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downsizing. the index table in the figure on the left and when a geared type
An Introduction
1. Drive inertia
The ratio of the moment of inertia of the load converted for the
Stepping Motors
If the inertia ratio is too large, this may affect the start up time
Stepping Motors
The Basics of
Index table thickness 0.008 m Below, we calculate various parameters for both types.
Index table material Aluminum
Work diameter 0.03 m
Work thickness 0.04 m 2. Positioning time
Work material Iron We will compare the minimum positioning time using a motor
Qty of work 8 alone and using a geared type. The drive pattern is triangular-
Total moment of inertia 3.7210-3 kg·m2 wave drive like that shown in the figure and the acceleration/
Resolution 0.4˚ maximum deceleration rate is 20 ms/kHz.
Positioning time 0.2 second maximum
Q&A
f2
Conveyor
Pulse Speed
Glossary
Picker
Index Table 0
t1
Stepping Motor
Before Using a
t0 Time
If the pulse velocity is f2, the positioning time t1, the operation
pulse count A, and the acceleration rate Tr, then the following
Diameter of Workpiece
equation holds.
φ0.03m0.04m
φ8 −0.015
0
Tr = T1 [ms] = 20 [ms/kHz] ········(1)
f2 [kHz]
A = t1 f2 [pulses] ······························(2)
to Stepping Motors
t0 = 2 t1 [ms] ····································(3)
An Introduction
From Equations (1) and (2), 600
t1 = 20 x A (ms) ·······························(4)
RK564AC-T7.2 Dimensions
●For motor alone: 128 37±1 25±0.25 70±0.35
0 (h7)
Half step of 0.36˚/step and operation pulse count A = 45/0.36
Stepping Motors
= 125
φ14 −0.018
Types of
From Equation (4), t1 = 50 [ms]. Therefore, the positioning time
t 0 = 100 ms.
Stepping Motors
From Equation (4), t1 = 95 [ms]. Therefore, the positioning time
The Basics of
t 0 = 190 ms. RK5913AC Dimensions
●Reduced Vibration
Selection results Vibration can be reduced for the following reasons.
1 The vibration characteristic itself is reduced.
The table below summarizes the results of these calculations.
2 Through speed reduction, the low-speed region at which
the motor vibrates can be avoided.
Stepping Motor
Comparison of operation conditions 3 Because the motor is smaller, its own vibration is reduced.
Selecting a
RK5913AC RK564AC-T7.2
Package Model
Vibration Voltage Vp-p [ V ]
Q&A
Required torque 2.59 N·m 0.81 N·m Speed [r/min]
Inertia ratio 9.3 4.1 RK564AC-T7.2 Vibration data
Acceleration/deceleration rate 20 ms/kHz 20 ms/kHz
Vibration Voltage Vp-p [ V ]
0.50
0.25
Advantages of geared types
Glossary
Using geared type motors provides the following advantages. 0 200 400 600 800 1000
Speed [r/min]
RK5913AC Vibration data
●Downsizing
●Positioning time
This does not mean just increasing the torque by using a
Because this comparison uses an inertia structure that can be
Stepping Motor
geared type motor. Rather, whereas the inertia that the motor
Before Using a
itself can drive is 10 times the rotor inertia, the geared type driven by the motor itself the advantages of geared type
can drive this inertia multiplied by the square of the speed motors for acceleration were not manifest, but the larger the
reduction ratio. Therefore, for driving an inertial body such as inertia body, the more the geared type motor reduces the
in this case, selecting a geared type makes it possible to acceleration time.
reduce the installation dimension from 85 mm → 60 mm
square and the total length from 128 mm to 93.5 mm. ●Positioning angle
For and RK series, since the basic step angle is 0.72˚,
30˚ and 60˚ positioning was not possible, but since 1/7.2, 1/36,
and other speed reduction ratios are available for geared type
motors, 30˚ and 60˚ positioning are possible. This time, to
compare a motor alone and a geared type motor under the
same conditions, 45˚ positioning was used because it can be
used by both types of motors.
TH Gears
Principle and Structure
In TH-type gears, tapered gears are used for the final stage of the spur gear’s speed-reduction mechanism and the
meshing gear. The tapered gear is produced through continuous profile shifting toward the shaft. The tapered gears used at
the final stage are adjusted in the direction of the arrows, as shown in the figure below, to reduce backlash.
Tapered gear
Stepping Motors
Output shaft
Types of
Bearing
Bearing
Stepping Motors
Tapered gear
The Basics of
Tapered gear
internal tooth gear centered on the central axis. The revolution of planetary gears is translated into rotation of the output
Selecting a
Internal gear
Q&A
Sun gear
Carrier
Planetary gear
Planetary gear
Sun gear Cross section of a PL gear
formula:
T : Torque applied to each planetary gear (N·m)
T=k T’
n
T ’: Total torque transference (N·m)
n : Number of planetary gears
k : Dispersion coefficient
The dispersion coefficient indicates how evenly the torque is dispersed among the individual planetary gears. The smaller
the coefficient, the more evenly the torque is dispersed and the greater the amount of torque that can be transferred. To
evenly distribute the transferred torque, each component must be accurately positioned.
