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    4 - Servo Motor Sizing

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    kashinath
    The document discusses motor sizing and provides guidelines for properly sizing motors for industrial applications. It explains that proper motor sizing can provide the best system performance while achieving significant cost savings over the lifetime of the system. Specifically, it recommends sizing the motor so that its torque matches the load torque as closely as possible and its inertia matches the load inertia. Oversizing by 10-20% is considered acceptable to allow for load increases over time. The objective of motor sizing is to select a motor that meets the required speed and matches or exceeds the load requirements at the lowest cost over the lifetime of the system.

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    4 - Servo Motor Sizing

    Uploaded by

    kashinath
    99 views11 pages
    The document discusses motor sizing and provides guidelines for properly sizing motors for industrial applications. It explains that proper motor sizing can provide the best system performance while achieving significant cost savings over the lifetime of the system. Specifically, it recommends sizing the motor so that its torque matches the load torque as closely as possible and its inertia matches the load inertia. Oversizing by 10-20% is considered acceptable to allow for load increases over time. The objective of motor sizing is to select a motor that meets the required speed and matches or exceeds the load requirements at the lowest cost over the lifetime of the system.

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    SERVO

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    4_Servo Motor Sizing

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    The document discusses motor sizing and provides guidelines for properly sizing motors for industrial applications. It explains that proper motor sizing can provide the best system performance while achieving significant cost savings over the lifetime of the system. Specifically, it recommends sizing the motor so that its torque matches the load torque as closely as possible and its inertia matches the load inertia. Oversizing by 10-20% is considered acceptable to allow for load increases over time. The objective of motor sizing is to select a motor that meets the required speed and matches or exceeds the load requirements at the lowest cost over the lifetime of the system.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    99 views11 pages

    4 - Servo Motor Sizing

    Uploaded by

    kashinath
    The document discusses motor sizing and provides guidelines for properly sizing motors for industrial applications. It explains that proper motor sizing can provide the best system performance while achieving significant cost savings over the lifetime of the system. Specifically, it recommends sizing the motor so that its torque matches the load torque as closely as possible and its inertia matches the load inertia. Oversizing by 10-20% is considered acceptable to allow for load increases over time. The objective of motor sizing is to select a motor that meets the required speed and matches or exceeds the load requirements at the lowest cost over the lifetime of the system.

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    Training Department

    Factory Automation Engineering Centre


    Factory Automation & Industrial Division
    Mitsubishi Electric India Private Limited
    [email protected]
    Servo Motor Sizing
    Contents
    Why Motor Sizing?

    Why Motor Sizing?
    High Torque motor requires
    more powerful amplifier
    Combination will consume
    more energy
    Purchase cost : 2 % of total life
    cycle cost
    Maintenance cost : 2 % of total
    life cycle cost
    96% is the cost of energy, i.e.
    operation cost!
    Proper motor sizing provides
    best system performance
    along with considerable cost
    saving
    Over sizing
    Reasons for over sizing:
    Uncertain Load Requirements
    Allowance for Load increase
    Due to aging of mechanical components
    Availability (Inventory)
    Advantages of Over sizing
    Mechanical components (e.g. couplings, ball bearings, etc.) may, depending
    on the environment and quality of service, encounter wear and as a result
    may produce higher friction forces. Friction forces contribute to the
    constant torque of a mechanical set up.
    Over sizing may provide additional capacity for future expansions and may
    eliminate the need to replace the motor
    Oversized motors can accommodate unanticipated high loads.
    Oversized motors are more likely to start and operate in under voltage
    conditions
    10-20% over sizing is acceptable!
    Objective of Motor Sizing
    Get the best performance for the best price
    Match the motors torque with the load torque as close as possible
    Match the motors inertia with the load inertia as close as possible
    Find a motor that matches or exceeds the required speed

    Please note
    It is desirable to find a motor whose rotor inertia matches the inertia of the
    mechanical setup as close as possible, i.e. the optimum ratio between load to rotor
    inertia of 1 : 1
    The inertia match will provide the best performance.
    However, for servo motors a ratio of up to 6 : 1 still provides a reasonable
    performance. Any higher ratios will result in instabilities of the system and will
    eventually lead to total malfunction
    Mitsubishi Servo motors can be used with 15:1
    Motor Sizing Process
    The sizing process involves the following steps:
    Establishment of motion objectives
    Selection of mechanical components
    Definition of a load (duty) cycle
    Load calculation
    Motor selection
    Motion Objectives
    Required positioning accuracy ?
    Required position repeatability ?
    Required velocity accuracy ?
    Linear or rotary application ?
    If linear application: Horizontal or vertical application?
    Thermal considerations Ambient temperature ?
    What motor technologies are best suited for the application?
    Selection of Mechanical Components
    Direct Drive ?
    Special application or standard mechanical devices ?
    If linear application: Use of linear motor or lead screw, conveyor,
    etc. ?
    Reducer required Gearbox, belt drive, etc. ?
    Check shaft dimensions select couplings
    Check mechanical components for speed and acceleration
    limitations
    Definition of Load (Duty) Cycle
    Define critical move parameters such as velocity and acceleration
    rate
    Triangular, trapezoidal or other motion profile ?
    If linear application: Make sure the duty cycle does not exceed the
    travel range of linear motion device.
    Jerk Limitation required ?
    Consideration of thrust load ?
    Does the load change during the duty cycle ?
    Holding brake applied during zero velocity ?
    What is Load?
    The load is defined by the torque that is required to drive the
    mechanical set up.
    The amount of torque is determined by the inertia reflected
    from the mechanical set up to the motor and the acceleration at
    the motor shaft.

    Load Calculation
    Calculate inertia of all moving components
    Determine inertia reflected to motor
    Determine velocity, acceleration at motor shaft
    Calculate acceleration torque at motor shaft
    Determine non-inertial forces such as gravity, friction, pre-load
    forces, etc.
    Calculate constant torque at motor shaft
    Calculate total acceleration and RMS (continuous over duty cycle)
    torque at motor shaft

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