4.

Motor Selection: Introduction and Examples

maxon Seminar at Electromate, March 2010 by maxon motor ag, 2010

Motor Selection: Introduction and Examples

Continuous operation Cyclic operation maxon selection program
see also Book: Chapter 11

Seminar at Electromate 2010, maxon motor ag, Sachseln, Switzerland

Systematic selection process

Step 1 overview situation

power communication ambient condition

step 2 load

step 3 drive

step 4 gearhead

step 5+6 step 7 motor type sensor winding controller

DC motor sizing made easy

4. Motor Selection: Introduction and Examples

maxon Seminar at Electromate, March 2010 by maxon motor ag, 2010

Example: Conveyor belt for samples

pulley diameter maximum mass on belt coefficient of friction on
support friction force (empty belt) feed velocity supply voltage 100 mm 3 kg ca. 0.3 ca. 40 N 0.5 m/s 24 V

Example: Conveyor belt for samples

speed feed force torque power acceleration
nL = FL = ML = PL = FLa =

DC motor sizing made easy

4. Motor Selection: Introduction and Examples

maxon Seminar at Electromate, March 2010 by maxon motor ag, 2010

Step 4: Gearhead selection

torque Mcont > 2.5 Nm
output speed

max. reduction calculated from speed:

i< nmax,in 6000 = = 60 : 1 nmax,out 100

continuous operation

short term operation

output torque M Mcont Mmax

Example: Conveyor belt for samples

planetary gearhead continuous torque
at least 3 stages

input speed
reduction efficiency

requirements motor
speed torque

DC motor sizing made easy

4. Motor Selection: Introduction and Examples

maxon Seminar at Electromate, March 2010 by maxon motor ag, 2010

Step 5: Motor type selection

Combination with selected gearhead Rated torque (continuous torque) max. torque max. permissible speed
n

MRMS < MN continuous operation

deceleration

nmax

short term operation

acceleration

MN

Further selection criteria motor type

Commutation: Graphite, metal, brushless
service life

combination with required sensor

encoder, DC tacho, resolver,

shaft, bearing
diameter, length drive element, pinion bearing load radial, axial

electrical connections
cables, plugs

ambient conditions
temperature,

DC motor sizing made easy

4. Motor Selection: Introduction and Examples

maxon Seminar at Electromate, March 2010 by maxon motor ag, 2010

Example: Conveyor belt

rated torque MN > 70 mNm
speed

max. speed > 5100 min-1 nmot ,Mmot continuous operation MN IN short term operation
torque M current I

Example: Conveyor belt for samples

according maxon modular system motor type RE 25, RE 26 MN suited?

DC motor sizing made easy

4. Motor Selection: Introduction and Examples

maxon Seminar at Electromate, March 2010 by maxon motor ag, 2010

Step 6: Winding selection

Goal: Reach the required speed at maximum possible
motor voltage under maximum load

for a given motor size (motor type) this means: sufficiently

high speed constant

systematic calculation:
calculate the needed no-load speed as an auxiliary value calculate required speed constant select winding with a higher speed constant reserve of kn (ca.20 %)

n0,theor = nL +

n ML M

n k n > k n,theor = 0,theor U

Step 6: Winding selection

speed n n0,theor nmot nmot ,Mmot
n0,theor = nmot + n Mmot M

n k n > k n,theor = 0,theor Umot

speed-torque line high enough for the required load speed

speed-torque line too low for the required load speed

Mmot

torque M

DC motor sizing made easy

4. Motor Selection: Introduction and Examples

maxon Seminar at Electromate, March 2010 by maxon motor ag, 2010

Example: Conveyor belt for samples

n

select motor
speed constant

needed current
with torque constant kM

Example: Cyclic operation

Ca t

alog

working cycle according to the speed diagram below friction torque: 300 mNm load inertia: 130'000 gcm2 power supply: 5 A, 24 VDC servo controller: LSC (2 A, V = 5V) n

p. 4 2/43

2
n = 60 min-1

0.5

2.5

3.0

3.7

time (s)

DC motor sizing made easy

4. Motor Selection: Introduction and Examples

maxon Seminar at Electromate, March 2010 by maxon motor ag, 2010

Winding selection: Working cycles

speed n
n0 = k n Umax > nL + n ML M

speed-torque line high enough speed-torque line too low for all working points braking acceleration

torque M

Selection of motor/gearhead type

effective torque (RMS) smaller than MN speed continuous operation MRMS = 1 t tot

(t M
1

2 1

2 + t 2M2 2 + t 3M3 + ...)

short term operation

braking MN

acceleration

torque M

DC motor sizing made easy

4. Motor Selection: Introduction and Examples

maxon Seminar at Electromate, March 2010 by maxon motor ag, 2010

Load data calculation

torque for acceleration:

M = JL

n 60 = 0.013 = 0.163 Nm = 163 mNm 30 t 30 0.5

1 2 3 4

acceleration phase : constant speed: deceleration (friction helps): stand still:

average effective torque (RMS):

MRMS =

1 t tot

(t M
1

2 1

2 2 + t 2M2 2 + t 3M3 + t 4M4 ) 280 mNm

Gearhead selection
torque requirements: continuous torque gearhead: peak torque gearhead: possible gearhead type: maximum input speed: maximum reduction: chose 3 stage gearhead with: requirements motor:

DC motor sizing made easy

4. Motor Selection: Introduction and Examples

maxon Seminar at Electromate, March 2010 by maxon motor ag, 2010

Motor type selection

requirements motor:
2 3 4 1

possible motor types (according to maxon modular system)

graphite brushes only (start-stop operation) motor type MN suited?

Winding selection
motor type: average speed-torque gradient required no-load speed

speed constant winding selection: speed constant 20 % speed reserve needed current

DC motor sizing made easy

4. Motor Selection: Introduction and Examples

maxon Seminar at Electromate, March 2010 by maxon motor ag, 2010

The MSP
Based on an existing data base
maxon web database

Based on the maxon modular system

no combination numbers including maxon motor control

No installation needed
can be started directly from the maxon CD ROM or copy and start it

Easy to use, self-explaining user interface

minimum "help"

Book: Chapter 10

maxon selection program (MSP)

Basic functions of the MSP

Selection of maxon products

1 2 3

for a given power supply for a given drive layout: screws, belts, at a given load

Calculation of achievable load characteristics Gearmotor comparison

finding a maxon replacement product

Mass inertia calculator

DC motor sizing made easy