Principle and Structure
The PN gear employs the same planetary-gear speed-reduction mechanism as the PL gear. The PN gear achieves the
to Stepping Motors
specified backlash of three arc minutes through the improved accuracy of its components and the backlash-elimination
An Introduction
mechanism. That mechanism is comprised of two sets of internal and planetary gears on the upper and lower levels with
the internal gear teeth twisted in the circumferential direction. The upper-level internal gears and planetary gears reduce
clockwise backlash; the lower-level internal gears and planetary gear reduce counterclockwise backlash.
The upper gear eliminates backlash
in the clockwise direction.
The upper internal
gear transmits torque in the
clockwise direction.
Stepping Motors
Upper planetary
Types of
gear
Lower planetary gear
Upper planetary gear
Upper level
The lower gear eliminates backlash
in the counterclockwise direction.
Sun gear
The lower internal
gear transmits torque in the
counterclockwise direction.
Stepping Motors
The Basics of
Sun gear
Sun gear
Stepping Motor
Relationship between upper
Selecting a
and lower planetary gears
Upper planetary gear
Lower planetary gear
Sun gear
Q&A
High Permissible Torque
The PN gear employs the same planetary-gear speed-reduction mechanism as the PL gear. The PN gear offers high
permissible torque, since it’s capable of transmitting torque through dispersion via several planetary gears. For details, read
“High Permissible Torque” in the section on the PL gear.
Gear Characteristics
Glossary
【Torsional rigidity】
Comparison of torsional rigidity between PL and PN geared types
When a load is applied to the PN gear’s output shaft, 1.8
Torsional torque (N·m)
1.5
displacement (torsion) is proportional to the spring 1.2
constant. The graph at right shows data for torsion angles 0.9
0.6
measured by gradually increasing and decreasing the load 0.3
on the output shaft in the forward and backward directions. -18 -15 -12 -9 -6
0
-3 -0.3 0 3 6 9 12 15 18
Torsion angle (min)
Stepping Motor
-0.9
even with minimal torsional torque the torsion angle will -1.2
-1.5
abruptly increase in accordance with the amount of -1.8
Harmonic Gears
Principle and Structure
The harmonic gear offers unparalleled precision in
positioning and features a simple construction utilizing the
Wave Generator
metal’s elastomechanical property, comprising just three
basic components: a wave generator, flex spline and
circular spline.
to Stepping Motors
Wave Generator
An Introduction
Flex Spline
The flex spline is a thin, cup-shaped component made of elastic metal, with teeth formed along the outer circumference of
the cup’s opening. The gear’s output shaft is attached to the bottom of the flex spline.
Circular Spline
The circular spline is a rigid internal gear with teeth formed along its inner circumference. These teeth are the same size as
Stepping Motors
The Basics of
those of the flex spline, but the circular spline has two more teeth than the flex spline. The circular spline is attached to the
gearbox along its outer circumference.
0˚
Circular Spline
Combines three basic parts. The flex spline is bent into an
oval shape by the wave generator. The teeth at the long
Wave Generator
axis of the oval mesh with the circular spline, while the
teeth at the short axis of the oval are completely separate
Flex spline from it.
Stepping Motor
Selecting a
90˚ 360˚
Rotating the wave generator (input) When the wave generator completes one
clockwise while keeping the circular revolution, the flex spline has rotated two
spline fixed in position will subject the fewer teeth than the circular spline has,
flex spline to elastic deformation, resulting in the movement of flex spline for
causing a gradual shift in the point of the difference in the tooth count (two teeth)
engagement between the circular spline in the opposite direction of the wave
and flex spline. generator’s rotation (i.e., counterclockwise).
This movement translates into output,
thereby reducing the speed.
Q&A
Precision
Unlike conventional spur gears, the harmonic gear is capable of averaging the effects of tooth-pitch errors and accumulated
pitch errors to the rotational speed, thus achieving highly precise, zero-backlash performance. However, the gear’s own
torsion may become the cause of a problem when performing ultra-high-precision positioning at an accuracy of two arc
Glossary
minutes or less. When using a harmonic gear for ultra-high-precision positioning, remember the following three points:
Lost Motion
Lost motion is the total value of the displacement
produced when about five percent of permissible torque is Torsion angle (minute)
Lost motion
have no backlash, the measure indicating the gear’s
precision is represented as lost motion.
