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Protection ratings
The IP consists of the letters IP followed by two digits and an optional letter. As defined in international standard IEC
60529, it classifies the degrees of protection provided against the intrusion of solid objects (including body parts like
hands and fingers), and water in electrical enclosures.
Cooling methods
As defined in international standard IEC 60034-6, the classification consists of the letters IC followed by two digits. The
first digit describes the disposition of the ventilation, the second representing the method of cooling circulation. When
more than one circuit of ventilation is used, this can be express by ‘ IC ‘ followed by groups of 2 digits, for example
IC0641.
IC0141 - Closed motor, cooling air is blown with a separate customer provided external blower fan
IC0641 - Totally enclosed non-ventilated motor
IC410 - Totally enclosed non-ventilated motor
IC411 - Closed motor, cooling air is blown over the totally enclosed motor surface by a fan mounted on the shaft
IC416 - Closed motor, cooling air is blown over the totally enclosed motor surface by a separately excited fan motor.
Mounting arrangements
Classification of types of constructions and mounting arrangements (IM Code) are defined by IEC 60034-7.
Gearbox
Example
J(load) = 0.50kgm2
J(mot) = 5.0kgcm2 (=0.00050kgm2)
Z = 30:1
n = 1500 rpm
M(acc) = 15N.m
α = M(acc)/J(tot)
α = 15/0.00106
α = 14150 rad.sec-2
ϖ = (1500/60) x 2π
ϖ = 157 rad.sec-1
t(acc) = ϖ/α
t(acc) = 157/14150
t(acc) = 0.0111 sec (11.1ms)
Useful formulas to calculate inertias
Servosystems are often used in very dynamic applications where speed and positioning accuracy are
requested. To get optimal performance in a system, the load’s moment of inertia at the rotor end (taking
into account any mechanical transmissions and coupling elements : gearboxes’ ratios, pulleys, etc...)
should equates the rotor’s moment of inertia. This is often not possible; however load inertia-to-rotor
inertia ratios close to 5:1 are reasonably good. The higher that ratio, the worse the dynamic performances
of the system will be.
Solid cylinder
J = (mR2)/2
Thick-walled cylindrical tube
J = m(R2 + r2)/2
Inertia of a mass sliding on a ball-screw
J = m(s/2π)2
Effect of a gear ratio on the load inertia
J = J(load) / Z2 Gearbox ratio Z
Example
F = 10000N
s = 10mm (0.01m)
Z = 2:1
η = 0.9
Required torque
M = (10000 x 0.01) / (2π x 2 x 0.9)
= 8.85N.m
Note : The rated torque is often expressed in kg or kgf. It corresponds to the force exerted on the mass
by gravity and must be multiplied by 9.81 to obtain a force expressed in N (Newtons); A 100 kg force is
equivalent to 981 N.