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berger berger motoren elecGronii Formulas + Calculations for Optimum Selection of a Stepmotor yy es peacen tare BERGERLELE 1 1 4aa o (2) 12 General Formulas Vismire. sme Spindie Drive Determination of Load Torque M, og FE ra Frapie + Fworingtoas * Ferestroce + FetovingForce ‘The required drive torque of a spindle drive is determined by the sum of the load torques and the required acceleration torque. Mucor = Miows + Mecsas (Nem Moa =F (ata + ils [Nem] Total force on nut IN] Spindle pitch fom] Spindle bearing mean radius [om] Spindle bearing friction coefficient Gear ratio = Motor! Meena ee tana |i i 1 = alee = Efficiency costficient of converting M into an axial force Experience Values 1 = 0.9for bail bearing spindles (see figure} = 0.3forsteel spindles with bronze nut fp-Hp = 0.016 cmtor roller bearing fq lg = 0.15 .om for steel/bronze friction bearings Frrastroes At10% Prestress andh= Smm: approx. 11to 15N At 20% Prestressandh= 5mm: approx.22to 30N At 10% Prestress andh= 10mm: approx. 40to 60N At 20% Prestrass andh = 10 mm: approx. 80 to 120 N @ Determination of Total Load F on Spindte Nut a) Vertically Acting Forces: Fay G+Fy+Fre IN) G = Weight of carriage and structure (kal F, = Moving Force IN} Fre = Prestress when using springloaded counter nut " Friction coefficient Gos 10m N m = Mass [kg] Values for u Dry Lubricated Steel on steel 0,18 0,12 Steel oncastiron oi 040 Steal on bronze ont 0.10 Axial Guide Rolling friction, Rollers - 0,005 4) (4ay (4b) (4c) b) ,,Non-vertical” Spindle Fa Feet FutFe 2 ™ F, = Gina +4 cose) ifmoving up F, = G(sing —p-cosa) ifmoving down For upward mation +Fy+G (sin@ +4 -cose) N) NI 14 (5) a) © m™ (Tay 8 (9) Determination of Moments of Inertia The total moment of inertia Jye. ig the sum of the moments of inertia of all masses in rotatory and translatory motion. at = Stor Stans tkgem?} Jen = Totalexternal J referenced to motor shaft Jit = Rotatory moment of inertia (full cylinder) rans. = Translatory moment of inertia. Jor 7 Soa + Sat Ikgom"} 2) Rotatory Moment of Inertia J,..~Full Cylinder eon? Het TL Ikgom4] r= Radiusofspindle cm L = Length cm ¥ = Specificweight — kg/em? Stee! 7 = 7,85: 10 kg/em? Aluminum y = 2,7» 105kg/em? Brass 7 = 8,4 - 10-3kg/om? For Steel [kgern?] For Aluminum Yor = 2.7 10 aL | kgoma b) Translatory Moment of Inertia Jans Janse (32)? tkgom} m = Moved mass in kg h = Spindte pitch inom ta reduction gear is used, the external moment of inertia J,x is reduced by the square of the gear ratio. Yon = rar tSians? Ikgom?] Ez 1.2 1.24 1254 09) 6) (20) 4.242 (18) (2) (22) Rack and Pinion Drive Horizontally moved mass driven by rack and pinion. =~+_ >, Rack Pinion Stepmot Total Torques ‘The motor must provide the following total torques: a) Acceleration of weight G, including rack b) Acceleration of pinion } Acceleration of rotor d) Overcoming the friction Moments of inertia The following formula is used to calculate the rotatory moment of inertia equivalent to the weigt Jeg = Gt? [kgom2] Weight in kg r= Radiysincm Jy = Ferree Ley tkgem’] Soy door log + Yap tq, kgem?] Moy = Me M, [Nom] Moos Guor [Nom] 10 1.3 134 1344 19) © 134.2 (18) (23) (2y Drum Drive Lifting a Waight by Cabl Total Torques a} Acceleration of the weight ) Acceleration of the drum ¢} Lifting of the Weight G Cable Drum Stepmotor Moments of inertia eq = Equivatent moment of inertia ‘The same formulas as used for the rack and pinion drive apply. Jeg = Ger? ikgem?