Technical Guide for Servo Motor Selection

CSM_Servo Selection_TG_E_3_1

Servo Motor Selection Software

Use your PC to select a Servo Motor

"Motor Selection Program for Windows"
Do you always feel "Calculation of Servo Motor selection is so complicated and difficult?"

Refer to Pages 5 to 11 showing the "calculation formulas" to do your own calculation as well as Pages 12
to 13 showing "sample calculations". This software really helps you to easily select a motor.

Operation Pattern Setting Screen

Motor Selection/Decision Screen

Driver Selection Screen

1
 Features
• You can refer to this motor used machine structure as a standard.
Example of Standard Machine Combinations: Ball Screw, Rack and Pinion, Cart etc.
Also you can refer to the method in which various mechanic elements can be combined one by one.
Example of Elements: Decelerator, Gear, Belt, Roller, Linear Motion Load, Eccentric Disc Load, External Force, etc.
• You can set up easily an operation pattern.
After selecting a motor, you can also have the rotation and torque graphs displayed.
• Since all of the model data for the Servo Motors/Drivers is compiled into a database, the optimal motor can be
selected automatically, without needing to input data for each model.
• A table is displayed automatically that shows which drivers can be combined with the selected motor, and
the driver's regenerative ability can also be determined automatically.

Operating Conditions
• OS : Microsoft Windows 2000/XP Japanese Version
• CPU : 486DX/66 MHz or above (Pentium processor recommended)
• Memory : 16 MB or above (32 MB or above recommended)
• Hard Disc : 10 MB or more required for installation
• Display : resolution of 640 ✕ 480 or above (800 ✕ 600 or above recommended)
• Disc Drive : CD-ROM Drive (only required for installation)

How to Get It
• You can refer to the "Motor Selection Program" to make the selection of motors even more convenient.
Access it at the following URL.
www.fa.omron.co.jp

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Servo Motor Selection Flow Chart
START Selection
Has the machine
NO
Been Selected?
YES
Has the Operating
NO
Pattern Been Selected?
YES
Calculating the Load Inertia For
Motor Shaft Conversion Value
Calculating the Added Load
Torque For Motor Shaft
Conversion Value
Select a motor temporarily
Calculate Acceleration/
Deceleration Torque
Confirm Maximum
Momentary Torque and
Calculate Effective Torque
2 1
Explanation References
• Determine the size, mass, coefficient of
friction, and external forces of all the moving
part of the Servo Motor the rotation of which
affects. ---
• Determine the operating pattern (relationship • Operation Pattern Formula
between time and speed) of each part that
must be controlled.
• Convert the operating pattern of each
controlled element into the motor shaft
operating pattern.
• The elements of the machine can be • Inertia Formulas
separated so that inertia can be calculated
for each part that moves as the Servo Motor
rotates.
• Calculate the inertia applied to each element
to calculate the total load inertia of the motor
shaft conversion value.
• Calculation of Friction Torque • Load Torque Formulas
Calculates the frictional force for each
element, where necessary, and converts it to
friction torque for a motor shaft.
• Calculation of External Torque
Calculates the external force for each
element, where necessary, and converts it to
external torque of a motor shaft.
• Calculates the total load torque for the motor
shaft conversion value.
• Select a motor temporarily based upon the
motor shaft converted load inertia, friction ---
torque, external torque and r.p.m of a motor.
• Calculate the Acceleration/Deceleration • Acceleration/Deceleration
Torque from the Load Inertia or Operating Torque Formulas
Pattern.
• Calculate the necessary torque for each part • Calculation of Maximum
of the Operating Pattern from the Friction Momentary Torque, Effective
Torque, External Torque and Acceleration/ Torque
Deceleration Torque.
• Confirm that the maximum value for the
Torque for each operating part (Maximum
Momentary Torque) is less than the
Maximum Momentary Torque of the motor.
• Calculate the Effective Torque from the
Torque for each Operating part, and confirm
that it is less than the Rated Torque for the
motor.
3
2 1

Explanation References

Calculate Regenerative Energy • Calculate Regenerative Energy from the • Please see the user manual
Torque of all the moving parts. of each product for the details
on calculation of the
regenerative energy.
• Check if the the number of encoder pulses • Accuracy of Positioning
NO Is the Resolution meets the system specified resolution.
OK?

