Technical Reference

Technical Reference
F

Fan Sizing AC Motors

Motor and Standard Speed Control Stepping
Motor and Fan Sizing .............................. F-2

Standard AC Motors ............................. F-12

Systems
Speed Control Systems ........................ F-22

Motors Gearheads
Stepping Motors .................................... F-29

Gearheads ............................................. F-39

Motion
Linear
Linear Motion ........................................ F-50

Cooling
Fans
Cooling Fans ......................................... F-52

F-1
 Technical Reference

Motor Sizing Calculations

This section describes certain items that must be calculated to find the optimum motor for a particular application.
Selection procedures and examples are given.

Selection Procedure
Determine the drive ● First, determine certain features of the design, such as drive mechanism, rough dimensions,
mechanism component distances moved, and positioning period.

● Confirm the required specifications for the drive system and equipment (stop accuracy,
Confirm the required specifications
position holding, speed range, operating voltage, resolution, durability, etc.).

● Calculate the value for load torque, load inertia, speed, etc. at the motor drive shaft of the
mechanism. Refer to page 3 for calculating the speed, load torque and load inertia for various
Calculate the speed and load mechanisms.

● Select a motor type from AC Motors, Brushless DC Motors or Stepping Motors based on the
Select motor type
required specifications.

● Make a final determination of the motor after confirming that the specifications of the selected
Check the selected motor motor/gearhead satisfy all of the requirements (mechanical strength, acceleration time,
acceleration torque etc.).

F-2
 Technical Reference

Formulas for Calculating Load Torque
Formulas for Calculating Moment of

Ball Screw Inertia
m Direct Coupling

Inertia of a Cylinder
F D1

FA x

m
FA

y L

Fan Sizing AC Motors

Motor and Standard Speed Control Stepping
FP B 0F0P B 1
TL
(  )  [oz-in]...................................... 
2π 2π i
F
FA  m (sin   cos ) [oz.] .......................................  1 π
Jx
mD 12
LD 14 [oz-in2] .....................................
8 32

Pulley
1 D 12 L 2
Jy
m(  ) [oz-in2] ............................................
4 4 3

Systems
D

Inertia of a Hollow Cylinder
x
D1
D2

Motors Gearheads
FA m y L

FA  m D
TL
· 1 π
2π i Jx
m (D 12  D 2 2 )
D 24 ) [oz-in2] ............

Motion
L ( D 14

Linear
8 32
(FA  m ) D

[oz-in] ....................................................  1 D 12  D 2 2 L 2
2i Jy
m(  ) [oz-in2] ................................. 

Cooling
4 4 3

Fans

Wire Belt Mechanism, Rack and Pinion Mechanism
Inertia for Off-center Axis of Rotation
l x0
FA F FA m F x
m

D C

B
A
F πD FD
TL

[oz-in] ..............................................  l
Distance between x and x0 axes [in.]
2π i 2i
1
F
FA  m (sin   cos ) [oz.] .......................................  J x
Jx0  m l 2
m ( A2  B 2  12 l 2 )[oz-in2] ............... 
12

By Actual Measurement
Inertia of a Rectangular Pillar

A x
Spring Balance B

FB
C
y
Machine
D

1 1
Pulley
Jx
m ( A2  B 2 )
A B C ( A 2  B 2 )[oz-in2] ........... 
12 12
FBD
TL
[oz-in] ............................................................... 
2 1 1
Jy
m ( B2  C2 )
A B C ( B 2  C 2 )[oz-in2] ...........
12 12

Inertia of an Object in Linear Motion
F
Force of moving direction [oz.] A 2
F0
Pilot pressure weight [oz.] (
1/3 F) J
m( )2
m ( ) [oz-in2] .........................................
2π
0
Internal friction coefficient of pilot pressure nut (0.1 to 0.3)

Efficiency (0.85 to 0.95) A
Unit of movement [inch/rev]
i
Gear ratio Jx
Inertia on x axis [oz-in2]
PB
Ball screw pitch [inch/rev] Jy
Inertia on y axis [oz-in2]
FA
External force [oz.] Jx0
Inertia on x0 axis [oz-in2]
m
Weight [oz.] Density
FB
Force when main shaft begins to rotate [oz.]
m
Total weight of work and table [oz.] D1
External diameter [inch] Iron
4.64 [oz/in3]

Frictional coefficient of sliding surfaces (0.05) D2
Internal diameter [inch] Aluminum
1.65 [oz/in3]

Angle of inclination [°]
Density [oz/in3] Bronze
5 [oz/in3]
D
Final pulley diameter [inch] L
Length [inch] Nylon
0.65 [oz/in3]

F-3
 Technical Reference

Stepping Motors
This section describes in detail the key concerns in the  For Start-Stop Operation
selection procedure, such as the determination of the motion Start-stop is a method of operation in which the operating
profile, the calculation of the required torque and the pulse speed of a motor being used in a low-speed region
confirmation of the selected motor. is suddenly increased without an acceleration period. It is
found by the following equation. Since rapid changes in
 Operating Patterns speed are required, the acceleration torque is very large.
There are 2 basic motion profiles. Operating Pulse Number of Operating Pulses [Pulses]
One is a start/stop operation and the other is an acceleration/ Speed ( f2) [Hz]
Positioning Period [s]
deceleration operation.
A
Acceleration/deceleration operation is the most common.

t0
When load inertia is small, start/stop operation can be used.
 Calculate the Acceleration/Deceleration Rate TR
Operating Pulse Operating Pulse Calculate the acceleration/deceleration rate from the
Speed Speed
( f 2) ( f 2) following equation.
Number of Operating Pulses
Acceleration/deceleration Acceleration (Deceleration) Period [ms]
Number of (A)


Starting Pulse
Operating Pulses
(A)
rate TR [ms/kHz] Operating Pulse Starting Pulse
Speed
( f 1) Start/Stop Operation (t 0 )
Speed [kHz] Speed [kHz]
Acceleration Period Deceleration Period t1
(t 1)
Positioning Period
(t 1)

(t 0) f2 f1
Acceleration/Deceleration Operation
✽ Calculate the pulse speed in full-step equivalents.

 Find the Number of Operating Pulses A [pulses]

Pulse Speed [kHz]

The number of operating pulses is expressed as the number
of pulse signals that adds up to the angle that the motor must TR
move to get the work from point A to point B.
No. of Pulses
Operating Pulse (A) Distance per Movement

 Required for
[Pulses] Distance per Motor Rotation
1 Motor Rotation
t1
l 360°

 s: Step Angle  Calculate the Operating Speed from Operating
lrev s
Pulse speed
 Determine the Operating Pulse Speed f 2 [Hz] Operating Operating Pulse  Step Angle

 60
The operating pulse speed can be found from the number of Speed [r/min] Speed [Hz] 360°
operating pulses, the positioning period and the
acceleration/deceleration period.
 Calculate the Load Torque TL
(See basic equations on pages F-3)
 For Acceleration/Deceleration Operation
Acceleration/deceleration is a method of operation in  Calculate the Acceleration Torque Ta
which the operating pulses of a motor being used in a  For Acceleration/Deceleration Operation
medium- or high-speed region are gradually changed. It is
Acceleration Torque (Ta) [oz-in]
found by the equation below. Usually, the acceleration Operating Pulse Starting Pulse
(deceleration) period (t1) is set at roughly 25% of the Inertia of Rotor Total Inertia πStep Angle [°] Speed [Hz] Speed [Hz]
positioning periods. For gentle speed changes, the

[oz-in2]  [oz-in2]  180°

Acceleration (Deceleration) Period [s]
acceleration torque can be kept lower than in start-stop
1
operations. 
12Gravitational Acceleration [ft/s2]
When a motor is operated under an operating pattern like
this, the acceleration/deceleration period needs to be π• s f2 f1 1

(J0JL)   
calculated using the positioning period. 180 t1 g

 For Start-Stop Operation

Acceleration/Deceleration
Inertia of Rotor Total Inertia
Period [s]
Positioning Period [s]0.25 Acceleration Torque (Ta) [oz-in]
 [oz-in2]
[oz-in2]
Number of Acceleration
Starting Pulse  πStep Angle [°](Operating Pulse Speed)2 [Hz] 1
Operating Pulses (Deceleration)
Speed [Hz]  
Operating Pulse [Pulses] Period [s] 180°Coefficient 12Gravitational Acceleration [ft/s2]


Speed f2 [Hz] Positioning Acceleration (Deceleration) π• s • f22 1
Period [s] Period [s]
(J0JL)  
180° • n g n: 3.6°/ s

A f1 • t1  Calculate the Required Torque TM

t0 t1 Required Torque
(Load Torque Acceleration Torque) Safety Factor
TM [oz-in] [oz-in] [oz-in]

(TLTa)Sf
F-4
 Technical Reference

Choosing Between Standard AC  Check the Acceleration/Deceleration Rate
Most controllers, when set for acceleration or
Motors and Stepping Motors
deceleration, adjust the pulse speed in steps. For that
 Selection Considerations
reason, operation may sometimes not be possible, even
There are differences in characteristics between standard AC
though it can be calculated.
motors and stepping motors. Shown below are some of the
Calculate the acceleration/deceleration rate from the
points you should know when sizing a motor.
following equation and check that the value is at or above

Fan Sizing AC Motors

Motor and Standard Speed Control Stepping

Standard AC Motors the acceleration/deceleration rate in the table.
 The speed of Induction Motors and Reversible Motors
Acceleration/Deceleration
Acceleration (Deceleration) Period [ms]
vary with the size of the load torque. So, the selection Rate TR [ms/kHz] Operating Pulse Starting Pulse
should be made between the rated speed and the Speed [Hz] Speed [Hz]
synchronous speed. t1
 There can be a difference of continuous and short-term

f2 f1

Systems
ratings, due to the difference in motor specifications,
despite the fact that two motors have the same output ✽ Calculate the pulse speed in full-step equivalents.
power. Motor selection should be based on the operating

Motors Gearheads
time (operating pattern).

Pulse Speed [kHz]

 Each gearhead has maximum permissible load inertia. TR
When using a dynamic brake, changing direction quickly,
or quick starts and stops, the total load inertia must be
less than the maximum permissible load inertia.

Motion
Linear

Stepping Motors t1
 Checking the Running Duty Cycle Acceleration Rate (Reference Values with EMP Series)
A stepping motor is not intended to be run continuously

Cooling
Fans
Acceleration/
with rated current. Lower than 50% running duty cycle is Model
Motor Frame Size
Deceleration Rate If below the minimum
inch (mm)
recommended. TR [ms/kHz] value, change the
Running Time 1.10(28), 1.65(42), operating pattern’s
Running Duty Cycle
 100 A 0.5 Min.
Running Time  Stopping Time 2.36(60), 3.35(85) acceleration
1.65(42), 2.36(60) 20 Min.
 Checking the Inertia Ratio RK Series (deceleration)
3.35(85), 3.54(90) 30 Min.
Large inertia ratios cause large overshooting and period.
undershooting during starting and stopping, which can  Checking the Required Torque
affect start-up times and settling times. Depending on the Check that the required torque falls within the pull-out
conditions of usage, operation may be impossible. torque of the speed-torque characteristics.
Calculate the inertia ratio with the following equation and Safety Factor: Sf (Reference Value)
check that the values found are at or below the inertia
Product Series Safety Factor
ratios shown in the table. A 1.52

Total Inertia of the Machine [oz-in2] RK Series 2

Torque [oz-in]

Inertia Ratio

Rotor Inertia of the Motor [oz-in2]
JL


J0
Required Torque

Inertia Ratio (Reference Values)

Speed [r/min]
Product Series Inertia Ratio When these values are exceeded,
(Pulse Speed [kHz])
A 30 we recommend a geared motor.
RK Series 10 Maximum Using a geared motor can
✽ Except geared motor types increase the drivable inertia load.
Total Inertia of the Machine [oz-in2]
Inertia Ratio