} Youn = okey tego Acceleration and Load Torques, Mos (Nom) M, = Torque required for accelerating the system. Mo = Gr [Nom] M, = Torque required for lifting the weight Mor = Ma+M, [Nem] Mg: = Total torque required tor lifting the weight 14 Additional Formulas 1.4.1 Start-Stop Operation {10) {102) foun ~ 199 « Ve E] vi. = Total Moment of Inertia {kgom?] consisting of Je, + Unter f= step frequency {Hz] step angle (Degrees) a T,_ = Division angle of rotor teeth (for S-phase motors: 7.2") Ma = My Ger (Nem Drum drive ; g a 2 5 1.4.4 Advance, Speed and Power Distance Increment cr) as=zy | tom h Spindle pitch in cm Z_ = Number of steps per revolution i = Gearratio ‘Advance Speed (13) veds-tot¢ lem/s] (for spindle dives) zi = te ene {= Step frequency [s*] wiZei = in (ay ft = 22) sq for rotatory drives) ‘Advance ina defined time t (14) sads-ft fem) t = timeins co) [min 1 ol Powerfor rotation (16) P =0,00105 M-n mM Min Nem in min Pos 1g time for short distances ea | aye S% | oy Positioning frequency for short distances Tay, 44, = Positioning time (s] 5) | at, - ae {26) eh fea 43, = Positioning distance [or 41, = Max.positoning trea. [s Suuon™ Acosleration distance [ = Senmme 48 | for (28) || Sener 7 Sante (om) 8, = Acceleration distance ir 145 ay Determination of the Moment of Inertia J for Arbitary Bodies by Means of Measurement Procedure, ‘The body is freely suspended by two strings attached to two fixes paints. Then itis brought into rotational oscillation about the ‘skotched center ine, Tha moment of inertia is found using the previously determined mass m of the body and the distances a,b and hin the following formuta. J=25-T2m loom} J = Moment of inertia in gem? T = Duration of period in sec. Fixeaponts Swings b= Distances in om 14 1.4.6 Howto Find the Optimum Stepmotor Aids: 1. “Formulasand Calculations for Optimum Selection of a Stepmotor” (this brochure) 2. BERGER Catalog “5-Phase Stepmotor System” Determi ion of motor External moment of Inertia known? ox fkgem?} No oo Use formulas 5,6, 7, 8, 9,19, 20 Trial selection of motor from Catalog No. 250/... "5-Phase Stepmotor System” Max. allowable external moments of inertia, /,. Terque [Nem] of the machine tobe driven known? Myotr= Mood + Macon: Nom] Use formulas 1,2,3, 4,10 M [em] required values Use formulas 10-16 Trial selection of motor compatible with final selection? 24 244 24.2 (2) @ Calculation Examples Calculation: Horizontal Spindle Drive SS LE LLLL LTT tae ES ez Known and Required Values Known Values Required Values G=1000N Voue= 12 m/min =20 m/s. F, =250N Positioning time for 10mm=0.58 B04 Resolution: 0.01 mm 9 =09 Spindle diameter 35 mm Spindlelength =~ 800mm Spindiepitchh = = Ss mm Traveldistance 700 mm Sought: the correct stepmotor Required Torque 1 mer(ctoeen) } pen Fo=WGth + Fre WN] F 0,1: 1000N+250N=350N 95cm 2-314 08 M, = 36 Nem . ma.=a50n( +0018 om) =96tlem ‘The calculation example doos not include gear ratio ( ) and Fora 213 ©) (6) (8) 6) 244 1a) 245 6 Existing Moments of Inertia Jen rot Jtrans [kgm dot 0,5 t-18- Le 7 Ekgom?] 