YES
• Check if the calculation meets the • The following table
specifications of the temporarily selected
NO Are the Check Items motor.
on Characteristics
All OK? If not, change the temporarily selected motor
and re-calculate it.
YES
Specialized Check Items Check Items
Load Inertia Load Inertia ≤ Motor Rotor Inertia x Applicable Inertia Ratio
Effective Torque < Motor Rated Torque
Effective Torque
• Please allow a margin of about 20%. *
Maximum Momentary Torque < Motor Maximum
Momentary Torque
Maximum • Please allow a margin of about 20%. *
Momentary Torque • For the motor Maximum Momentary Torque, use the
value that is combined with a driver and the one of the
motor itself.
Maximum Rotation Speed ≤ Rated Rotation Speed of a
motor
• Try to get as close to the motor's rated rotations as
Maximum Rotation
possible. It will increase the operating efficiency of a
Speed
motor.
• For the formula, please see "Straight-line Speed and
Motor Rotation Speed" on Page 11.
Regenerative Energy ≤ Regenerative Energy Absorption of
a motor
Regenerative
• When the Regenerative Energy is large, connect a
Energy
Regenerative Energy Absorption Resistance to increase
the Absorption capacity of the driver.
Ensure that the Encoder Resolution meets the system
Encoder Resolution
specifications.
END Selection
Check if the Pulse Frequency does not exceed the
Characteristics of a
Maximum Response Frequency or Maximum Command
Positioner
Frequency of a Positioner.
Ensure that values of the ambient operating temperature/
Operating
humidity, operating atmosphere, shock and vibrations
Conditions
meet the product specifications.
* When handling vertical loads and a load affected by the external torque, allow for about 30% of
capacity.

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Formulas
■Formulas for Operating Patterns

speed

v0 Maximum Speed X0
v0 = X0: Distance Moved in t0 Time (mm)
tA
v0: Maximum Speed (mm/s)

Triangular Acceleration/Deceleration Time X0

tA = t0: Positioning Time (s)
v0
tA: Acceleration/
Deceleration Time (s)
tA tA time Travel Distance X0 = v0·tA

t0

X0

Maximum Speed X0
speed v0 =
t0 – tA

v0 Acceleration/Deceleration Time tA = t0 – X0
v0

Total Travel Time t0 = tA + X0

v0

Trapezoid Constant-velocity travel time tB = t0 – 2 · tA = 2 2 · X0 – t0 = X0 – tA

v0 v0
time
tA tB tA Total Travel Distance X0 = v0 (t0 – tA)

t0
Acceleration/Deceleration Travel Distance XA = v0 ·tA = v0 ·t0 – X0
XA XB XA 2 2

X0 Constant-velocity travel distance XB = v0 ·tB = 2·X0 – v0 ·t0

speed
Ascending Time tA = v0 – v1
α
v0
Ascending Time (tA) including distance moved
v1
1
Speed and Slope vg XA = α·tA2 + v1 ·tA
When Ascending 2
2
time 1 (v0 – v1)
XA = + v1 ·tA
tg tA 2 α

Speed after Ascending v0 = v1 + α·tA

vg
Speed Gradient
tg

5
 Conditions for Trapezoidal Operating Pattern
speed v0
t02·α
X0 <
4
X0: Positioning Distance (mm)
Maximum Speed
Speed and Slope
t0: Positioning Time (s)
Trapezoid pattern t0·α 4X0 tA: Acceleration/Deceleration
v0 = (1– 1– ) Time (s)
2 t0·α
v0: Maximum Speed (mm/s)
time
tA tA Ascending Time α: Speed Gradient

t0 v0 t 4X0
tA = = 0 (1 – 1 – )
α 2 t0 ·α

speed
Conditions for Triangular Operating Pattern

v0
t02 · α
X0 ≥
4

Maximum Speed
Speed and Slope
Triangular Pattern
v0 = α·X0

tA tA time Ascending Time

t0 X0
tA =
α
X0

v [mm/s]
Linear
Movement

Perform the following unitary conversions

X
[mm] Linear Movement Rotating Movement

X: Distance (mm) θ: Angle (rad)

Rotating Part v: Speed (mm/s) ω: Angular Velocity (rad/s)

θ [rad]
2π·N
ω=
60
N: Rotating Speed (r/min)

ω [rad/s]
N [r/min]

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■Inertia Formulas

D2: Cylinder Inner Diameter (mm)

D1: Cylinder Outer Diameter (mm)
2 2
Cylindrical Inertia JW = M (D1 + D2 ) × 10– 6 (kg·m2)
8