Rotor Inertia of the Motor [oz-in2](Gear Ratio)2
JL


J0 • i2

F-5
 Technical Reference

Sizing Example (3) Determine the Operating Pulse Speed ƒ2 [Hz]
 Ball Screw Number of Starting Acceleration
Operating Pulses  (Deceleration)
Using Stepping Motors (A) Operating pulse Speed [f1]
Pulses [A] Period [t1]


m speed f 2 Positioning Acceleration (Deceleration)
Period [t0] Period [t1]
Stepping
Motor
6000 0
10000 Hz
0.8 0.2
Coupling

Operating Pulse Speed [Hz]

Direct
Connection 10000
Pulse Driver
Generator
6000 Pulses

PB
DB
0.2 t1 t 1 0.2 Period [sec]
Programmable t 0 =0.8
Controller
(4) Calculate the Operating Speed N [r/min]

Determine the Drive Mechanism
Operating Speed
f 2  S
 60
Total mass of the table and work: m
90 lb. (40 kg) 360
Frictional coefficient of sliding surfaces: 
0.05
10000  0.72  60
1200 [r/min]
Ball screw efficiency: 
0.9 360
Internal frictional coefficient of pilot pressure nut: 0
0.3
Calculate the Required Torque TM [oz-in]
Ball screw shaft diameter: D B
0.6 inch (1.5 cm) (see page F-4)
Total length of ball screw: L B
23.6 inch (60 cm) (1) Calculate the Load Torque TL [oz-in]
Material of ball screw: Iron [density
4.64 oz/in3
Load in Shaft Direction F
F A  m (sin    cos )
(7.910-3 kg /cm3)]
0  90 (sin 0  0.05 cos 0)
Pitch of ball screw: P B
0.6 inch (1.5 cm)
4.5 lb.
Desired Resolution (feed per pulse): l
0.001 inch (0.03 mm)/step
Feed: l
7.01 inch (180 mm) Pilot Pressure Load F 0
F
4.5
1.5 lb.
3 3
Positioning period: t 0
0.8 sec.
Load Torque T L
F • P B   0 • F 0 • P B
2π 2π

Calculate the Required Resolution

4.5  0.6  0.3  1.5  0.6
360°  Desired Resolution (l) 2π  0.9 2π
Required Resolution S

Ball Screw Pitch (PB )
0.52 lb-in
8.3 oz-in

360°0.001
0.72°
15 (2) Calculate the Acceleration Torque Ta [oz-in]
A can be connected directly to the application.  Calculate the total moment of inertia JL [oz-in2]
(See page F-3 for basic equations)

Determine the Operating Pattern π
Inertia of Ball Screw J B
• • L B • D B4
(see page F-4, see basic equations on pages F-3) 32
π
(1) Finding the Number of Operating Pulses (A)
 4.64  23.6  0.6 4
32
[pulses]
1.39 oz-i n 2
Feed per Unit (l) 360°
Operating pulses (A)
 Inertia of Table and Work J T
m P B
90  0.6
2 2

Ball Screw Pitch (PB ) Step Angle ( S ) 2π 2π

7.01  360°
6000 pulses
0.82 lb-in2
13.1 oz-in2
0.6 0.72°

(2) Determine the Acceleration (Deceleration) Total Inertia J L
J B  J T
1.39  13.1
14.5 oz- in2
Period t1 [sec]  Calculate the acceleration torque Ta [oz-in]
An acceleration (deceleration) period of 25% of the Acceleration

J0  JL  π • S  f 2 f 1
positioning period is appropriate. torque Ta g 180° t1
Acceleration (deceleration) period (t 1)
0.8  0.25
0.2 sec J 0  14.5 π  0.72

  10000 0
386 180 0.2

1.63 J0  23.6 oz-in

(3) Calculate the Required Torque TM [oz-in]

Required torque
TM [oz-in]
(  a )  2
TL T

{8.3  (1.63 J 0  23.6) }  2

3.26 J 0  63.8 oz-in

F-6
 Technical Reference

Select a Motor
Determine the Gear Ratio
(1) Provisional Motor Selection Speed at the gearhead output shaft: NG
V • 60 (0.60.06)  60
Model
Rotor Inertia Required Torque NG


18218 r/min
[oz-in2] oz-in N•m PB 0.197
AS66AA 2.2 71 0.5 Because the rated speed for a 4-pole motor at 60 Hz is
14501550 r/min, the gear ratio (i ) is calculated as follows:
(2) Determine the Motor from the Speed-Torque 14501550 14501550
i


7.29.5

Fan Sizing AC Motors

Motor and Standard Speed Control Stepping
Characteristics NG 18218
AS66AA From within this range a gear ratio of i = 9 is selected.
2.0
250

1.5

Calculate the Required Torque
200
F, the load weight in the direction of the ball screw shaft, is
Torque [oz-in]
Torque [N·m]

150
1.0 obtained as follows:
F
FAm (sin     cos  )
0100 (sin 90  0.05  cos 90 )

Systems
100
0.5
50
100 lb.
0 0
Preload weight F0:
1000 2000 3000 4000

Motors Gearheads
Speed [r/min] F
0 10 20 30 40 50 60 F0

33.3 lb.
Pulse Speed [kHz] 3
(Resolution Setting: 1000 P/R)
Load torque TL:
Select a motor for which the required torque falls within the FPB 0F0PB 1000.197 0.333.30.197
pull-out torque of the speed-torque characteristics. TL


2π 2π 2π0.9 2π

3.8 lb-in
 Ball Screw

Motion
Linear
This value is the load torque at the gearhead drive shaft, and
Using Standard AC Motors must be converted into load torque at the motor output shaft.

Cooling
This example demonstrates how to select an AC motor with The required torque at the motor output shaft (TM) is given by:

Fans
an electromagnetic brake for use on a tabletop moving TL 3.8
TM


0.52 [lb-in]
8.32 oz-in
vertically on a ball screw. In this case, a motor must be i · G 90.81
selected that meets the following basic specifications. (Gearhead transmission efficiency G
0.81)
Look for a margin of safety of 2 times.
Required and Structural Specifications
8.322 = 16.64 oz-in
Motor
To find a motor with a start-up torque of 16.64 oz-in or more,
Gearhead
Coupling select motor 5RK40GN-AWMU. This motor is equipped
with an electromagnetic brake to hold a load. A gearhead
Ball Screw with a gear ratio of 9:1 that can be connected to the motor
FA
Slide Guide 5RK40GN-AWMU is 5GN9KA.
v The rated motor torque is greater than the required torque,
m1
so the speed under no-load conditions (1740 r/min) is used
to confirm that the motor produces the required speed.

Load Inertia Check
Ball Screw π  LBDB4 π 4.6431.5(0.787)4
Total weight of table and work ............................ m
100 lb. J1


Moment of Inertia 32 32
Table speed ............................................. V
0.6 in./s10%

5.5 oz-in2
Ball screw pitch .............................................. P B
0.197 in.
Ball screw efficiency .................................................. 
0.9 Table and Work A 2 0.197 2
2
m
100  16
Ball screw friction coefficient .................................... 0
0.3 Moment of Inertia J 2π 2π

Friction coefficient of sliding surface (Slide guide) ..... 
0.05
1.57 oz-in2
Motor power supply ................ Single-Phase 115 VAC 60 Hz Gearhead shaft total load inertia J
5.51.57
7.07 [oz-in2]
Ball screw total length ....................................... L B
31.5 in.
Here, the 5GN9KA permitted load inertia is (see page A-12):
Ball screw shaft diameter ............................... D B
0.787 in. JG
JM i2
492
324 oz-in2
Ball screw material .................. Iron (density
4.64 oz/in.3) Therefore, J < JG, the load inertia is less than the permitted
Distance moved for one rotation of ball screw .... A
0.197 in. inertia, so there is no problem. There is margin for the
External force ......................................................... FA
0 lb. torque, so the rotation rate is checked with the no-load
Ball screw tilt angle ................................................... 
90° rotation rate (about 1750 r/min).
Movement time ....................................................5 hours/day NM · P
Brake must provide holding torque V

0.64 in./s (where NM is the motor speed)
60 · i
This confirms that the motor meets the specifications.

F-7
 Technical Reference
 Belt and Pully
Calculate the Required Torque
Using Standard AC Motors On a belt conveyor, the greatest torque is needed when
starting the belt. To calculate the torque needed for start-up,
Here is an example of how to select an induction motor to
the friction coefficient (F) of the sliding surface is first
drive a belt conveyor.
determined:
In this case, a motor must be selected that meets the
following basic specifications. F
m1
0.330
9 lb.
144 oz.
Load torque (TL) is then calculated by:
Required Specifications and Structural Specifications F • D 1444
TL


320 oz-in
V 2• 20.9
The load torque obtained is actually the load torque at the
gearhead drive shaft, so this value must be converted into
load torque at the motor output shaft. If the required torque at
D Belt Conveyor the motor output shaft is TM, then:
TL 320
Motor TM


9.7 oz-in
i · G 500.66
Gearhead
(Gearhead transmission efficiency G
0.66)
Total weight of belt and work ............................... m1
30 lb. Look for a margin of safety of 2 times, taking into
Friction coefficient of sliding surface ......................... 
0.3 consideration commercial power voltage fluctuation.
Drum radius .......................................................... D
4 inch
9.72
19.4 oz-in
Weight of drum ...............................................m2
35.27 oz.
The suitable motor is one with a starting torque of 19.4 oz-in or
Belt roller efficiency ................................................... 
0.9 more. Therefore, motor 5IK40GN-AWU is the best choice.
Belt speed ............................................... V
7 inch/s10% Since a gear ratio of 50:1 is required, select the gearhead
Motor power supply ................ Single-Phase 115 VAC 60 Hz 5GN50KA which may be connected to the 5IK40GN-AWU
motor.

Determine the Gear Ratio
Speed at the gearhead output shaft:
Load Inertia
V · 60 (70.7)60 Roller Moment of Inertia
NG


33.43.3 r/min
π·D π4 1 1
J1
m 2D 22
35.27422
141 oz-in2
8 8
Because the rated speed for a 4-pole motor at 60 Hz is
14501550 r/min, the gear ratio (i ) is calculated as follows: Belt and Work Moment of Inertia
πD 2
π4 2
14501550 14501550 J 2
m1
3016
1920 oz-in2
i


39.551.5 2π 2π
NG 33.43.3
Gearhead Shaft Load Inertia
From within this range a gear ratio of i
50 is selected.
J
J1J 2
1411920
2061 oz-in2

Here, the 5GN50KA permitted load inertia is: J G
4502

10000 oz-in2
(See page A-12)
Therefore, J < JG, the load inertia is less than the permitted
inertia, so there is no problem.

Since the motor selected has a rated torque of 36.1 oz-in,

which is somewhat larger than the actual load torque, the
motor will run at a higher speed than the rated speed.
Therefore the speed is used under no-load conditions
(approximately 1740 r/min) to calculate belt speed, and thus
determine whether the selected product meets the required
specifications.
NM • π • D 1740π4
V


7.3 in/s
60 • i 6050
(Where NM is the motor speed)
The motor meets the specifications.

F-8
 Technical Reference
 Conveyor  Index Table
Using Brushless DC Motors Using Stepping Motors
Here is an example of how to select a speed control motor to Geared stepping motors are suitable for systems with high
drive a belt conveyor. inertia, such as index tables.

