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BasicsofMotionControl
SelectionProcedure

MotorSizing
Propersizingandselectionofamotorforyourequipmentiskeytoensuringperformance,reliabilityandcost
oftheequipment.Inadditiontotheinformationbelowforproperlysizingamotor,OrientalMotoroffersonline
motorsizingtoolsaswellasassistancefromourTechnicalSupportstaff.
OurTechnicalSupportStaffisavailabletoassistyouinproperlysizingandselectingyourmotorbasedon
yourindividualapplication.Simplycall1800GOVEXTA(4683982)(MF7:30amCSTto5:00pmPST).

SizingCalculations
MomentofInertia
Torque
Speed

SelectionProcedure
Thefirststepistodeterminethedrivemechanismforyourequipment.Someexamplesaredirectrotation,aballscrew,abeltandpulleyorarackand
pinion.Alongwiththetypeofdrivemechanism,youmustalsodeterminethedimensions,massandfrictioncoefficient,etc.thatarerequiredforthe
loadcalculation:
Dimensionsandmass(ordensity)ofload
Dimensionsandmass(ordensity)ofeachpart
Frictioncoefficientoftheslidingsurfaceofeachmovingpart
Nextyouwillneedtodeterminetherequiredspecificationsfortheequipment:
Operatingspeedandoperatingtime
Positioningdistanceandpositioningtime
Resolution
Stoppingaccuracy
Positionholding
Powersupplyandvoltage
Operatingenvironment
SpecificfeaturesandrequirementssuchasOpenLoop,ClosedLoop,Programmable,Feedback,IPrating,Agentapprovals,etc.

CustomerService
Questions?
We'reheretohelp.

Inordertodeterminetheperformanceyou'llneedfromthemotor,therearethreefactorstocalculateMomentofInertia,TorqueandSpeed.(Referto
thebelowsectionsoncalculationsforeach.)
Onceyou'vecalculatedtheinertia,torqueandspeedforthemotoryou'llselectthetypeofmotorbasedontherequiredspecifications.OrientalMotor
offersawiderangeofsteppermotors,servomotors,ACmotorsandbrushlessmotorstomeetthespecificneedsofyourequipment.
Finally,afterselectingthemotortypeyou'llmakeafinaldeterminationofthemotorbyconfirmingthespecificationsoftheselectedmotor(and
gearheadifapplicable)satisfyalloftherequirements,suchasmechanicalstrength,accelerationtimeandaccelerationtorque.

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MotorSizingCalculations
TherearethreefactorstocalculatewhensizingamotorMoment
ofInertia,TorqueandSpeed.
MomentofInertia

U.S.A.Customers:

Momentofinertiaisthemeasureofanobject'sresistanceto
changesinitsrotationrate.

CustomerService
18004187903

TorqueandSpeed

TechnicalSupport
1800GOVEXTA(4683982)

Torqueismadeupoftwocomponents,aload=constant
componentandanaccelerationcomponent.

InternationalCustomers:

Theloadtorquecomponentisusuallyduetofrictionand/orgravity
andisalwaysactingonthemotor.Thiscomponentcanusuallybe
determinedbycalculationorbyputtingatorquewrenchonthe
systemandreadingthetorquevalue.Whenitisnotableto
measure,thenweusesomeequationstocalculatethe
approximatevalue.

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+18478715931or
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OnlineMotorSizingTools
Designedtomakesizing
amotorforyour
applicationfasterand
easier,thesenewsizing
formscalculatethe
necessarytorque,
speed,stopping
accuracy,andthe
systeminertiathatis
alsoimportantto
considerwhenselecting
apropermotorforthe
application.

MomentofInertia
Whenanobjectisjustsittingwithoutanymotion,themomentofinertiais0.
Whenyoutrytomakeitmovethatmeanyouwanttochangethespeedoftheobjectfrom0toany,therewillbemomentofinertiaeffect.
FundamentalInertia(J)Equation:

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MomentofInertiaCalculationforaRotatingObject

MomentofInertiaCalculationforaCylinder

MomentofInertiaCalculationforaHollowCylinder

MomentofInertiaCalculationforanOffcenterAxis

MomentofInertiaCalculationforaRectangularPillar

MomentofInertiaCalculationforanObjectinLinearMotion

UnitsofMeasureforMomentInertia
Theunitsofinertiaarecommonlyusedintwoways,ozin2andozinsec2.Theformerincludesgravity,thelatteronlymass.
Theoretically,inertiaisfactorofmasssoitshouldnotincludegravity,however,practicallywecannoteasilymeasuremassontheearth.
OrientalMotorcommonlyprovidesinertiainozin2.Then,whenwecalculatetheAccelerationTorqueinTorqueCalculationwedividethetotalthetotal
inertiabythegravityfrom.
Gravity=386in/sec2
ozin2=Inertiabasedonweight
ozinsec2=inertiabasedonmass
Calculationforozin2toozinsec2