M: Cylinder Mass (kg)

JW: Cylinder Inertia (kg·m2)

M: Cylinder Mass (kg)

M
Eccentric Disc C JW: Inertia
Inertia (Cylinder (kg·m2)
which rotates off JC: Inertia around the JW = JC + M·re2 × 10–6 (kg·m2)
the center axis) center axis of Cylinder
re: Rotational
Radius (mm)

Center of rotation

M: Square Cylinder Mass (kg)

M b: Height (mm)
Inertia of Rotating 2 2
Square Cylinder JW = M (a + b ) × 10–6 (kg·m2)
12
JW: Inertia
(kg·m2)

a: Width (mm)
L: Length (mm)

M: Load Mass (kg)

Inertia of Linear 2

Movement
JB: Ball Screw Inertia
(kg·m2)
JW = M ( 2πP ) × 10
–6
+ JB (kg·m2)

P: Ball Screw Pitch (mm)

JW: Inertia (kg·m2)

D: Diameter (mm)
JW M1: Mass of Cylinder (kg)
J1: Cylinder Inertia (kg·m2) JW = J1 + J2
Inertia of Lifting
·D2 M2 ·D2
= M1
( )
2
Object by Pulley J2: Inertia due to the Object (kg·m ) + × 10–6 (kg·m2)
8 4

M2: Mass of Object (kg)

JW: Inertia (kg·m2)

7
 M

Rack
Inertia of Rack and M·D2
Pinion Movement JW = × 10–6 (kg·m2)
JW: Inertia JW 4
(kg·m2)
M: Mass (kg) D
D: Pinion Diameter (mm)

D (mm)

JW
Inertia of
Suspended D2 (M1 + M2)
JW = × 10–6 (kg·m2)
Counterbalance 4
JW: Inertia (kg·m2)
M2
M1: Mass (kg)
M1 M2: Mass (kg)

M3 : Mass of Object (kg) D1 : Cylinder 1 Diameter (mm)

M4 : Mass of Belt (kg)
JW: Inertia (kg·m2)
JW = J1 + J2 + J3 + J4
·D 2 ·D 2 2
Inertia when
M1 : Mass of Cylinder 1 (kg) JW = M1 1 + M2 2 · D12 +
(
Carrying Object via 2
8 8 D2
JW : Inertia (kg·m )
Conveyor Belt M3·D12 + M4·D12 × 10–6
J1 : Cylinder 1 Inertia (kg·m2) D2 : Cylinder 2 Diameter (mm) 4 4 )
2 M2 : Mass of Cylinder 2 (kg) (kg·m2)
J2 : Inertia due to Cylinder 2 (kg·m )
J3 : Inertia due to the Object (kg·m2)
J4 : Inertia due to the Belt (kg·m2)

JW : System Inertia (kg·m2)

J1 : Roller 1 Inertia (kg·m2)
J2 : Roller 2 Inertia (kg·m2)
D1 : Roller 1 Diameter (mm)
D2 : Roller 2 Diameter (mm)
Inertia where Work 2 2
is Placed between
M : Equivalent Mass of Work (kg) J1 Roller 1 JW = J1 + D1
D2 ( ) J + M·D4
2
1
× 10–6
Rollers D1 (kg·m2)
JW

M D2

Roller 2
J2

Load
Gears Z2: Number of Gear Teeth
on Load Side
J2: Gear Inertia on Load Side
Inertia of a Load JW: Load Inertia (kg·m2)
Value Converted to (kg·m2) Motor JL = J1 + G2 (J2 + JW) (kg·m2)
Motor Shaft
Z1: Number of Gear Teeth
on Motor Side
J1: Gear Inertia on Motor Side
(kg·m2) JL: Motor Shaft Conversion Load Inertia
Gear Ratio G = Z1/Z2 (kg·m2)

8
■Load Torque Formulas

F: External Force (N)

Torque against
external force
TW = F·P × 10– 3 (N·m)
2π
TW: Torque due to External
P: Ball Screw Pitch (mm) Forces (N·m)

M: Load Mass (kg)

Torque against
frictional force μ: Ball Screw Friction Coefficient TW = μMg· P × 10– 3 (N·m)
2π

P: Ball Screw Pitch (mm) TW: Frictional Forces

2 Torque (N·m)
g: Acceleration due to Gravity (9.8m/s )

D: Diameter (mm)
Torque when F: External
external force is
applied to a
Force (N) TW = F· D × 10– 3 (N·m)
2
rotating object TW: Torque due to External
Forces (N·m)