Work
Determine the Drive Mechanism

DT
11.8 inch (300 mm)

Fan Sizing AC Motors

Motor and Standard Speed Control Stepping
l
4.92 inch (125 mm)

● Performance
Belt speed VL is 0.6 in./s40 in./s
● Specifications for belt and work

Systems
Condition: Motor power supply ...... Single-Phase 115 VAC
Belt conveyor drive
Roller diameter .................................. D
4 inch

Motors Gearheads
Mass of roller ................................. m1
2.2 lb.
Total mass of belt and work ............ m2
33 lb.
Friction coefficient of sliding surface .... 
0.3
Pulse Generator
Belt roller efficiency .............................. 
0.9
Programmable
Controller

Find the Required Speed Range

Motion
Linear
For the gear ratio, select 15:1 (speed range: 2200) from the Diameter of index table: D T
11.8 inch (300 mm)
permissible torque table for combination type on page B-14 Index table thickness: LT
0.39 inch (10 mm)
so that the minimum/maximum speeds fall within the speed Thickness of work: LW
1.18 inch (30 mm)

Cooling
Fans
range. Diameter of work: D W
1.57 inch (40 mm)
60VL Material of table and load: Iron [density
4.64 oz/in3
NG
NG: Speed at the gearhead output shaft
πD (7.9103 kg /m3)]
Belt Speed Number of loads: 10 (one every 36°)
600.6 Distance from center of index table
0.6 inch/s .........
2.87 r/min (Minimum Speed)
π4 to center of load: l
4.92 inch (125 mm)
6040 Positioning angle:
36˚
40 inch/s ..........
191 r/min (Maximum Speed)
π4 Positioning period: t0
0.25 [sec]

Calculate the Load Inertia JG The A PN geared (gear ratio 10:1) can be used.
Load Inertia of Roller : Jm1 Gear Ratio: i
10
1 1 Resolution: s
0.036°
J m1
m1D
2.21642
70.4 oz-in2
2
8 8
Speed Range (Gear Ratio 10:1) is 0300 r/min
Load inertia of belt and work : Jm2
πD 2 π4 2
Determine the Operating Pattern
Jm2
m2( )
33( )
132 oz-in2
2π 2π (see page F-4, see basic equations on page F-3)
The load inertia JG is calculated as follows: (1) Find the Number of Operating Pulses (A) [pulses]
JG
Jm12Jm2
270.4132
273 oz-in2 Operating pulses (A)

Angle rotated per movement ( )
From the specifications on page B-15, the permissible load Gear output shaft step angle ( s)
inertia for BX5120A-15 is 2300 oz-in2 (4.210 2 kg•m2)
36°
1000 Pulses
0.036°

Calculate the Load Torque TL (2) Determine the Acceleration (Deceleration)
Friction Coefficient of the Sliding Surface: F
•m2
0.333
9.9 lb. Period t1 [sec]
F•D 9.94 Generally, an acceleration (deceleration) period should be
Load Torque TL


22 lb-in
2 20.9 set approximately 25% or more of the positioning period.
Select BX5120A-15 from the permissible torque table on
page B-14. In this example we will set t1=0.1, t1=0.1[s] is provided as
the acceleration (deceleration) period.
Since the permissible torque is 47 lb-in (5.4 N•m), the safety
margin is (3) Calculate the Operation Speed
TM/TL
50/22
2.3 Operating N

60


60

36
Usually, a motor can operate at the safety margin of 1.52 or 360 t0 t1 360 0.25 0.1
more.
40 [r/min]

F-9
 Technical Reference
(4) Determine the Operating Pulse Speed ƒ2 [Hz]  Calculating the Acceleration Torque Ta [oz-in]
Num ber of Starting Acceleration (J 0 · i 2  J L ) 1 π· s f2 f1
Acceleration Torque Ta
· · ·
Operating Pulses  (Deceleration) g 12 180 t1
Operating Pulse Pulses [A] Speed [f1] Period [ t 1]

(J 0106000) 1 π0.036 6667 0
Speedf2 Positioning Acceleration (deceleration)
  
Period [t 0 ] Period [t 1] 32.2 12 180 0.1
600 0
4.19J 0650 [oz-in]


6667 [Hz]
0.25 0.1
(3) Calculate the Required Torque TM [oz-in]
Safety Factor Sf
2
Required Torque
6667
(T L  T a )  2
Operating Pulse Speed [Hz]

T M [oz-in]

{0  (4.19 J 0  527) }  2

8.38 J 0  1300 [oz-in]

Select a Motor
(1) Provisional Motor Selection
0.1 t1 t1 0.1 Rotor Inertia Required Torque
Period [sec] Model
oz-in2 lb-in [N•m]
t 0 =0.25 AS66AA-N10 J0
2.2 84 9.55

Calculate the Required Torque TM [oz-in] (2) Determine the Motor from the Speed-Torque
(See page F-4) Characteristics
(1) Calculate the Load Torque TL [oz-in] AS66AA-N10
(See page F-3 for basic equations) 25
200
Frictional load is omitted because it is negligible. Load torque
20
is considered 0.
150
Torque [lb-in]
Torque [N·m]

(2) Calculate the Acceleration Torque Ta [oz-in] 15

 Calculate the Total Inertia JL [oz-in2] 100

10
(See page F-4 for basic equations)
π
Inertia of Table J T
• • L T • D T4 5 50
32
Permissible Torque
π

 4.64  0.3911.84
32 0 0
50 100 150 200 250 300

3400 oz-in2 Speed [r/min]
π 0 5 10 15 20 25 30 35 40 45 50
Inertia of Work J C
• • L W • D W4 Pulse Speed [kHz]
(Center of gravity) 32
π (Resolution Setting: 1000P/R)

 4.64 1.18 1.574
32 The total torque of the system is the sum of the load torque

3.3 oz-in2 plus the acceleration torque. The total torque times the safety
DW 2 factor must not exceed the permissible torque.
Weight of Work m
π( ) • LW •
2
1.57 2

π( )  1.18  4.64
2

10.6 oz.
The inertia of the work Jw [oz-in2]relative to the center of
rotation can be obtained from distance L [inch] between the
center of work and center of rotation, mass of work m [oz],
and inertia of work (center of gravity) Jc [oz-in2].

Since the number of work pieces n, is 10 [pcs],

Inertia of Work JW
10 (JCml 2)
(Center of rotation)

10(3.310.64.922)

2600 [oz-in2]
Total Inertia JL
JTJW
34002600

6000 oz-in2

F-10
 Technical Reference
Fan Sizing Calculations

Selecting a Fan
Fan Selection Details

This section describes basic methods of selecting typical Cabinet Specifications
ventilation and cooling products based on their use. Item Letter Specifications

Fan Sizing AC Motors

Motor and Standard Speed Control Stepping
Installation Conditions / Factory Floor
 Device specifications and conditions
W Width 0.48 m (19 in.)
Determine the devices required internal temperature. H Hight 1.44 m (57 in. )
Size

 Heat generation within the device D Depth 0.36 m (14 in.)

Cabinet Surface area S 2.42 m2✽ (3758 in.2)
Determine the amount of heat generated internally by the
Material / Steel
device.
Overrall

Systems
Heat
 Calculate required air flow Transfer
U 5 W/ (m2/K)
Once you have determined the amount of heat generated, Coefficient
50˚F (10˚C)
the number of degrees the temperature must be lowered and

Motors Gearheads
Ambient Temperature T1 25°C (77F°)
Target Temperature Rise T
what the ambient temperature should be, calculate the air Max. temperature inside of cabinet
T2 35°C (95F°)
flow required.
Total Heat Generation Q 1200 W
 Selecting a fan Safety Factor Sf 2

Select a fan using the required air flow. The air flow of a Power Source / 60 Hz 115 VAC

mounted fan can be found from the fan’s air flow vs. ✽ Surface of Cabinet
Side Area  Top Area

Motion
Linear
static pressure characteristics and the pressure loss of the
1.8  H  (WD)  1.4  W  D
object to be cooled. It is difficult to calculate the device’s
2.42 m2 (3758 in.2)
pressure loss, so an estimation for the maximum air flow of
Required Air Flow

Cooling
Fans
1.3 to 2 times the required air flow may be used.  Determine Required Air Flow Using Calculations
K: Coefficient 0.05
Max.
Air flow-static pressure characteristic V
K  (Q  T-U  S)  Sf
static
pressure High pressure loss

0.05  (1200  10-5  2.42)  2
Operating point

10.8 [m3/min] (381 [CFM])
Pressure loss
 Determine Required Air Flow Using a Graph
Operating Low
static pressure loss
Search for the cross point A between output of heat Q (1200 W)
pressure
and target temperature rise T [50˚F (10˚C)].
 Draw a line parallel with the x axis from point A.
Operating air flow Max. air flow
 Search for the cross point B between the parallel line and
Air Flow-Static Pressure Characteristic
surface area S [2.42 m2 (3758 in.2)] line.

Fan Selection Flowchart  Draw a line to the x axis from point B, required airflow is
approx. 190 CFM [5.4 (m3/min)].
,
Determine the device s requirements  Use a safety factor of Sf = 2, Required airflow will be 380
Determine how many degrees to lower the internal CFM [10.8 (m3/min)].
5 0 10 9 8 76 5 4 3 2 1 0
temperature based on the guaranteed operating
,
temperatures of the device s internal components
Target Temperature Rise ∆T [°C]

and elements.
Heat Radiation Area S [m2]

10 A B

Calculate the amount of heat produced 15

Calculate the amount of heat produced internally 20

, 25
from the device s input/output and efficiency etc. 30

Calculate the required air flow 1200 1000 800 600 400 200 0 50 100 150 200 250 300
Heat Q [W] Required Air Flow V [CFM]
Calculate the volume of air required for a set
temperature.  Applicable Fans
Based on the air flow requirement, the MRS18-BTM is the best match.
MRS18-BTM Specifications
Select a fan
Max. Static
Voltage Frequency Input Current Speed Max. Air Flow Noise
Select a fan with a maximum air flow of 1.3 to 2 Pressure
times the required air volume. VAC Hz W A r/min dB (A)
CFM m /min inH2O
3 Pa
115 60 95 1.0 3350 452 12.8 0.98 245 61

F-11
 Technical Reference

Standard AC Motors

Construction of AC Motors
Brake Mechanism of the Reversible

The following figure shows the construction of a standard AC Motor
motor. A reversible motor has a simple, built-in brake mechanism

Bracket: Die-cast aluminum bracket with a machined (friction brake) at its rear. This mechanism is provided for the
finish, press-fitted into the motor case. following purposes:
 Stator: Comprised of a stator core made from laminated a. To improve the instant reversing characteristics by adding
silicon/steel plates, a polyester-coated copper coil and a friction load
insulation film. b. To reduce overrun
 Motor Case: Die-cast aluminum with a machined finish
inside.
 Rotor: Laminated silicon/steel plates with die-cast
aluminum.
Coil Spring
 Output Shaft: Available in round shaft and pinion shaft End Plate
types. The metal used in the shaft is S45C. Round shafts Brake Shoe
have a shaft flat (output power of 25 W or more), while Brake Plate
pinion shafts undergo precision gear finishing.
 Ball Bearing
 Lead Wire: Lead wires with heat-resistant polyethylene
coating.
 Painting: Baked finish of acrylic resin or melamine resin. The brake mechanism is constructed as shown in the
figure above. The coil spring applies constant pressure to
 Motor Case  Painting allow the brake shoe to slide toward the brake plate.
 Stator This mechanism provides a certain degree of holding brake
 Rotor force, but the force is limited due to the mechanism’s

Bracket
structure, as described above. The brake force produced by
the brake mechanism of an Oriental Motor reversible motor is
 Ball Bearing
approximately 10% of the motor’s output torque.

 Output Shaft

 Lead Wire

F-12
 Technical Reference

Induction Motor
Torque Motor
Speed – Torque Characteristics Speed – Torque Characteristics
The figure below shows the motor’s characteristics of speed The figure below shows the torque motor’s characteristics of
and torque. speed and torque. The speed and torque characteristics of
torque motors differ from those of induction motors or
Torque Unstable Region Stable reversible motors. As the graph shows, they have special
Region
M torque characteristics (torque is highest at zero speed and

Fan Sizing AC Motors

TM

Motor and Standard Speed Control Stepping

decreases steadily with increasing speed), so they can
provide stable operation through the entire speed range,
R from starting to no-load speed. The torque generated during
TS
TP P reversal of the motor is a large positive torque in the same
direction as the rotational magnetic field. When the motor is
locked by the load and the motor is rotated opposite the

Systems
O desired direction, this torque acts as a force (braking force)
Speed to inhibit the motor from rotating backwards.