7,88 ka Jrot = 05° 3,14 - (1,75 cm)" - 80cm ag = 9,25 kgem? 10° ne smn (fs) em 2-314 oars = 0,83 kgem? trans = 100 kg ( ) Ikgom?] Yea = deot + dtrans Jou — 9,25 kgom? + 0,63 kgom? = 9,88 kgcm? = 10 kgom? ya = 10 kgom? Required Operating Frequency vie fomis} te = _20cm/s-500Steps/Rev. fg 05 om 1 = 200008" Values Determining the Motor Size 1M. = 36.Nem 2 Jen = 10 kgem? 3.1 = 20000Hz 24.6 Determination of Motor Size 5-Phase Stepmotor Data Overview ‘The motor data are contained in our Catalog No. 2507... »5-Phase Stepmotor System« in the following arrangement. “Size 110" MOTOR MODEL > ROM 5117/50 ROM 5122/50 ‘Step angle [Degrees] O72 O72 Maximum torque [Nem] 700 1000 Holding Torque, excited [Nem] 750 1100 Max. Power (W] ate HZ Fig ge Moment of inertia of rotor [kgom?) 115 Motor Characteristics (Constant-Current Operation / Standard Winding) Motor Model RDM 51117/50 Ry=030 ly=5A ne ar’ T Torque (Noa) 3 Constant Curent 5A/Phase 100 $iat-siop| 00 5001000) a8 ff 1 (Stepar 1200 6000 12000 Irn“ 2 oo 20 Maximum Permissible External Moments of Inertia Motors of Series 511 ../50 , ‘ent ROM SHI7/50 T= 8AiPhase eo » Fulstep0.72 © cI : | | » ® rn in i om ® ‘Motor size determined form curves: RDM 51117/50 Motor data see Catalog 250 "5-Phase Stepmotor Syster 7,5 kgom? Myr (2t 20 kHz) —M,_INem] 150 Nem=36 Nem=114 Nem zee i nud 247 (6a) mn) 21.8 en 21.9 Determination of Acceleration Time. Forlinear acceleration and deceleration, the acceleration and deceleration times are equal, Jnct* Yana + Sot = 17.5 kgom? Qr-asf i. To 560° MM, Tor |S 4 -0,72° - 20000 Hz ‘360° - 4 Nem « 107 = 17.5 kgom? t, 7 0986s ~ 0295 ty = Time for acceleration tg ~ Time for constant speed fp = Time for deceleration ty > Total travel time 1 pal 20000 Fv = =~ Steps for acceleration ‘Steps for constant speed Steps for deceleration fear tel rat f ree Ete Sn ‘ (wed ' Distance Traveled in Total Travel Time ft, > Distance in steps) 8,= 20000 0,39 § _ 3900 Steps a2 During acceleration phase = 9800 Steps = During deceleration phase = 9900 Steps = sp ‘Sum for acceleration and deceleration = 7800 Steps Total distance traveled s,..= 700 mm 70 000 Steps Total Travel Time fe = tet theth fs) = Sia 7 (Sa + 8g) t ' {s] 1. — 70000 = (3900 + 3800 . 20000 = atts - htt +t, Is) ty, = 0,99 + 3.11 + 0.99 tye = 3,808 24.10. Verification of Required Values 2.10.4 Positioning Time tps] St, required0.5 8 Sot" 49 te Sa toe (24) At, {s) 4s, = 10mm = 10m 28) Sato = 5, [Steps] 48 = 54-4 Sate = 9800 Steps gpe'SOT-~ = 990m bt, = O898-1oM _ org pS "39 om 2110.2 Smallest Distance Increment per Step 48 required0.01 mm 12) As = > tem 4s = 08 BOGET = 0.001 cm = 0.01 mm {| \ 2.2 224 2.2.2 (2) (de) Calculation: Vertical Spindle Drive (Lifting Force) Known and Required Values. 32 Known Values A G = 150kg EXZZZZ722TRA DPIC 7 209 Ea . EA w= O4 EA Spindle diameter 63mm EA length 10m A pitch 10mm Ea A Gearratio i=20:1 Required Values. Positioning time 10mmin 1 ¢ Resolution < 0.01 mm Stepmotor Required Torque = 1 MOTE (atatnt) + Nem F = G+(sing+u-cos@) IN] 90° 1 cose = 0 ata sin « 22 22.3 @) (6) ® Fo = 1500N (1 + 01-0) Fo = 1500N tom 4 My s800N (72% + 9) 1 (Nom) M. = 1500N (0,177 + 0,015) 3 = 14,4 Nom Existing Moments of Inertia sn + (4a *San) Sot = O,5