Application fact sheet

ACB

Motion drive with drive via wheels

A motion drive is a travelling mechanism on which the wheels are driven directly by
the motor and the gearbox. This application is limited by a maximum lead angle and
maximum acceleration. Alternative drive options would be cable-based or rack-based
motion drives. Crash motion can be calculated to avoid overloading the gearbox. You
do this by calculating the torque of the drive shaft when subject to frontal impact.

Inertia J2 represents the types of inertia which do not change during the machining
cycle, e.g. vehicle mass (m2), axes and wheels.
2

d
J 2 = J1 + 1 m2
2000

(1)

The useful load mass (m1) must also be taken into account. The value of this mass
may change during the machining cycle.
2

J tot

Gtz

d
= J 2 + 1 m1
2000

(2)

V 1.0, created: 05/01/2002

Application fact sheet

ACB

The stationary torque can only be calculated once the train resistance of the vehicle
has been calculated. The train resistance comprises various components: the rolling
friction, the bearing friction and the wheel flange or side friction. It may also comprise
tractive and hoisting forces.

m tot = m 2 + m 1

(3)

M stat = M 1 + M 2 + M 3

(4)

d
d
f

M 1 = mtot g
cos + 2 1 + 1 c
2000
2000
1000

d1
2000
d
M 3 = mtot g sin 1
2000

(5)

(6)

M 2 = F2

(7)

Alternatively, the train resistance (F'1) can be referenced to earth [N/t]:

2 f cos d 2 1
F '1 = g
+
+ c 1000
d1
d1

M 1 = F1

(8)

F ' m
d1
d
= 1 tot 1
2000
1000 2000

(9)

Special features:
A maximum permissible acceleration can be calculated to stop the drive wheels from
slipping. The static friction 2, the wheel load mass mwheels, the angle of inclination ,
the total mass mtot and possibly a countervailing force F2 are required for this
calculation.

F
m
amax = g 2 wheels cos sin + 2
mtot

mtot

(10)

Crash motion:
The angle of inclination and the static friction are amongst the components which are
relevant for crash motion. After overcoming the static friction the torque will be
reduced by the slipping wheels.
M 2crash = mtot g 2

Gtz

d1
cos
2000

(11)

V 1.0, created: 05/01/2002

Application fact sheet

ACB

Note: The document "basic calculations.pdf" provides further formulas for

completing the calculations required for an application.

Key for symbols and arithmetic units:

Symbol

Unit

d1

Wheel diameter

mm

d2

Bearing diameter

mm

m1

Useful load mass

kg

m2

Vehicle mass

kg

Wheel load mass

kg

Total mass

kg

mwheel
mtot
f
1

Bearing friction

Static friction

Wheel flange and side friction

Angle of inclination

J1

Additional inertia

kgm2

J2

Vehicle inertia

kgm2

Jtot

Total inertia

kgm2

amax

Slip acceleration

m/s2

Mstat

Stationary torque

Nm

M1

Vehicle torque

Nm

M2

Counter torque

Nm

M3

Hoist torque

Nm

Crash torque on gearbox output

Nm

F'1

Train resistance

N/t

F1

Train resistance

F2

Countervailing force

Acceleration due to gravity (9.81)

M2crash

Gtz

Description

Rolling friction lever arm

mm

m/s2

V 1.0, created: 05/01/2002