Motors Gearheads
Torque

Stable Region of Induction Motor

Stable Region
Under conditions of no load, the motor rotates at a speed
close to synchronous rotation (O) . As the load increases, the Braking Region

motor’s speed drops to a level (P) where a balance is

achieved between load and motor torque (Tp).
If the load is further increased and reaches point M, the 100 VAC

Motion
Linear
motor can generate no greater torque and stops at point R.
In other words, the motor can be operated in a stable range
60 VAC
between M and O, while the range between R and M is

Cooling
Fans
subject to instability.

Torque Torque 0 Speed Ns

Ns

Speed (r/min) Speed (r/min)

Single-Phase motors Three-Phase motors

Induction motors are available in two types: single-phase

(capacitor run) and three-phase induction motors. With the
single-phase motor, the starting torque is generally smaller
than the operating torque, while the three-phase motor
features a relatively greater starting torque.

Reversible Motor
Speed – Torque Characteristics
The reversible motor is a capacitor-run, single-phase
induction motor that features the same characteristics as an
induction motor, as described above.
However, the reversible motor features a higher starting
torque than an induction motor in order to improve the
instant reversing characteristics.
Speed–Torque Characteristics
Torque

Induction Motor

Speed [r/min]
F-13
 Technical Reference

Service Life of an AC Motor
Capacitor
The service life of an AC motor is affected by a number of Oriental Motor’s single-phase AC motors are permanent split
factors, but in most cases it is determined by the bearings. capacitor types. Capacitor-run motors contain an auxiliary
The useful life of a bearing is represented in terms of
winding offset by 90 electrical degrees from the main
bearing mechanical life and  grease life, as described winding. The capacitor is connected in series with the
below. auxiliary winding, causing the current in the auxiliary winding
to lag the current in the main phase.
[Bearing Life] The motor employs a UL-recognized, metallized electrode

Mechanical life is affected by rolling fatigue capacitor. This type of capacitor, which uses a metallized
 Grease life is affected by grease deterioration due to paper or plastic film as an element, is also known as a “self-
heat healing (SH) capacitor, ” because of the self-healing property
The AC motor’s bearing life is estimated based on the grease of the capacitor element. Although most of the previous
life, since the bearing life is more affected by grease capacitors used paper elements, the plastic film capacitor
deterioration due to heat than the load applied to the bearing. has become a mainstream model in recent years due to the
Temperature is the primary determinant of grease life, growing demand for compact design.
meaning that grease life is significantly affected by
temperature. Grease life will be extended at a lower  Capacitance
temperature as long as it is within the ambient temperature The use of a capacitor with a different capacitance may
range specified in the motor’s general specifications. cause excessive motor vibration and heat generation or may
Oriental Motor uses bearings that offer an especially high result in torque drops and unstable operation. Be sure to use
resistance to temperature. The graph below shows the the capacitor supplied with the motor. The capacitor’s
estimated average life characteristic based on actual data capacitance is expressed in microfarads (F).
measured with regard to the motor case’s surface
temperature.  Rated Voltage
Using the capacitor at a voltage level exceeding the rated
According to this graph, the estimated average life is voltage may significantly reduce the capacitor’s service life.
approximately 20,000 hours at 188.6°F (87˚C). And this Be sure to use the capacitor supplied with the motor. The
graph indicate that the useful life doubles when the surface rated voltage of the capacitor is expressed in volts (V). The
temperature of the motor case is lowered 32.4°F (18˚C). capacitor’s rated voltage is indicated on the surface of the
For the useful life of a gearhead, see page F-45. capacitor case. Take proper precautions, since the
capacitor’s rated voltage is different from that of the motor.
100000

 Rated Conduction Time

The rated conduction time is the minimum design life of the
capacitor when operated at the rated load, voltage,
Estimated Average life [hrs.]

temperature and frequency. The standard life expectancy is

25,000 hours. We recommend that the capacitor be replaced
10000
after the rated conduction time.

 Safety Feature of Capacitor

The UL-recognized capacitors, supplied with the motors, are
equipped with a safety feature that allows for safe and
complete removal of the capacitor from circuits to prevent
1000
80 90 100 110 [°C] smoke and/or fire in the event of a dielectric breakdown.
176 194 212 230 [°F]
Oriental Motor uses capacitors with UL-recognized safety
Surface Temperature of Motor Case
features that have passed the UL810 requirement of the
10,000-A fault current test.

F-14
 Technical Reference

Temperature Rise in Standard The motor temperature varies depending on load conditions,
Compact AC Motors operating cycle, motor installation, ambient temperature and
When a motor is operating, all energy loss from the motor is other factors. Use these factors as rough guidelines, since it
transformed into heat, causing the motor’s temperature to is difficult to evaluate everything based solely on data
rise. regarding these factors.
• Induction motors: Induction motors, which are rated for
continuous duty, reach the saturation point of temperature

Overheating Protection Devices

Fan Sizing AC Motors

Motor and Standard Speed Control Stepping
rise after two or three hours of operation, whereupon its
temperature stabilizes. If a motor operating in run mode locks due to overload or the
• Reversible motors: Reversible motors (30 minute rating) input current increases, the motor's temperature rises
reach their limit for temperature rise after 30 minutes of abruptly. If the motor is left in this state, the performance of
operation. The temperature will increase further if operation the insulation within the motor may deteriorate, reducing its
continues. service life and, in extreme cases, scorching the winding and

Systems
causing a fire. In order to protect the motor from such
 Measuring the Temperature Rise thermal abnormalities, UL, CSA, EN and IEC standard
The following is a description of the methods Oriental Motor motors from Oriental Motor are equipped with the following

Motors Gearheads
uses for temperature measurement and for the determination overheating-protection devices.
of a motor’s maximum allowable temperature rise.
 Thermally Protected Motors
Thermometer Method Motors with a frame size of 2.76 inch sq. (70 mm sq.), 3.15
The temperature at which the temperature rise during motor inch sq. (80 mm sq.), 3.54 inch sq. (90 mm sq.) or 4.09 inch
operation becomes saturated is measured using a sq. (104 mm sq.) contain a built-in automatic-return type of

Motion
Linear
thermometer or thermocouple attached to the center of the thermal protector. The construction of a thermal protector is
motor case. The temperature rise is defined as the difference shown in the figure below.

Cooling
between the ambient temperature and measured

Fans
Bimetal Contact
temperature.

Resistance-Change Method
In the resistance-change method, the winding temperature is
measured according to the change in resistance value. A Lead Wires Pure-Silver Contact Points
resistance meter and thermostat is used to measure the
motor’s winding resistance and ambient temperature before Structure of a Thermal Protector
and after operation, from which the temperature rise in the
motor windings is obtained. The thermal protectors employ a bimetal contact with pure
silver used in the contacts. Pure silver has the lowest
electrical resistance of all materials and has thermal

Reversible Motor’s Operation Time conductivity second only to copper.
and Temperature Rise
The reversible motor is rated for 30 minutes. However, when Operating temperature of thermal protector
operating the motor intermittently for a short period of time, Open···266°F9°F (130˚C5˚C) (the operating
the operation time may vary in accordance with the operating temperature varies depending on the model, e.g.,
conditions. Intermittent operation of the reversible motor for a BH Series: 302°F9°F (150˚C5˚C)
short period of time will result in a considerable flow of Close···179.6°F27°F (82˚C15˚C) (the operating
electric current when the motor is started or reversed, thus temperature varies depending on the model, e.g.,
causing greater heat generation. However, the motor’s BH Series: 204.8°F27°F (96˚C15˚C)
temperature rise can be managed by keeping the motor at The motor winding temperature, where the thermal protector
rest for a longer period of time, thereby enhancing its natural is working, is slightly higher than the operating temperature
cooling capability. listed above.

Motor case temperature is the sum of the motor’s  Impedance Protected Motors
temperature rise and the ambient temperature. In general, if Motors with frame sizes of 2.36 inch sq. (60 mm sq.) or less
the motor’s case temperature is 194°F (90˚C) or below, are equipped with impedance protection.
continuous motor operation under such operating conditions Impedance-protected motors are designed with higher
is possible, considering the insulation class of motor winding. impedance in the motor windings so that even if the motor
The life of the bearing grease is extended according to the locks, the increase in current (input) is minimized and
lower motor temperature. temperature will not rise above a certain level.

F-15
 Technical Reference

Construction of an Electromagnetic
Structure and Operation of a
Brake Clutch-Brake Motor
An electromagnetic brake motor is equipped with a power off
activated type electromagnetic brake.

As shown in the figure below, when voltage is applied to the

magnet coil, the armature is attracted to the electromagnet
against the force of the spring, thereby releasing the brake
and allowing the motor shaft to rotate freely. When no
voltage is applied, the spring works to press the armature
onto the brake hub and hold the motor’s shaft in place,
thereby actuating the brake.
Magnet Coil
The photograph above shows the structure of the clutch-
Spring brake motor. When 24 VDC is not applied to either the clutch
coil or brake coil, the output shaft can be rotated by hand.

 Run
When 24 VDC is applied to the clutch coil, the armature of
Brake Hub
the clutch coil is drawn against the clutch plate, transmitting
Brake Lining
motor rotation to the output shaft. The motor continues to
Armature
rotate.
Clutch Disk Armature

Rotation

Motor Blue Blue Clutch and Brake

Clutch ON
24 VDC

 Stopping and Load Holding

By removing the 24 VDC from the clutch coil and, after a
certain time lag, applying 24 VDC to the brake coil, the
output shaft will come to a stop. During braking, the output
shaft is released from the motor shaft, so the shaft may be
stopped without being influenced by motor inertia. The motor
continues to rotate.
Armature Brake Disk

Stop

Motor Clutch and Brake

Orange Orange

Brake ON
24 VDC

F-16
 Technical Reference
The figure below shows the relationship between the action  Braking
of the motor shaft and output shaft and the state of excitation When operation is shifted from rotation to stopping or holding
of the clutch and brake coils. a load, a time lag of about 20 msec. is necessary after the
clutch is disengaged before voltage is applied to the brake
ON
coil denoted as t1.
Clutch
The time required after applying voltage to the brake for the
OFF
clutch/brake output shaft to actually stop is called the braking

Fan Sizing AC Motors

Motor and Standard Speed Control Stepping
time (t 7), and is obtained by adding the following elements:
ON
Armature Attraction Time t2
Brake The time from the application of voltage to the clutch coil until
OFF contact of the armature with the brake plate.
 Actual Braking Time t6
t2 t2
Time Lag Time Lag
Armature Attraction Time The time required from the moment the armature comes in
t1 t1

Systems
Motor Shaft Motor Shaft contact with the brake plate until the moment the output shaft
Speed

comes to a complete stop.

