2 Formulas and equations 09.

99

Using gearboxes

n Motor
i= gearbox ratio
nload

η gearbox efficiency

Referring moments of inertia to the motor shaft

i, η
n Motor n Load
JMotor J Load

Gearbox

∗ J load
J load = load moment of inertia referred to the motor shaft [kgm2]
i2
J load
J ∗ = J motor + total moment of inertia referred to the motor shaft (without [kgm2]
i2
gearbox and coupling)

Referring load torques to the motor shaft

Example: Hoisting drive, hoisting and lowering with constant velocity

i, η

Motor Gearbox

16 Siemens AG
SIMOVERT MASTERDRIVES - Application Manual
09.99 2 Formulas and equations

r roll radius [m]

FH = m ⋅ g hoisting force [N]

M load = m ⋅ g ⋅ r load torque at the roll [Nm]

∗ M load
M load = load torque referred to the motor shaft when hoisting [Nm]
i ⋅η (energy flow from the motor to the load)
M load load torque referred to the motor shaft when lowering [Nm]
∗
M load = ⋅η
i (energy flow from the load to the motor)

Gearbox ratio for the shortest accelerating time with a constant motor torque

a) Mload = 0, i. e., pure high-inertia drive without friction

J load J load
i= and = Jmotor
J motor i2

this means, that the load moment of inertia, referred to the motor shaft, must be the same as the
motor moment of inertia

b) Mload ≠ 0 , i. e., the drive accelerates against frictional forces

M load M J
i= + ( load ) 2 + load
M motor M motor Jmotor

Siemens AG 17
SIMOVERT MASTERDRIVES - Application Manual
2 Formulas and equations 09.99

Using spindle drives

m
Guide v, a

Motor D

h Sp
M
motor
n l
motor

v feed velocity [m/s]

hSp pitch [m]

D spindle diameter [m]

l spindle length [m]

π D [kgm2]
J spindle ≈ ⋅ l ⋅ 7.85 ⋅ ( ) 4 ⋅ 1000 spindle moment of inertia (steel)
2 2

m moved masses [kg]

v ⋅ 60 [RPM]
nmotor = motor speed
hSp
hSp spindle pitch angle [rad]
α SW = arctan
π ⋅D
hSp friction angle of the spindle [rad]
ρ = arctan − α SW
π ⋅ D ⋅η
η spindle efficiency
2⋅π [s-2]
α b,v Sp = a b,v ⋅ angular acceleration - deceleration of the spindle
hSp
a b,v
acceleration- deceleration of the load [m/s2]
M b,v motor = J mot ⋅ α b,v Sp accelerating- and decelerating torque for the [Nm]
motor
M b,v SP = J Sp ⋅ α b,v Sp accelerating- and decelerating torque for the [Nm]
spindle
Fb,v = m ⋅ ab,v
accelerating- and deceleration force for mass m [N]

18 Siemens AG
SIMOVERT MASTERDRIVES - Application Manual
09.99 2 Formulas and equations

Horizontal spindle drive

FR = m ⋅ g ⋅ wF frictional force in the guide [N]

wF specific traversing resistance

Motor torque when accelerating

D
M motor = M b motor + M b Sp + ( Fb + FR ) ⋅ ⋅ tan(α SW + ρ ) [Nm]
2

Motor torque when decelerating

D
M motor = − M v motor − M v Sp + ( − Fv + FR ) ⋅ ⋅ tan(α SW + ρ ⋅ sign( − Fv + FR )) [Nm]
2

Vertical spindle drive

FH = m ⋅ g hoisting force [N]

Motor torque when accelerating upwards

D
M motor = M b motor + M b Sp + ( Fb + FH ) ⋅ ⋅ tan(α SW + ρ ) [Nm]
2

Motor torque when decelerating downwards

D
M motor = − M v motor − M v Sp + ( − Fv + FH ) ⋅ ⋅ tan(α SW + ρ ⋅ sign( − Fv + FR )) [Nm]
2

Motor torque when accelerating upwards

D
M motor = − M b motor − M b Sp + ( − Fb + FH ) ⋅ ⋅ tan(α SW − ρ ⋅ sign( − Fb + FH )) [Nm]
2

Motor torque when decelerating downwards

D
M motor = M v motor + M v Sp + ( Fv + FH ) ⋅ ⋅ tan(α SW − ρ ) [Nm]
2

Blocking occurred for a downwards movement for ρ > α SW

Siemens AG 19
SIMOVERT MASTERDRIVES - Application Manual
2 Formulas and equations 09.99

Accelerating- and braking time at constant motor torque and constant load torque

2 ⋅ π ⋅ n max ⋅ J ∗
ta = accelerating time from 0 to nmax [s]
( ∗
60 ⋅ M motor − M load )
2 ⋅ π ⋅ nmax ⋅ J ∗
tbr = [s]
( )
∗
braking time from nmax to 0
60 ⋅ M motor + M load

J in kgm2, M in Nm, nmax in RPM (final motor speed)

(moment of inertia and load torques converted to the motor shaft)

Accelerating time at constant motor torque and for a square-law load torque

Example: Fan

n
M load = M load max ⋅ ( )2
nmax

M motor
+1
π ⋅ nmax ⋅ J M load max
ta = ⋅ ln accelerating time from 0 to nmax [s]
60 ⋅ M motor ⋅ M load max M motor
−1
M load max

J in kgm2, M in Nm, nmax in RPM (final motor speed)

Mmotor > Mload max when accelerating, otherwise the final speed will not be reached.

20 Siemens AG
SIMOVERT MASTERDRIVES - Application Manual