A-56
A-57