Motors Gearheads
Output The following graphs indicate examples of junction and braking
Shaft
characteristics.
t3 t6
t4 Actual Braking Time

t5 t7 Junction Characteristics (Reference value)

Braking Time

Accelation Time after Junction CBI590-801WU

Motion
Actual Junction Time 80

Linear
60 Hz, 110 VAC, 115 VAC
Junction Time Friction Torque = 0

70

Cooling
Fans
Junction Time [msec] t5

 Operation 60

When operation is shifted from holding the load to moving

50
the load, there is a lag of 20 msec. between the time the
brake is released and the time voltage is applied to the
40
clutch. This is to prevent the clutch and brake from engaging
at the same time, denoted as t1.
30
The time required for the clutch/brake output shaft to reach a
constant speed after voltage is applied to the clutch is called
0
the junction time (t5) and is calculated by adding the following 1 2 3 4 5 Load Inertia [oz-in2]

elements: 0 0.25 0.5 0.75 1.0

Load Inertia [10
4 kg·m2]

Armature Attraction Time t2
The time required from application of voltage to the clutch
coil until contact of the armature with the clutch plate. Braking Characteristics (Reference value)
 Actual Junction Time t4
The time required after the armature comes in contact with CBI590-801WU
60 Hz,110 VAC,115 VAC
the clutch for the clutch/brake output shaft, accelerated by Friction Torque = 0
dynamic friction torque, to engage completely with the motor 1.0
50
shaft. 0.9
 Acceleration Time After Junction t3
Braking Time [msec] t7

40
0.8
Overrun [rotation]

The time needed to accelerate back to the required speed if

0.7
a load is suddenly applied to the motor during the actual 30

junction time, causing a temporary drop in speed. 0.6

20
0.5

10

0
0 1.0 2.0 3.0 4.0 5.0 Load Inertia [oz-in2]

0 0.25 0.5 0.75 1.0 Load Inertia [10
4 kg·m2]

F-17
 Technical Reference

Glossary Static Frictional Torque
 Ratings Static frictional torque is the torque output required to hold a
Ratings load when the motor is stopped by an electromagnetic brake
Motor rating limitations pertaining to temperature rise are or similar device.
divided into two categories: continuous and short-term
ratings. These establish working limitations on output, as well Permissible Torque
as on voltage, frequency and speed (r/min), and are known The permissible torque is the maximum torque that can be
as rated output, rated voltage, rated frequency and rated used when the motor is running. It is limited by the motor’s
speed (r/min). rated torque, temperature rise and the strength of the
gearhead used with the motor.
Continuous and Limited Duty Ratings
The period during which output can continue without Speed–Torque Characteristics
abnormality is called a rating period. When continuous
: Starting torque
operation at rated output is possible, it is known as a : Stall torque
continuous rating. When operation at rated output is possible : Rated torque
only for a limited period, it is known as the short-term rating. : Synchronous speed
: No-load speed
 Output Power : Rated speed
Output Power 
The amount of work that can be performed in a given period
of time is determined by the motor's speed and torque. Each
motor is marked with a rated output value. Output power is 

Torque [oz-in]
expressed in watts and in horsepower.

Output Power [watts]1.04710-1TN
1 HP746 watts
where: 1.04710-1 : Constant
T [N•m] : Torque   Speed [r/min]
N [r/min] : Speed

Rated Output Power

When optimal characteristics are achieved at the rated  Speed
voltage and frequency in continuous operation, the motor is Synchronous Speed
said to be operating at its rated output. The speed and This is an intrinsic factor determined by line frequency and
torque that produce the rated output are called the rated the number of poles. It is calculated according to the
speed and rated torque. Generally, the term “output” refers to following formula, and is normally indicated in r/min.
rated output.
120f
Ns= [r/min]
P
 Torque
Starting Torque NS: Synchronous speed [r/min]
This term refers to the torque generated the instant the motor f: Frequency [Hz]
starts. If the motor is subjected to a load greater than this P: Number of poles
torque, it will not operate.
120: Constant

Stall Torque For example, for a four-pole motor with a line frequency of
This is the maximum torque under which the motor will 60Hz, the synchronous speed will be:
operate at a given voltage and frequency. If a load greater
than this torque is applied to the motor, it will stall.  12060
Ns= =1800 [r/min]
4

Rated Torque See  in the figure above

This is the torque created when the motor is continuously
producing rated output at the rated voltage and frequency. It No-Load Speed
is the torque at rated speed.  The speed of induction or reversible motors under no-load
conditions is lower than synchronous speed by 2 to 20
percent. See  in the figure above.

F-18
 Technical Reference
Rated Speed Transmission Efficiency
This is the appropriate speed of the motor at rated output. This is the efficiency of transmission when the torque is
From the standpoint of utility, it is the most desirable speed. increased with the gearhead attached. It is expressed as a
See  in the figure on the previous page. percentage (%) and is determined by the friction in the gears
and bearings used in the gearhead and the resistance of the
Slip lubrication grease.
The following formula is one method of expressing speed:

Fan Sizing AC Motors

Motor and Standard Speed Control Stepping
Transmission efficiency is usually 90% for one stage of
Ns
N reduction gears, and is 81% for two-stage gearheads. As the
S= or N = Ns (1
S)
Ns reduction ratio increases, the number of gear stages
NS: Synchronous speed [r/min] increases, with a consequent reduction in the gear efficiency
N: Speed under a given load [r/min] to 73% and 66%, respectively, for each gear stage added.

Overhung Load

Systems
In the case of a four-pole, 60 Hz induction motor operated
with a slip of S = 0.1, the speed under a given load will be: This is a load on the gearhead’s output shaft in the radial
direction. The maximum overhung load on a gearhead shaft

Motors Gearheads
12060 is called the permissible overhung load, and it varies with the
N= (1
0.1) =1800 (1
0.1) =1620 [r/min]
4 gearhead type and distance from the shaft end. This is
equivalent to tension under belt drive.
 Overrun
Overrun Thrust Load
This is the number of excess rotations the motor makes from This is the load that is placed in the direction of the

Motion
Linear
the instant the power is cut off to the time that it actually gearhead’s output-axis shaft. The maximum thrust load on
stops. It is normally indicated either by an angle or by the gearhead is called the permissible thrust load, which
revolutions. differs by the type of gearhead.

Cooling
Fans
Overhung Load

 Gearhead Gearhead

Gear Ratio
The gear ratio is the ratio by which the gearhead reduces the
Thrust Load
motor speed [r/min]. The speed at the gearhead's output
shaft is one over the gear ratio times the motor speed.

Maximum Permissible Torque

This is the maximum load torque that can be applied to the  Others
gearhead. It is dependent upon such mechanical strength CW, CCW
factors as the size and construction of the gears and This shows the direction of motor rotation.
bearings, and thus varies according to the gearhead type CW is clockwise as seen from the output shaft side, while
and ratio. CCW is counterclockwise.

Service Factor
This is a coefficient used to estimate the life of a gearhead.
These values are determined in accordance with the results
of service life tests under various loads and conditions of
use.

F-19
 Technical Reference

Q&A

Q1. I may have to put the motor in an environment

below 32°F (0°C) during transport. Will this create Q6. What does it mean to say that a reversible motor
is rated for 30 minutes?
a problem?
A6. Reversible motors require a larger input power than
A1. Extreme changes in temperature may lead to
condensation within the motor. Should this occur,
induction motors to increase the starting torque and
improve the instant reversing characteristics. This
parts may rust, greatly shortening the service life. means that the losses are higher and the temperature
Take measures to prevent condensation. rises more during continuous operation. If operated
continuously, the motor will burn out. It is designed to
provide maximum performance if operated for no
Q2. Can the motors be shipped through tropical
climates?
more than 30 minutes continuously.

A2. No. When the humidity and temperature differences

within the cargo space of ships and airplanes are Q7. Can the speed of induction motors and reversible
motors be changed?
severe, the insulation may deteriorate due to
condensation. Successful countermeasures are to
ship the motors packed in sealed containers or bags A7. The speed of single-phase (AC) induction and
reversible motors is determined by the power supply
containing de-oxygenating material. frequency. If your application requires changing
speed, we recommend AC speed control motors,
brushless DC motors.
Q3. The motor gets extremely hot. Is this all right?

A3. The internal losses generated when the motor

converts electrical energy to rotational movement
becomes heat, making the motor hot. The motor
temperature is expressed as the ambient temperature
Q8. Can a single-phase motor be driven using a three-
phase power supply?
plus the temperature rise caused by losses within the
motor. If internal losses within the motor is 90˚F A8. A single-phase 230 VAC motor can be driven using a
three-phase power supply. Use two of the three
(50˚C) and the ambient temperature is 85˚F (29˚C),
phases as the source of power supply. The same
the surface of the motor will be 175˚F (79˚C). This is
voltage can be obtained by combining two of the u, v,
not abnormal for a small motor.
and w windings in one of the following
patterns: U-V, U-W and V-W.

Q4. Will large fluctuations in power supply voltage

affect the motor?
When using a number of motors, be sure to connect
them to the power supply so that a balanced supply of
power is achieved from each phase.

A4. The torque produced by the motor is affected by

changes in power supply voltage. The torque the
motor produces is proportional to roughly twice the
power supply voltage. For example, if the voltage of a
Q9. Can instant reversal of a reversible motor be
implemented using a SSR (solid state relay)?
motor rated at 115 VAC fluctuates between 103.5 VAC
(90%) and 126.5 VAC (110%), the torque produced
will vary between 80% and 120%. When using motors
A9. When instant forward/reverse operation is controlled
with an SSR, the SSR characteristics can cause
under large power voltage fluctuations, remember that shorts in the circuit. Time must be allowed between
the torque produced will vary, so select a motor that switching from the SSR for clockwise rotation to the
provides a sufficient margin. SSR for counterclockwise rotation.

Q5. Can a reversible motor be used as an induction

motor if the brake shoes are removed?

A5. A reversible motor is not simply an induction motor

with a simple braking mechanism added. The ratio of
coils between the primary coil and the secondary coils
in a reversible motor is different from that of an
induction motor. Although a simple brake mechanism
is added to the rear of the motor, the capacitance is
also increased to increase starting torque. This
means that if only the brake mechanism is removed,
the reversible motor will not be usable at a continuous
rating like an induction motor; it will simply lose its
holding power and its reversing characteristics will be
reduced.

F-20
 Technical Reference
Q10. The connection diagrams shows that a capacitor
must be connected. Why is this necessary? Q14. Do gearheads require oiling?

A10. Most of Oriental Motor standard compact AC motors A14. Oriental Motor lubricates the surface of gears in
gearheads with grease. Oiling is not required.
fall within the broad group of single-phase induction
motors are “capacitor-run motors”. To run an induction
motor, a rotational magnetic field must be created.
Capacitors perform the role of creating a power Q15. We wired the induction motor according to the
wiring diagram, but it does not move. When we
supply with the phase shift that is required for creating

Fan Sizing AC Motors

Motor and Standard Speed Control Stepping
turned the shaft by hand, it started to move in the
such a rotational magnetic field. Three-phase motors,
direction we turned it. What could be the cause of
by contrast, always supply power with different
this?
phases, so they do not require capacitors.

A15. In order to turn a single-phase induction motor, it is

necessary to use a capacitor to create two power
Q11. Can I use a capacitor other than the one that
comes with the motor?
supplies with different phases to obtain the rotating
magnetic field. The problem described occurs, if the

Systems
capacitor is not properly connected. Check for a cut
A11. The capacitor that comes with the motor has a
capacitance that was selected to work optimally with
line or contact defect near the capacitor section. The
way to check is to measure the voltage across the
the motor. When another capacitor is used, it should

Motors Gearheads
capacitor terminals and check whether or not it is at
be a motor capacitor with the same capacitance and
least 1.5 times the power supply voltage. If not, the
rated voltage as the capacitor that comes with the
capacitor may not be working properly.
motor. Electrolytic capacitors may not be used.

Q12. Why do some gearheads output in the same

direction as the motor while others output in the

Motion
Linear
opposite direction?

A12. Gearheads reduce the motor speed by 3:1 to 180:1.

Cooling
They do not, however, reduce the speed with a single

Fans
gear stage, but with several. The number of gear
stages depends on the gear ratio, so the direction of
output shaft rotation differs.

Rotating in motor axis direction Rotating opposite of motor axis direction

Gearhead output shaft Gearhead output shaft

Motor pinion Motor pinion

Q13. Can gearheads be used to reduce the motor

speed to 1/18,000?

A13. Yes. A gearhead with a gear ratio of 180:1 must be

connected to two decimal gearheads with a gear ratio
of 10:1. The permissible torque is the same as if the
180:1 gearhead were used alone. Longer mounting
screws must be used.

