TECHNICAL SUMMARY

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.

First Protected against dust Second Protected against water

digit
0 No protection
1 Protected against solid objects >50 mm
2 Protected against solid objects >12.5 mm
3 Protected against solid objects >2.5 mm
4 Protected against solid objects >1 mm
5 Limited protection against dust ingress
6 Totally protected againts dust ingress
digit
0 No protection
1 Protected against verticcaly falling drops of water
2 Protected against direct sprays of water up to 15° from vertical
3 Protected against direct sprays of water up to 60° from vertical
4 Protected against water sprayed from any direction.
5 Protected against low pressure water jets from any direction.
6 Protected against high pressure water jets from any direction.
7 Protected against immersion between 15 cm and 1m.
8 Protected against long periods of immersion under pressure

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.

IC01 - Open motor, self-ventilated with integral fan cooling

IC06 - Open motor, forced ventilated with radial fitted fan unit

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.

IM1001 (B3) Horizontal position, foot-mounted motor

IM1011 (V5) Vertical position, foot-mounted motor
IM3001 (B5) Horizontal position, flange-mounted motor
IM3011 (V1) Vertical position, flange-mounted motor
IM2001 (B35) Horizontal position, foot-mounted and flange-mounted motor

Abbreviations Unit conversion factors Useful formulas

Electrical data 1HP = 746W Torque (lb.ft) = 5250 x HP
Kilowatts = kW 1N.m = 8.851lb.in speed (rpm)
Volts =V 1mm = 0.3937inch Torque (N.m) = 9549 x kW
Armature voltage = Va 1m2 = 35.31ft2 speed (rpm)
Tension de champ = Vf 1kgm2 = 1Nms2 = 0.73752 lb.ft2
Amperes =A 1 Watt = 1Nm/s Three-phase power (kW)
Armature current = Ia 1.732 x V x I x PF
PI = 3,14159 rad =
Power factor = PF 1000
1g (gravity) = 9,806 m/s2
Single-phase power (kW)
= V x I x PF
1000

Factor of useful 1HP = 746W 1kgm2 = 1Nms2 = 0.73752 lb.ft2

conversions 1N.m = 8.851lb.in 1 ft = 0,3048 m
1mm = 0.3937inch 1 in = 25,4 mm
1m2 = 10,76387 sq.ft 1 sq.ft = 0,0929 m 2

Torque/speed curves of servomotors

M0 : Rated torque at low speed

MN : Rated torque at max. speed

NMAX : Max. speed

MMAX : Peak torque

Useful mechanical engineering formulas for motion control
To size a servo system, mechanical calculations are often necessary. Formulas useful in the most com-
mon applications are given below to assist you.
They only provide general guidances and results may need to be refined to take into account elements
specific to the application, such as mechanical losses, cycles etc. Your local Parker contacts will give you
further advices on how to size properly your application.

Time required to accelerate a rotating load

M(acc)= Acceleration torque, N.m
J(tot) = Total load moment of inertia, kgm2
J(mot) = Rotor moment of inertia, kgm2
J(charge) = Load moment of inertia, kgm2
Z = Gear ratio (gearbox)
t(acc) = Acceleration time, sec
α = Angular acceleration, rad.sec-2
ϖ = Angular velocity rad.sec-1
n = Speed, rpm

M(acc)= J(tot) x α ou α = M(acc) / J(tot)

α = ϖ/t(acc) ou t(acc) = ϖ/α

Motor Load
ϖ = (n/60) x 2π

J(tot) = J(mot) + (J(load)/Z2)

Gearbox

Example
J(load) = 0.50kgm2
J(mot) = 5.0kgcm2 (=0.00050kgm2)
Z = 30:1
n = 1500 rpm
M(acc) = 15N.m

J(tot) = 0.00050 + (0.5 / 302)

J(tot) = 0.00106 kgm2

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

Torque required to produce a force on a ball-screw ( Load )

M = Required torque, N.m

F = Force, N
Z = Gear ratio (gearbox)
(Z = 1 if no gearbox )
s = Screw thread, m
η = Efficiency
M = Fs/2πZη

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.

© 2010 Parker Hannifin Corporation Print Recorder Number PVD3648-GB 03/2010

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Fax: +33 (0) 3 80 42 41 39
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