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A Comprehensible Guide to Servo Motor Sizing
Printed: 162 pages, 8.5" x 11", perfect
binding
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About this book
The Importance of servo motor sizing should not be underestimated. Proper motor
sizing will not only result in significant cost savings by saving energy,
reducing purchasing and operating costs, reducing downtime, etc.; it also helps
the engineer to design better motion control systems. However, the knowledge of
mechanical systems and their influence on motor speed, inertia and torque
requirements seems to decline in a world where modern technology aspects, such
as tuning and programming, seem to be the main focus. The motor sizing process
involves a number of mathematical equations, which are most certainly
documented, but not necessarily with the motor sizing process in mind. This book
focuses primarily on servo motor sizing and it documents in detail the inertia
and torque calculations of standard mechanical components and the motor
selection process.
About the author
Wilfried Voss is the
President of Copperhill Technologies Corporation, a company specializing in
motor sizing software development for various motor manufacturers all over the
world. In addition, Copperhill Technologies sells user licenses of its generic
motor sizing program, VisualSizer-ProfessionalTM.
Mr. Voss has been involved with motion control applications
since 1985 as a specialist in the paper industry. He has a master’s degree in
electrical engineering from the University of Wuppertal in Germany. Mr. Voss has
traveled the world extensively, settling in New England in 1989. He presently
lives in an old farmhouse in Greenfield, Massachusetts with his Irish-American
wife and their son Patrick. Table of Content
2.1 Why Motor Sizing?
1. Overview
2. The Importance of Servo Motor Sizing
2.2 Technical Aspects
2.3 The Objective of Motor Sizing
3. The Motor Sizing and Selection Process
3.1 Selection of mechanical
components
3.2 Definition of a load cycle
3.2.1
Triangular motion profile
3.2.2
Trapezoidal motion profile
3.2.3
Motion profile processing
3.2.4
Motion profile calculation
3.2.5
Motion profile equations
3.2.6 Jerk
Limitation
3.2.6.1 S-Curve Calculation
3.3 Load calculation
3.3.1 Load
maximum speed
3.3.2 Load
inertia and maximum torque
3.3.3 Load
RMS torque
3.4 Motor Selection
3.4.1
Matching Motor Technologies to Applications
3.4.1.1 Stepper Motors
3.4.1.2 DC Brush Motors
3.4.1.3 DC Brushless Motors
3.4.1.4 AC Induction Motors
3.4.2
Selection Criteria
3.4.2.1 Inertia Matching
3.4.2.2 Interpretation of Torque/Speed Curves
3.4.2.3 Servo Motor Performance Curves
3.4.2.4 Stepper Motor Performance Curves
3.4.2.5 Servos vs. Steppers
3.5 Special Design Considerations
3.5.1
Gearing
3.5.2
Holding Brake and Motor Torque Requirements
3.5.3
Vertical Applications
3.5.4
Thrust Forces
3.5.5 Load
Variations
3.5.6
Multi-Dimensional (X-Y-Z) Applications
3.5.7
Thermal Considerations
3.6 Sample application - comprised
4. Load Inertia and Torque Calculation
4.1 Basic Calculations
4.1.1
Fundamental Equations
4.1.2
Solid Cylinder
4.1.3
Hollow Cylinder
4.1.4
Rectangular Block
4.2 Calculation of Mechanical
Components
4.2.1 Disk
4.2.2
Chain Drive
4.2.3
Coupling
4.2.4
Gears
4.2.5
Gearbox / Servo Reducer
4.2.6
Belt-Pulley
4.2.7
Conveyor
4.2.8
Leadscrew
4.2.9
Linear Actuator
4.2.10 Nip
Roll
4.2.11
Rack Pinion
4.2.12
Rotary Table
4.2.13
Center Driven Winder
4.2.14
Surface Driven Winder
5. Motor Sizing Programs
5.1 Motor Sizing Programs for
Windows
5.1.1 Axis
Design
5.1.2
Velocity Profile
5.1.3
Motor Selection
5.1.4
Report Generator
5.1.5
Performance Curves
Appendix A - References
Appendix B – Web Site References
Appendix C – Symbols & Definitions
Appendix D – Material Densities
Appendix E – Mechanism Efficiencies