Motor
Decimal gearheads

Gearhead

F-21
 Technical Reference

Speed Control Systems

Speed Control Methods
Speed – Torque Characteristics

of Speed Control Systems of Speed Control Systems
The basic block diagrams and outline of the control methods  Brushless DC Motor and Driver System
are shown below. Both brushless DC and AC speed control The figure bellow illustrates the characteristics of an FBL@
systems employ a closed-loop control system. Series motor. The BX, AXU and the AXH Series motors
also have similar characteristics, although their speed control
 Brushless DC Motor and Driver System ranges are different.
Control Method Brushless DC motors operate at rated torque from 300 to

The speed setting voltage is supplied via a potentiometer. 3000 r/min, with a constant starting torque. (With the AXH
 The motor speed is sensed and the speed signal voltage Series, the output torque at the maximum speed is
is supplied. approximately 50% of rated torque.) Unlike AC speed control
 The difference between the speed setting voltage and motors, torque in a brushless DC motor package will not
speed signal voltage is output. drop at low speeds. Unlike AC speed control motors, which
 Current determined by the output from the comparator is have a limit to continuous use (safe operation line) because
supplied to the motor so that it will reach the set speed. of the motor's temperature rise, brushless DC motors can be
Motor used continuously at rated torque from high to low speeds.
In addition to areas of continuous use, brushless DC motors
also have short-term use areas. The torque generated in the
short-term use areas, which is 1.2 times the rated torque (2
  times for the BX Series), is effective for driving inertia loads.
Driver If operated for more than approximately five seconds in the
Current-control circuit

Comparator

short-term use area, the overload protection function of the


driver or control unit may engage and the motor will


automatically stop.
Potentiometer Speed–Torque Characteristics
Power supply FBL5120AW-
FBL5120AW-A
[oz-in]
[N•m]

Starting Torque

Rated Torque
 AC Speed Control Motor System 71 0.5
Limited Duty
Control Method 56 0.4
Region
(5 sec. max.)
Torque

The speed setting voltage is supplied via a potentiometer.

 The motors speed is sensed and the speed signal voltage
is supplied.
 The difference between the speed setting voltage and
Continuous Rated Speed
speed signal voltage is output. Duty Region
0 300 1000 2000 3000
 A voltage determined by the output from the comparator is
Speed [r/min]
supplied to the motor so that it will reach the set speed.
Motor
Tachogenerator  AC Speed Control Motors
The speed-torque characteristic line shown in the figure
below is typical for all AC speed control motors. Each set
Capacitor   speed changes slightly according to the change in load
Speed-control pack torque.
Voltage-control circuit

Comparator


Speed-Torque Characteristics 4IK25RGN-CWE/ES02
[mN·m]

[oz-in]

Safe-Operation Line 110 VAC

Potentiometer 80 Permissible Torque when 115 VAC
10 Gearhead is Attached
Power supply
60 8
Torque

6
40
4
20
2

0 0
90 500 1000 1500 1800
1400 1600
Speed [r/min]

F-22
 Technical Reference
 Safe Operation Line and Permissible Torque  Variable Speed Range (Speed Ratio)
When Using a Gearhead and Load Factor
Input power to the speed control motor varies with the load When the ratio of minimum speed and maximum speed of a
and speed. The greater the load, and the lower the speed, speed control motor is given as the motor’s speed ratio, the
the greater an increase in motor temperature. speed ratio increases to as much as 18:1 in a range where
The previous graph displays the relationship between the the load factor (ratio of load torque to starting torque) is small
speed and torque characteristics of an AC speed control (see the 50% load factor range in the following diagram),

Fan Sizing AC Motors

Motor and Standard Speed Control Stepping
motor. The line is referred to as the safe operation line, while This widens the motor’s range of operation. If the load factor
the area below the line is called the continuous operation is high, the speed ratio becomes low.
area.
The safe operation line, measured according to motor Load Factor and Speed Ratio
temperature, indicates its operational limit for continuous Under conditions of actual use, a motor is often used in
usage with the temperature level below the permissible combination with a gearhead. The following example

Systems
temperature. (In the case of a reversible motor, it is assumes such a configuration.
measured via 30-minute operation.)
Whether the motor can be operated at a specific torque and The following table shows the continuous operation range

Motors Gearheads
speed is determined by measuring the temperature of the and speed ratio of the US Series at load factors of 50% and
motor case. In general, if the motor's case temperature is 70%, respectively, as read from the diagram. Although the
194˚F (90˚C) or below, continuous motor operation is speed ratio is 18:1 when the load factor is 50%, it decreases
possible, considering the insulation class of motor winding. It when the load factor is 70%. As shown, generally AC speed
is recommended that the motor be used under conditions control motors do not have a wide operation range (when the
that keep the motor temperature low, since the motor life is load factor is high). To operate your motor over a wide speed

Motion
Linear
extended with lower motor temperature. range, choose a type that offers high starting torque (i.e., a
When using a gearhead, be aware that it is necessary to motor with the next larger frame size).
operate below the maximum permissible torque. If the actual With a brushless DC motor system, such as in the FBL@

Cooling
Fans
torque required exceeds the maximum permissible torque, it Series, the operation range remains wide regardless of the
may damage the motor/gear and/or shorten its life. load factor, as indicated by the dotted line.
Speed-Torque Characteristics with lower gear ratio
US590-501U5GU6KA
FBL5120AW-10
5
40
4
Torque [lb-in]
Torque [N·m]

30
3

2 20 Load Factor 70%

Approx. 5:1
1 10
Load Factor 50% Approx. 18:1
0 0
0 100 200 (267) 300
Speed [r/min]

Load Factor Continuous Operation Range

Speed Ratio
[%] Minimum Speed [r/min] Maximum Speed [r/min]
50 15 Approx. 18:1
267
70 50 Approx. 5:1

F-23
 Technical Reference
Speed Ratio with/without Gearhead Speed Ratio when a High Ratio Gearhead is Used
Because the speed control motor’s continuous operation Since the starting torque is also limited by the maximum
range is limited by motor temperature, the continuous permissible torque of the gearhead, the load factor of a
operation range will widen if the motor’s efficiency of heat gearhead with a high gear ratio is determined by the load
dissipation is improved and the temperature rise is curbed. In torque with respect to the maximum permissible torque of the
that case, a motor with a gearhead will have a higher speed gearhead.
ratio than a motor used alone at the same load factor of 70%, In the previous example, a gearhead with a gear ratio of 6:1
as shown in the diagram below. The speed ratio will increase was used. The diagram below shows what happens when a
further if the motor with a gearhead is installed in the gearhead with a gear ratio of 120:1 is used.
equipment, since the equipment itself serves as a heat sink. Speed-Torque Characteristics with a High Gear Ratio
With GearheadInstallation in Equipment US590-501U5GU120KA
FBL5120AW-200
With Gearhead
Without Gearhead 300
1.0 140 10:1
120 30
0.8 Motor:
Torque [oz-in]

100
Torque [N·m]

US590-501U
0.6
80 Gearhead:
0.4 60 Load Factor 70% 5GU6KA 200
Approx. 2.5:1

Torque [lb-in]
40

Torque [N·m]
Approx. 5:1 20
0.2
20 Approx. 18:1
0 0 Load Factor 70% Approx. 18:1
0 500 1000 1500 1600 1800
Speed [r/min]
100 Load Factor 50% Approx. 18:1
10
Due to the aforementioned advantage of heat dissipation,
when a motor is installed in equipment it can often be
operated at variable speeds with a speed ratio of 18:1, as
long as the load factor does not exceed 70%. 0 0
0 5 10 (13.3) 15
Speed [r/min]

The maximum permissible torque of the 5GU120KA, which

has a gear ratio of 120:1, is 177 lb-in (20 N·m). The speed
ratios at 50% and 70% load factors are shown in the table
below:
Load Factor Continuous Operation Range
Speed Ratio
[%] Minimum Speed [r/min] Maximum Speed [r/min]
50
0.75 13.3 Approx. 18:1
70

The table above demonstrates that high speed ratios can be

obtained by combining a motor with a gearhead having a
high gear ratio, in which case the load factor is one of minor
concern.

F-24
 Technical Reference

Brushless DC Motor Construction and  Logic Circuit
Principle of Operation The logic circuit detects the rotor position by receiving
 Motor feedback signals from the motor’s Hall effect IC and
The construction of a brushless DC motor is similar to that of determines the excitation sequence of motor windings. The
a standard AC motor, except that the brushless DC motor circuit signal is connected to each transistor base in the
has a built-in magnetic element or optical encoder for the power circuit, driving the transistors according to a
detection of rotor position. The position sensors send signals predetermined sequence. It also detects the motor’s speed.

Fan Sizing AC Motors

Motor and Standard Speed Control Stepping
to the drive circuit. The brushless DC motor uses three- The logic circuit is also used to control commands to the
phase windings in a “star” connection. A permanent magnet motor, including start/stop, brake/run and CW/CCW.
is used in the rotor.
 Setting Comparison Circuit
Construction of Brushless DC Motor
U: Phase-U winding
This circuit compares the motor speed signal against the set
V: Phase-V winding speed signal in order to determine whether the motor speed
W: Phase-W winding
is higher or lower than the set speed. The input to the motor

Systems
Rotor: Magnet
is lowered if the motor speed is higher than the set speed,
U
Stator but the input is raised if it is lower than the set speed. In this
U

Motors Gearheads
W
S N
V manner, the speed that has varied is returned to the set
Motor
windings speed.
N S V
V W
 Power Supply Circuit
U
Rotor W
This circuit converts a commercial power supply into the

voltage necessary to drive the motor and control circuits.

Motion
Linear
Output 1
H.E H.E H.E Output 2
Principle of Brushless DC Motor Rotation
Output 3

Cooling
The motor windings are connected to switching transistors,

Fans
 six of which make up the inverter. The top and bottom
Hall effect IC transistors turn on and off, according to a predetermined
A Hall effect IC is used for the sensor’s magnetic element. sequence, to change the direction of current flow in the
Three Hall effect ICs are placed within the stator, and send windings. The mechanism of brushless DC motor rotation
digital signals as the motor rotates. can be described as follows:
In step 1 of the transistor’s switching sequence, as shown in
 Brushless DC Motor Drive Circuit the following figure, transistors Tr1 and Tr6 are in the “ON”
The drive circuit of the brushless DC motor is connected in state. At this time the winding current flows from phase U to
the configuration shown in the figure below, and is comprised phase W, and phases U and W are excited so that they
of five main blocks. become N and S poles, respectively, thus causing the rotor
• Power circuit • Setting comparison circuit to turn 30°. Repeating such a motion 12 times thereby
• Current control circuit • Power-supply circuit facilitates rotation of the motor.
• Logic circuit Motor Windings Power Circuit
U

Current Control Power-Supply Tr1 Tr2 Tr3
M Power Circuit Circuit Circuit


Brushless V
DC Motor Setting
Logic Circuit Comparison

Circuit
W Tr4 Tr5 Tr6
Start/stop 

Brake Speed Setting
CW/CCW

 Power Circuit Switching Sequences of Individual Transistors

This circuit uses six transistors to control the current flow in Step
q w e r t y u i o !0 !1 !2 !3
the motor windings. The transistors provided at the top and Transistor
Tr1 ON ON ON ON ON
bottom turn on and off repeatedly according to a Tr2 ON ON ON ON
predetermined sequence, thereby controlling the flow of Tr3 ON ON ON ON
Tr4 ON ON ON ON
current to the motor windings. Tr5 ON ON ON ON
Tr6 ON ON ON ON ON
 Current Control Circuit Phase U N –– S S –– N N –– S S –– N N
Phase V –– N N –– S S –– N N –– S S ––
The flow of current to the motor varies according to the size Phase W S S –– N N –– S S –– N N –– S
of the load. The current flow to the motor is constantly
monitored and controlled so that the speed will not deviate
from the specified range.

F-25
 Technical Reference

Load Torque – Driver Input Current Characteristics of a Brushless DC Motor
and Driver System (reference values)
The driver or control unit input current for brushless DC motors varies with the load torque. Load torque is roughly proportional to
the driver input current. These characteristics may be used to estimate load torque from the driver input current. However, this is
valid only when the motor is rotating at a steady speed. Starting and bidirectional motion requires greater current input, so the
relationship does not apply to such operations.
Data for combination type models indicates values for the motor unit only. The box () in the model name indicates the gear
ratio.