D: Diameter (mm)
Torque of an object
on the conveyer
belt to which the F: External TW = F· D × 10– 3 (N·m)
external force is 2
Force (N)
applied TW: Torque due to External
Forces (N·m)

Torque of an object
to which the F: External
external force is Force (N) D: Diameter (mm) D
TW = F· × 10– 3 (N·m)
applied by Rack 2
and Pinion TW: Torque due to
External Forces (N·m)

Rack Plumb Line

TW: External Torque
(N·m) M M: Mass (kg)
Torque when work
is lifted at an angle. TW = Mg·cosθ · D × 10– 3 (N·m)
2

Pinion
g: Acceleration due to Gravity (9.8m/s2) D: Diameter (mm)

Z2: Number of Gear Teeth

on Load Side
TW: Load Torque
Torque of a Load (N·m) η: Gear Transmission Efficiency
Value Converted to TL = TW · G (N·m)
Motor Shaft η
Z1: Number of Gear Teeth
on Motor Side
Gear (Deceleration) Ratio G = Z1/Z2 TL: Motor Shaft Conversion
Load Torque (N·m)

9
■Acceleration/Deceleration Torque Formula

Acceleration/Deceleration Torque (TA)

TA = 2πN JM + JL (N·m)
( )
60tA η
η: Gear Transmission Efficiency
N: Motor Rotation Speed (r/min)
M
JM: Motor Inertia (kg·m2)
JL: Motor Shaft Conversion Load Inertia (kg·m2)

Speed (Rotation Speed)

N: Rotation Speed (r/min)

N TA: Acceleration/Deceleration Torque (N·m)

time
tA

Acceleration Time (s)

■Calculation of Maximum Momentary Torque, Effective Torque

Maximum Momentary Torque (T1)

Rotation N (r/min) T1 = TA + TL (N ·m)
Speed
Effective Torque (Trms)
(rpm)
T12 ·t1 + T22 ·t2 + T32 ·t3
Trms =
t1 + t2 + t3 + t4
(N·m)
0 time T2 = TL (N·m)
tA Acceleration
Time (s) T3 = TL – TA (N·m)
T1 t1 = tA (N·m)
Torque
TA
T2
TL
0 time
T3

t1 t2 t3 t4

Single Cycle
TA: Acceleration/Deceleration Torque (N·m)
TL: Servomotor Shaft Converted Load Torque (N·m)
T1: Maximum Momentary Torque (N·m)
Trms: Effective Torque (N·m)

10
■Positioning Accuracy

G = Z1/Z2 Gear (Deceleration) Ratio Positioning Accuracy (AP)

P: Ball Screw Pitch Z2: Number of Gear Teeth
on Load Side Ap = P· G (mm)
(mm) R·S
S: Positioner Multiplier
R: Encoder Resolution
M (Pulses/Rotation)
Z1: Number of Gear Teeth
on Motor Side
Ap: Positioning Accuracy (mm)

■Straight Line Speed and Motor Rotation Speed

V: Velocity (mm/s)
Motor Rotations

N = 60V (r/min)
P: Ball Screw Pitch Z2: Number of Gear Teeth P· G
(mm) on Load Side

G = Z1/Z2 Gear
M
Z1: Number of Gear Teeth (Deceleration) Ratio
on Motor Side
N: Motor Rotation Speed (r/min)

11
Sample Calculations
1 Machinery Selection

• Load Mass M = 5 (kg)

• Ball Screw Pitch P = 10 (mm)

P
• Ball Screw Diameter D = 20 (mm)

• Ball Screw Mass MB = 3 (kg)

M
MB Direct
• Ball Screw Friction Coefficient μ = 0.1 Connection
• Since there is no decelerator, G = 1, η = 1
D

2 Determining Operating Pattern

(mm/s)
• One Speed Change
speed
• Velocity for a Load Travel V = 300 (mm/s) 300
• Strokes L = 360 (mm)

• Stroke Travel Time tS = 1.4 (s)

• Acceleration/Deceleration Time tA = 0.2 (s)

0
• Positioning Accuracy AP = 0.01 (mm) Time (s)
0.2 1.0 0.2 0.2

3 Calculation of Motor Shaft Conversion Load Inertia

Ball screw 2
3 × 202
Inertia JB JB = MBD × 10– 6 JB = × 10– 6 = 1.5 × 10– 4 (kg·m2)
8 8