Torque
Torqueisthetendencyofaforcetorotateanobjectaboutanaxis.Torqueismadeupoftwocomponentsaload(constant)componentandan
accelerationcomponent.
Theloadtorquecomponentisusuallyduetofrictionand/orgravityandisalwaysactingonthemotor.Thiscomponentcanusuallybedeterminedby
calculationorbyputtingatorquewrenchonthesystemandreadingthetorquevalue.Whenitisnotabletomeasure,thenweusesomeequationsto
calculatetheapproximatevalue.
Theaccelerationtorquehowever,isonlyactingonthemotorwhenitisacceleratingordecelerating.Oncethemotorisrunningataconstantspeed,
thiscomponentgoesaway.Measuringtheaccelerationcomponentisdifficultnottomentiondangerous.Ifyouwanttheloadtobeuptospeedwithin50
milliseconds,itslikelythatatorquewrenchwillflyoff.Therefore,wecalculatetheaccelerationcomponent.Thiscomponentisafunctionoftheinertia
ofthesystemandtheaccelerationrate.So,oncewedeterminethesevalues,wecanfigureouttheaccelerationtorque.
LoadTorque(T)
Loadtorqueisverysimple.
Asyouseethisequationtorqueistheproductoftheforceandthedistancebetweentheforceandthecenterofrotation.Forexample,ifyouwantto
holdtheforceactingontheendofpulley,T=Fxr.Socalculatingloadtorqueisdeterminetheforceinthesystemandthelogicaldistancebetweenthe
motorshaftandthewheretheforceisacting.
Whenthemechanicsbecomecomplicated,weneedtoconverttheFandrtofitthemechanics.

LoadTorqueActualMeasurement
Ifyoucanmeasuretheforce,thatisthemostaccuratewaytofindtheforcesinceittakescareoftheallefficiencyandcoefficientoffrictionsonthe
everypart.
FB=Forcewhenthemainshaftbeginstorotate

Forces
Therearethreetypesofforcesvertical,horizontalandincline.Aforcevariesdependinghowitacts.
VerticalForceCalculation

HorizontalForceCalculation

InclineForceCalculation

LoadTorqueCalculationBallScrewDrive

LoadTorqueCalculationPulleyDrive

LoadTorqueCalculationWireorBeltDrive,RackandPinionDrive

AccelerationTorque
Asmentionedpreviously,accelerationtorqueismadeupofinertiaandaccelerationrate.Ifweknowthosetwovalues,wecancalculatethe
accelerationtorque.

CalculatetheAccelerationTorque(Ta)
Ifthemotorspeedisvaried,theaccelerationtorqueordecelerationtorquemustalwaysbeset.
Thebasicformulaisthesameforallmotors.However,usetheformulasbelowwhencalculatingtheaccelerationtorqueforstepperorservomotors
onthebasisofpulsespeed.
CommonFormulaforAllMotors

WhencalculatingtheAccelerationTorqueforStepperorServoMotorsonthebasisofpulsespeed
Therearetwobasicmotionprofiles.Acceleration/decelerationoperationisthemostcommon.Whenoperatingspeedislowandloadinertiaissmall,
start/stopoperationcanbeused.

CalculationforRequiredTorque(TM )
Therequiredtorqueiscalculatedbymultiplyingthesumofloadtorqueandaccelerationtorquebythesafetyfactor.

CalculationfortheEffectiveLoadTorque(Trms)forServoMotorsandBXSeriesBrushlessMotors
Whentherequiredtorqueforthemotorvariesovertime,determineifthemotorcanbeusedbycalculatingtheeffectiveloadtorque.Theeffectiveload
torquebecomesparticularlyimportantforoperatingpatternssuchasfastcycleoperationswhereacceleration/decelerationisfrequent.Calculatethe
effectiveloadtorquewhenselectingservomotorsortheBXSeriesbrushlessmotors.

Speed
Speedisdeterminedbycalculatingthedistancedividedbytime.Forstepperorservomotors,accelerationtimemustalsobeaccountedfor.
StandardSpeedCalculation
Speed=Distance/Time
ForStepperorServoMotors
Speed=Distance/(TimeAccelerationTime(t1)

Wanttolearnmore?
OrientalMotor'sTechnicalSupportTeamandApplicationEngineerswillworkwithyoutodeterminethebestsolutionforyourapplication.ORIENTAL
MOTOR'sexperiencedteammembersknowthetechnologyinsideandout.We'llfindtherightsolutionbasedonyourneedsandexplainthe
alternatives.Call1800GOVEXTA(4683982)tospeakwithanOrientalMotorTechnicalSupportTeamMember.

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