 BX Series
BX230A-, BX230AM- BX230C-, BX230CM- (Single-Phase 200-230 VAC) BX230C-, BX230CM- (Three-Phase 200-230 VAC)
BX230A-A, BX230AM-A BX230C-A, BX230CM-A (Single-Phase 200-230 VAC) BX230C-A, BX230CM-A (Three-Phase 200-230 VAC)

3000 r/min 3000 r/min

1.5 0.8 0.6
3000 r/min
2000 r/min 2000 r/min

Driver Input Current [A]

Driver Input Current [A]

Driver Input Current [A]

2000 r/min
0.6
1.0 0.4
1000 r/min 1000 r/min 1000 r/min
0.4
300 r/min 300 r/min 300 r/min
0.5 30 r/min 30 r/min 0.2 30 r/min
0.2
Rated Torque Rated Torque Rated Torque

0 2 4 6 8 10 12 14 16 [oz-in] 0 2 4 6 8 10 12 14 16 [oz-in] 0 2 4 6 8 10 12 14 16 [oz-in]

0 0.02 0.04 0.06 0.08 0.10 0.12 [N . m] 0 0.02 0.04 0.06 0.08 0.10 0.12 [N . m] 0 0.02 0.04 0.06 0.08 0.10 0.12 [N . m]
Load Torque Load Torque Load Torque

BX460A-, BX460AM- BX460C-, BX460CM- (Single-Phase 200-230 VAC) BX460C-, BX460CM- (Three-Phase 200-230 VAC)
BX460A-A, BX460AM-A BX460C-A, BX460CM-A (Single-Phase 200-230 VAC) BX460C-A, BX460CM-A (Three-Phase 200-230 VAC)

3000 r/min 3000 r/min 3000 r/min

2.0 1.25 0.8
2000 r/min 2000 r/min

Driver Input Current [A]

2000 r/min
Driver Input Current [A]
Driver Input Current [A]

1.5 1.0 0.6

1000 r/min 1000 r/min
1000 r/min 0.75
1.0 0.4
300 r/min 300 r/min 300 r/min
0.5
30 r/min 30 r/min 30 r/min
0.5 0.2
Rated Torque 0.25 Rated Torque
Rated Torque

0 5 10 15 20 25 30 35 [oz-in] 0 5 10 15 20 25 30 35 [oz-in] 0 5 10 15 20 25 30 35 [oz-in]

0 0.05 0.1 0.15 0.2 0.25 [N . m] 0 0.05 0.1 0.15 0.2 0.25 [N . m] 0 0.05 0.1 0.15 0.2 0.25 [N . m]
Load Torque Load Torque Load Torque

BX5120A-, BX5120AM- BX5120C-, BX5120CM- (Single-Phase 200-230 VAC) BX5120C-, BX5120CM- (Three-Phase 200-230 VAC)
BX5120A-A, BX5120AM-A BX5120C-A, BX5120CM-A (Single-Phase 200-230 VAC) BX5120C-A, BX5120CM-A (Three-Phase 200-230 VAC)

3000 r/min 3000 r/min 3000 r/min

4.0 2.0 1.25
Driver Input Current [A]
Driver Input Current [A]

Driver Input Current [A]

2000 r/min 2000 r/min 2000 r/min

1.5 1.0
3.0
1000 r/min 1000 r/min 0.75 1000 r/min
2.0 1.0
300 r/min 300 r/min 300 r/min
0.5
30 r/min 30 r/min
1.0 0.5 30 r/min
0.25
Rated Torque Rated Torque Rated Torque

0 10 20 30 40 50 60 70 [oz-in] 0 10 20 30 40 50 60 70 [oz-in] 0 10 20 30 40 50 60 70 [oz-in]

0 0.1 0.2 0.3 0.4 0.5 [N.m] 0 0.1 0.2 0.3 0.4 0.5 [N.m] 0 0.1 0.2 0.3 0.4 0.5 [N.m]
Load Torque Load Torque Load Torque

F-26
 Technical Reference
BX6200A-, BX6200AM- BX6200C-, BX6200CM- (Single-Phase 200-230 VAC) BX6200C-, BX6200CM- (Three-Phase 200-230 VAC)
BX6200A-A, BX6200AM-A BX6200C-A, BX6200CM-A (Single-Phase 200-230 VAC) BX6200C-A, BX6200CM-A (Three-Phase 200-230 VAC)
3000 r/min 3000 r/min 3000 r/min
5.0 3.0 2.0
2000 r/min 2000 r/min
Driver Input Current [A]

2000 r/min

Driver Input Current [A]

Driver Input Current [A]

4.0
1.5
1000 r/min 2.0
3.0 1000 r/min 1000 r/min
300 r/min 1.0
2.0 300 r/min 300 r/min
30 r/min 1.0 30 r/min
30 r/min 0.5

Fan Sizing AC Motors

Motor and Standard Speed Control Stepping
1.0
Rated Torque Rated Torque Rated Torque

0 20 40 60 80 100 [oz-in] 0 20 40 60 80 100 [oz-in] 0 20 40 60 80 100 [oz-in]

0 0.2 0.4 0.6 0.8 [N.m] 0 0.2 0.4 0.6 0.8 [N.m] 0 0.2 0.4 0.6 0.8 [N.m]
Load Torque Load Torque Load Torque

BX6400S-, BX6400SM-
BX6400S-A, BX6400SM-A

Systems
3.0 3000 r/min
Driver Input Current [A]

2000 r/min

Motors Gearheads
2.0
1000 r/min
1.0
300 r/min
30 r/min
Rated Torque
0 20 40 60 80 100 120 140 160 180 [oz-in]
0 0.2 0.4 0.6 0.8 1.0 1.2 1.4 [N.m]

Motion
Linear
Load Torque

 FBL@ Series

Cooling
Fans
FBL575AW- FBL575CW- FBL575SW-
FBL575AW-A FBL575CW-A FBL575SW-A
2.0 1.5
3000 r/min 1.0 3000 r/min
3000 r/min
Driver Input Current [A]

Driver Input Current [A]

Driver Input Current [A]

1.5 2000 r/min 0.75 2000 r/min

2000 r/min
1.0
1000 r/min 1000 r/min 1000 r/min
1.0 0.5
300 r/min 300 r/min
300 r/min
0.5 Rated Torque
0.5 0.25
Rated Torque
Rated Torque
0 10 20 30 40 [oz-in] 0 10 20 30 40 [oz-in] 0 10 20 30 40 [oz-in]
0 0.1 0.2 0.3 [Nm] 0 0.1 0.3 [Nm] 0 0.1 0.2 0.3[N·m]
Load Torque 0.2
Load Torque Load Torque
FBL5120AW- FBL5120CW- FBL5120SW-
FBL5120AW-A FBL5120CW-A FBL5120SW-A
3000 r/min
2.5 2.0 1.5
3000 r/min 3000 r/min
Driver Input Current [A]
Driver Input Current [A]

Driver Input Current [A]

2.0 1.5 2000 r/min

2000 r/min
2000 r/min 1.0
1.5 1000 r/min
1000 r/min 1.0 1000 r/min 300 r/min
1.0
300 r/min 300 r/min 0.5
0.5 Rated Torque
0.5 Rated Torque
Rated Torque

0 10 20 30 40 50 60 [oz-in] 0 10 20 30 40 50 60 [oz-in] 0 10 20 30 40 50 60 [oz-in]

0 0.1 0.2 0.3 0.4 0.5 [Nm] 0 0.1 0.2 0.3 0.4 0.5 [Nm] 0 0.1 0.2 0.3 0.4 0.5 [Nm]
Load Torque Load Torque Load Torque

 AXU Series
AXU210A-GN AXU210C-GN AXU210S-GN
AXU210A-A AXU210C-A AXU210S-A
0.8 0.4 0.4
Control Unit Input Current [A]
Control Unit Input Current [A]

Control Unit Input Current [A]

2000 r/min
2000 r/min 2000 r/min
1500 r/min
0.6 1500 r/min 0.3 0.3 1500 r/min
1000 r/min 1000 r/min
1000 r/min 500 r/min
500 r/min 500 r/min
0.4 0.2 100 r/min 0.2 100 r/min
100 r/min

0.2 0.1 0.1

Rated Torque Rated Torque Rated Torque

0 1 2 3 4 5 6 7 8 [oz-in] 0 1 2 3 4 5 6 7 8 [oz-in] 0 1 2 3 4 5 6 7 8 [oz-in]

0 0.02 0.04 0.06 [N . m] 0 0.02 0.04 0.06 [N . m] 0 0.02 0.04 0.06 [N . m]
Load Torque Load Torque Load Torque

F-27
 Technical Reference
AXU425A-GN AXU425C-GN AXU425S-GN
AXU425A-A AXU425C-A AXU425S-A
1.25 0.8 0.8

Control Unit Input Current [A]

Control Unit Input Current [A]

2000 r/min
Control Unit Input Current [A]

1500 r/min 2000 r/min

1.0 0.6 0.6
1000 r/min 1500 r/min 2000 r/min
0.75 1000 r/min 1500 r/min
500 r/min
0.4 0.4 1000 r/min
100 r/min 500 r/min
0.5 500 r/min
100 r/min 100 r/min
Rated Torque 0.2 0.2
0.25 Rated Torque Rated Torque

0 5 10 15 20 [oz-in] 0 5 10 15 20 [oz-in] 0 5 10 15 20 [oz-in]

0 0.05 0.1 0.15 [N . m] 0 0.05 0.1 0.15 [N . m] 0 0.05 0.1 0.15 [N . m]
Load Torque Load Torque Load Torque

AXU540A-GN AXU540C-GN AXU540S-GN

AXU540A-A AXU540C-A AXU540S-A
2.0 1.0 1.0
Control Unit Input Current [A]

Control Unit Input Current [A]

Control Unit Input Current [A]

2000 r/min
2000 r/min 1500 r/min
1.5 0.75 0.75
1500 r/min 1000 r/min 2000 r/min
1000 r/min 500 r/min 1500 r/min
1.0 0.5 0.5 1000 r/min
500 r/min
100 r/min 500 r/min
100 r/min
0.25 100 r/min
0.5 0.25
Rated Torque Rated Torque Rated Torque

0 5 10 15 20 25 30 35 [oz-in] 0 5 10 15 20 25 30 35 [oz-in] 0 5 10 15 20 25 30 35 [oz-in]

0 0.05 0.1 0.15 0.2 0.25 [N . m] 0 0.05 0.1 0.15 0.2 0.25 [N . m] 0 0.05 0.1 0.15 0.2 0.25 [N . m]
Load Torque Load Torque Load Torque

AXU590A-GU AXU590C-GU AXU590S-GU

AXU590A-A AXU590C-A AXU590S-A
2000 r/min
2.5 2.0 1.0
Control Unit Input Current [A]

Control Unit Input Current [A]

2000 r/min
Control Unit Input Current [A]

1500 r/min 2000 r/min

2.0 1500 r/min 1500 r/min
1.5 0.75
1000 r/min 1000 r/min
1.5 1000 r/min
500 r/min 0.5
1.0 500 r/min 500 r/min
1.0 100 r/min
100 r/min 100 r/min
0.5 0.25
0.5
Rated Torque Rated Torque Rated Torque

0 10 20 30 40 50 60 70[oz-in] 0 10 20 30 40 50 60 70 [oz-in] 0 10 20 30 40 50 60 70[oz-in]

0 0.1 0.2 0.3 0.4 0.5[N . m] 0 0.1 0.2 0.3 0.4 0.5 [N . m] 0 0.1 0.2 0.3 0.4 0.5 [N . m]
Load Torque Load Torque Load Torque

 AXH Series
AXH015K- AXH230KC- AXH450KC-
AXH015K-A AXH230KC-A AXH450KC-A
2500 r/min
1.5 2.0
4.0
Driver Input Current [A]

3000 r/min 2000 r/min

Driver Input Current [A]

2500 r/min 1.5 2500 r/min

3.0
Driver Input Current [A]

1.0 2000 r/min 3000 r/min 1500 r/min

1500 r/min 2000 r/min
3000 r/min
1000 r/min 1.0 1000 r/min 2.0 1500 r/min
500 r/min 500 r/min 1000 r/min
0.5 100 r/min
0.5 100 r/min 1.0 500 r/min
Rated Torque 100 r/min
Rated Torque Rated Torque
0 1 2 3 4 5 6 7 [oz-in] 0 2 4 6 8 10 12 14 16 [oz-in] 0 5 10 15 20 25 [oz-in]

0 0.01 0.02 0.03 0.04 0.05 [N.m] 0 0.02 0.04 0.06 0.08 0.10 0.12 [N.m] 0 0.04 0.08 0.12 0.16 0.2 [N.m]
Load Torque Load Torque Load Torque

AXH5100KC-
AXH5100KC-A
2500 r/min
6.0 2000 r/min
Driver Input Current [A]

5.0
1500 r/min
4.0 3000 r/min
1000 r/min
3.0
500 r/min
2.0
100 r/min
1.0 Rated Torque

0 10 20 30 40 50 [oz-in]

0 0.1 0.2 0.3 0.4 [N . m]

Load Torque

F-28
 Technical Reference
Stepping Motors

Structure of Stepping Motors
Principles of Operation

The figures below show two cross-sections of a 5-phase Following is an explanation of the relationship between the
stepping motor. The stepping motor consists primarily of two magnetized stator teeth and rotor teeth.