Load torque
Torque
Torque
shaft until it reaches the permissible torque in the
clockwise or counterclockwise direction, the angle of
A
torsion will become smaller as the torque is reduced. + permissible torque
However, the angle of torsion never reaches zero, even
when fully returned to its initial level. This is referred to as
“hysteresis loss,” as shown by B-B’ in the figure.
to Stepping Motors
Harmonic gears are designed to have a hysteresis loss of
An Introduction
less than two minutes. When positioning from the B'
B Torsion angle
clockwise or counterclockwise direction, this hysteresis
loss occurs even with a frictional coefficient of 0. When 0
Stepping Motors
A'
Types of
Torsion angle and torque characteristics
Stepping Motors
Torque and Torsion Characteristics
The Basics of
Displacement (torsion) is produced by the gear’s spring constant when a load is applied to the output shaft of the harmonic
gear. The amount of this displacement, which is caused when the gear is driven under a frictional load, is the same as the
value when the motor shaft is held fixed and torsion (torque) is applied to the gear’s output shaft. The amount of
displacement (torsion angle) can be estimated through use of an equation, as shown below.
Calculation method
Stepping Motor
The harmonic gear’s torsion-angle/torque-characteristic curve is not
Selecting a
Torque
Q&A
θ=θ1+ 〔min.〕
K2
T1
3. Load torque TL is greater than T2. K1
TL−T1−T2
θ=θ1+θ2+ 〔min.〕
K2
θ1 θ2 Torsion angleθ Glossary
Gear ratio
Model N·m N·m/min. min N·m N·m/min. min. N·m/min.
AS66□□-H50 1:50 2.0 1.0 2.0 7.0 1.4 5.6 1.7
AS66□□-H100 1:100 2.0 1.4 1.4 7.0 1.8 4.2 2.1
AS98□□-H50 1:50 7.0 3.8 1.8 25 5.2 5.3 6.7
AS98□□-H100 1:100 7.0 4.7 1.5 25 7.5 3.9 8.5
Rated Lifetime
to Stepping Motors
Oriental Motor defines the rated lifetime as the useful life of a gearhead under the following operating conditions:
An Introduction
[Operating conditions]
Torque: Permissible torque
Load: Uniform continuous load
Input rotational speed: Reference-input rotational speed
: Rotational speed at the rated lifetime of each gear type
Stepping Motors
TH geared type
The Basics of
Estimating Lifetime
Selecting a
Lifetime under actual conditions of use is calculated based on the permissible rotational speed, load size and load type,
using the following formula:
K1
= L1×
L(lifetime) 〔h〕
(K2)3 ×f
K2 : Load factor
The load factor (K2) is calculated based on actual operating torque and the allowable torque for each
gear.
The average torque may be considered operating torque if the gear is subjected to load while starting and
stopping only, as when driving an inertial body. The calculation of average torque is explained later in this
section.
Stepping Motor
Operating torque
Before Using a
K2=
Permissible torque
Permissible torque is per the specified values listed in the product catalogue and operating manual.
f : Load-type factor
The factor ( f ) may be determined based on load type, using the following examples as a reference:
Load type Example Factor (f)
・One-way continuous operation
Uniform load 1.0
・For driving belt conveyors and film rollers that are subject to minimal load fluctuation.
・Frequent starting and stopping
Light impact 1.5
・Cam drive and inertial body positioning via stepping motor
・Frequent instantaneous bidirectional operation, starting and stopping of reversible motors
Medium impact 2.0
・Frequent instantaneous starting and stopping of brushless motors
to Stepping Motors
inertial body, such as driving an index table and arm. If the
An Introduction
Torque
stepping motor is used in such an application, the average P1, P3 Acceleration/
deceleration torque
torque shall be considered the operating torque, as
described below.
Pa Average torque
The load factor for driving an inertial body using an AC Disregard the
torque at constant
motor or BL motor shall be 1.0. speed
t Time
Stepping Motors
n2
Types of
The graph at right shows torque generated in order to drive
an inertial body over a long operating cycle. Friction load n1, n3
caused by bearings and other parts during
constant-speed operation are negligible.
Time
t1 t2 t3
Stepping Motors
The Basics of
3(P13×n1×t1)+(P33×n3×t3)
Pa=
(n1×t1)+(n2×t2)+(n3×t3)
Stepping Motor
When driving an arm or similar object, the gearhead may
Selecting a
be subjected to load fluctuation as shown in the graph. Torque
For example, such load fluctuation will occur when driving Pmax Acceleration/
deceleration torque
a double-joint arm or moving an arm in the vertical Average torque Pa
direction. (75% of Pmax)
Q&A
Pa=Pmax×0.75
Operating Temperature
An increase in gearhead temperature affects the
Gearbox temperature factor
lubrication of the bearing. However, since the effect of 1
Glossary
Notes
In some cases a lifetime of several ten thousand hours may be obtained from the calculation. Use the estimated life as a
reference only.
The above life estimation is based on the reasoning of bearing life.
An application in excess of the specified value may adversely affect parts other than the bearings. Use the product within
the range of specified values listed in the product catalogue or operating manual.