Load 2 2

Inertia JW
JW = M ( 2πP ) × 10 –6
+ JB JW = 5 × ( 2 ×103.14 ) × 10 –6
+ 1.5 × 10– 4 = 1.63 × 10– 4 (kg·m2)

Motor Shaft Conversion

Load Inertia JL JL = G2 × (JW + J2) + J1 JL = JW = 1.63 × 10– 4 (kg·m2)

4 Load Torque Calculation

Torque against Friction

TW = μMg P × 10– 3 TW = 0.1 × 5 × 9.8 × 10 × 10– 3 = 7.8 × 10– 3 (N·m)
Torque TW 2π 2 × 3.14

TL = G ·TW
Motor Shaft Conversion
Load Torque TL η TL = TW = 7.8 × 10–3 (N·m)

5 Calculation of Rotation Speed

Rotations N N = 60V N=
60 × 300
= 1800 (r/min)
P·G 10 × 1

6 Motor Temporary Selection [In case OMNUC U Series Servo Motor is temporarily selected]

The Rotor/Inertia of the JL 1.63 × 10–4

= = 5.43 × 10–6 (kg·m2)
selected servo motor is JM ≥ JL 30 30
more than 1/30* of a load 30
Temporarily selected Model R88M-U20030 (JM = 1.23 × 10–5).
80% of the Rated Torque
of the selected servo
motor is more than the Rated Torque for R88M – U20030 Model from TM = 0.637 (N·m)
load torque of the
TM × 0.8 > TL
TM = 0.637 (N·m) × 0.8 > TL = 7.8 × 10-3 (N·m)
servomotor shaft
conversion value

* Note that this value changes according to the Series.

12
7 Calculation of Acceleration/Deceleration Torque

Acceleration/
TA = 2π·N JM + JL
( ) TA =
2π × 1800
(
× 1.23 × 10– 5 +
1.63 × 10– 4
)
= 0.165 (N·m)
Deceleration Torque TA 60tA η 60 × 0.2 1.0

8 Calculation of Maximum Momentary Torque, Effective Torque

Required Max. Momentary Torque is

T1 = TA + TL = 0.165 + 0.0078 (mm/s)

300
= 0.173 (N·m)
T2 = TL = 0.0078 (N·m)

speed
T3 = TL – TA = 0.0078 – 0.165
=– 0.157 (N·m)

Effective Torque Trms is 0

Time (s)

T12·t1 + T22·t2 + T32·t3 t1 t2 t3 t4

Trms =
t1 + t2 + t3 + t4 0.2 1.0 0.2 0.2 0.2
(N·m) Single
0.1732 × 0.2 + 0.00782 × 1.0 + 0.1572 × 0.2
Decceleration Torque
Acceleration/
Trms = Cycle
0.2 + 1.0 + 0.2 + 0.2
0.165
Trms = 0.0828 (N·m)
TA
0
Time (s)

-0.165
Shaft Conversion
Load Torque of Servomotor

(N·m)
TL
0.0078
Time (s)

0.173
T2
Total Torque

T1
0.0078
Time (s)
T3
-0.157

9 Result of Examination
[Load Inertia JL = 1.63 × 10–4 (kg·m2)] Conditions
Load Inertia
≤ [Motor Rotor Inertia JM = 1.23 × 10–5] × [Applied Inertia = 30] Satisfied
Conditions
Effective Torque [Effective Torque Trms = 0.0828 (N·m)] < [Servomotor Rated Torque 0.637 (N·m) × 0.8]
Satisfied
Maximum Conditions
[Maximum Momentary Torque T1 = 0.173 N·m < [Servomotor Maximum Momentary Torque 1.91 (N·m) × 0.8]
Momentary Torque Satisfied
Maximum Rotation Conditions
[Maximum Rotations Required N = 1800 (r/min)] ≤ [Servomotor Rated Rotation Speed 3000 (r/min)]
Speed Satisfied
The encoder resolution when the positioner multiplication factor is set to 1 is
Encoder P·G = 10 × 1 = Conditions
Resolution R= 1000 (Pulses/Rotations) Satisfied
Ap·S 0.01 × 1
The encoder specification of U Series 2048 (pulses/rotation) should be set 1000 with the Encoder Dividing Rate Setting.

Note.This example omits calculations for the regenerative energy, operating conditions, or positioner characteristics.

13