Fan Sizing AC Motors

Motor and Standard Speed Control Stepping
parts: a stator and rotor. The rotor in turn is made up of three
components: rotor cup 1, rotor cup 2 and a permanent  When Phase “A” Is Excited
magnet. The rotor is magnetized in the axial direction so that, When phase A is excited, its poles are polarized south. This
for example, if rotor cup 1 is polarized north, rotor cup 2 will attracts the teeth of rotor cup 1, which are polarized north,
be polarized south. while repelling the teeth of rotor cup 2, which are polarized
Rotor Cup 1
south. Therefore, the forces on the entire unit in equilibrium

Systems
Permanent Magnet hold the rotor stationary.
Ball Bearing
Rotor Cup 2 At this time, the teeth of the phase-B poles, which are not
excited, are misaligned with the south-polarized teeth of rotor

Motors Gearheads
2 so that they are offset 0.72˚.
This summarizes the relationship between the stator teeth
and rotor teeth with phase A excited.
No offset 3.6°
0.72
°
Shaft

Motion
Linear
S
.72°
Stator 7.2

0 °
Winding 3.6°

Cooling
N N

Fans
Motor Structural Diagram 1: Cross-Section Parallel to Shaft
N
Stator
The stator has 10 magnetic poles with small teeth, each pole Phase A Phase B

being provided with a winding.

Each winding is connected to the winding of the opposite
Phase C
pole so that both poles are magnetized in the same polarity
Rotor 1
when current is sent through the pair of windings. (Running a
N
current through a given winding magnetizes the opposing Phase D
pair of poles in the same polarity, i.e., north or south.)
The opposing pair of poles constitutes one phase. Since
there are five phases, A through E, the motor is called a “5- Current
Phase E
phase stepping motor.”
There are 50 teeth on the outer perimeter of each rotor, with N
the teeth of rotor cup 1 and rotor cup 2 being mechanically
offset from each other by half a tooth pitch.
S
Excitation: To send current through a motor winding.
Magnetic pole: A projected part of the stator, magnetized by excitation.
Teeth: The teeth on the rotor and stator. No offset

Shaft Phase A
Stator
Phase B
Rotor

Phase C

Phase D

Phase E

Motor Structural Diagram 2: Cross-Section Perpendicular to Shaft

F-29
 Technical Reference
 When Phase “B” Is Excited
Stepping Motor
When excitation switches from phase A to B, the phase B  Overview of the Control System
poles are polarized north, attracting the south polarity of rotor
Equipped with aproprietary rotor position
2 and repelling the north polarity of rotor cup 1. sensor
A rotor position sensor is built-in the rear end of the motor
shaft.
0.72°
3.6
°
N
S
N S
S
N

0.7
Phase A

2°
Phase B
Stator

N
Phase C
Sensor to detect rotor’s position
Rotor 1
The sensor winding detects changes in magnetic reluctance
N
due to the angular position of the rotor.
Phase D

Current Sensor Output Signal

Phase E 1.25
N 1
S

S
3.6 S 0.5
°

Signal Level
S
0
N
–0.5

–1
0 60 120 180 240 300 360
In other words, when excitation switches from phase A to B, Rotor Angle (Electrical Angle) A Phase
B Phase
the rotor rotates by 0.72˚. As excitation shifts from phase A,
Output Signal of Rotor Position Sensor
to phases B, C, D and E, then back around to phase A, the
stepping motor rotates precisely in 0.72˚ steps.
Featuring Innovative Closed-Loop Control
To rotate in reverse, reverse the excitation sequence to The deviation counter calculates the deviation (lag/advance)
phase A, E, D, C, B, then back around to phase A. of the rotor’s actual angular position with regard to the
High resolution of 0.72˚ is inherent in the mechanical offset position command by the pulse train signal.
between the stator and rotor, accounting for the achievement The calculation result is used to detect a “misstep region”
of precise positioning without the use of an encoder or other and operate the motor by switching between open and
sensors. High stopping accuracy of ±3 arc minutes (with no closed modes.
load) is obtained, since the only factors affecting stopping • If the positional deviation is less than 1.8˚, the motor will
accuracy are variations in the machining precision of the run in the open mode.
stator and rotor, assembly precision and DC resistance of • If the positional deviation is 1.8˚ or more, the motor will
windings. run in the closed mode.
The driver performs the role of phase switching, and its
Select Open
timing is controlled by a pulse-signal input to the driver. Pulse-Train Signal
Mode
The example above shows the excitation advancing one Input Counter
Power-Output Section
Excitation-Sequence
Control Section

phase at a time, but in an actual stepping motor an effective

use of the windings is made by exciting four or five phases Deviation
Detect Misstep Region Motor
Counter
simultaneously.
Rotor-Position Sensor
Counter
Select Closed Mode
Control block diagram for

Rotor position counter: Specifies an excitation sequence that would

develop maximum torque for a given rotor
position.

F-30
 Technical Reference
In the closed loop mode, motor-winding excitation is
Basic Characteristics of Stepping Motors
controlled so that maximum torque is developed for the given An important point to consider in the application of stepping
angular position of the rotor. motors is whether the motor characteristics are suitable to
This control method eliminates unstable positions (misstep the operating conditions. The following sections describe the
region) in the angle vs. torque characteristics. characteristics to be considered in the application of stepping
motors.
Closed Mode Open Mode The two main characteristics of stepping motor performance
are:

Fan Sizing AC Motors

Motor and Standard Speed Control Stepping
Dynamic Characteristics
Torque

These are the starting and rotational characteristics of a

stepping motor, mainly affecting the unit’s movement and
cycling time.

Systems
Closed Mode Static Characteristics
–7.2 –5.4 –3.6 –1.8 0 1.8 3.6 5.4 7.2
These are the characteristics relating to the changes in
angle that take place when the stepping motor is in

Motors Gearheads
Position
standstill mode, affecting the motor’s level of precision.
Stepping Motor

Angle vs. Torque Characteristics

 Features of
TH

Torque [oz-in]

Torque [N·m]

Improved Stepping Motor Performance

Motion
Linear

● At high speeds will not “misstep.” Therefore, unlike
conventional stepping motors, the operation will be

Cooling
Fans
free of the following restrictions:
• Restrictions on acceleration/deceleration rates and inertia 
ratio stemming from the pulse profile of the controller. fs
Speed [r/min]
• Restrictions on starting-pulse speed causing “misstep.”
Speed vs. Torque Characteristics
● Use the velocity filter to adjust responsiveness while
starting/stopping
The responsiveness of starting/stopping can be adjusted
with 16 settings without changing the controller data
(starting pulse, acceleration/deceleration rates).
This feature is intended to reduce shock to the work and
vibration during low-speed operation.
Effect of Velocity Filter

When set at 0
Motor Speed

When set at F

Time

F-31
 Technical Reference
 Dynamic Characteristics
Load Inertia vs. Starting Frequency

Speed vs. Torque Characteristics Characteristics
Below is a characteristic curve showing the relationship These characteristics show the changes in the starting
between the speed and torque of a driven stepping motor. frequency caused by the load inertia. Since the stepping
These characteristics are always referred to in the selection
motor’s rotor and load have their own inertia, lags and
of a stepping motor.
The horizontal axis represents the motor’s output-shaft advances occur on the motor axis during instantaneous
speed, and the vertical axis represents the torque. starting and stopping. These values change with the pulse
The speed vs. torque characteristics are determined by the speed, but the motor cannot follow the pulse speed beyond a
motor and driver, and are greatly affected by the type of certain point, so that missteps result. The pulse speed
driver being used. immediately before the occurrence of a misstep is called the
 Holding Torque starting frequency.
The holding torque is the stepping motor’s maximum

Maximum Starting Frequency f [Hz]

holding power (torque) when power is supplied (at rated
2500
current) when the motor is not rotating.
 Pullout Torque 2000
The pullout torque is the maximum torque that can be
output at a given speed. 1500
When selecting a motor, be sure the required torque falls
1000
within this curve.
 Maximum Starting Frequency (ƒS) 500
This is the maximum pulse speed at which the motor can
instantaneously start or stop (without an acceleration or 0
1000 2000 3000 4000 5000 [107 kg·m2]
deceleration period) when the stepping motor’s frictional (0.0055) (0.011) (0.016) (0.022) (0.027) [oz-in2]
load and inertial load are 0. Driving the motor at a pulse Load Inertia JL
speed in excess of this rate will require a gradual Load Inertia vs. Starting Frequency Characteristics
acceleration or deceleration. This frequency will decrease
Changes in maximum starting frequency with the load inertia
when a load inertia is added to the motor.
(Refer to the inertial load vs. maximum starting-frequency may be approximated via the following formula:
characteristics to the right.) fs
f = [Hz]
Maximum Response Frequency (ƒR) JL
This is the maximum pulse speed at which the motor can 1

J0
be operated through gradual acceleration or deceleration
when the stepping motor’s frictional load and load inertia
are 0. ƒs: Maximum starting frequency (Hz) of motor
The figure below shows the speed vs. torque characteristics ƒ: Maximum starting frequency (Hz) where load inertia
of a 5-phase stepping motor and driver package. is present
Current: 1.4 A/Phase Jo: Moment of inertia of rotor [oz-in2 (kg·m2)]
1.2
Load Inertia: JL = 0 oz-in2 Step Angle: 0.72˚/step JL : Moment of inertia of load [oz-in2 (kg·m2)]
150 Single-Phase 100-115 VAC
1.0  Single-Phase 200-230 VAC
Pullout Torque

0.8
Torque [oz-in]
Torque [N·m]

100
0.6
Current [A]

8 0.4
50
Driver Input Current
4 0.2

fs 
0 0 0
1000 2000 3000 4000
Speed [r/min]
0 10 20 30 (Resolution 1)
Pulse Speed [kHz]

F-32
 Technical Reference

Vibration Characteristics  Static Characteristics
The stepping motor rotates through a series of stepping
Angle vs. Torque Characteristics
movements. A stepping movement may be described as a The angle vs. torque characteristics show the relationship
single-step response, as shown below: between the angular displacement of the rotor and the torque
externally applied to the motor shaft while the motor is
 A single pulse input to a stopped stepping motor energized at the rated current. The curve for this
accelerates the motor toward the next stop position. characteristic is shown below:

Fan Sizing AC Motors

 The accelerated motor rotates through the step angle,

Motor and Standard Speed Control Stepping

TH : Holding Torque
R : Rotor Tooth Pitch
overshoots a certain angle, and is pulled back in reverse.
 The motor settles to a stop at the set stop position TH e
following a damping oscillation. w r

Stable Point
Settling Time Unstable Point
Angle

Torque T
Forward Direction q t q
 R R R

Systems
Displacement Angle
4 2
2 3
s
y i

Motors Gearheads
Reverse Direction s: Step Angle  TH u
1 t : Rise Time

Angle vs. Torque Characteristics

t Time

Single Step Response

The illustrations below show the positional relationship
between the rotor teeth and stator teeth at the numbered

Motion
Linear
Vibration at low speeds is caused by a step-like movement points in the diagram above.
that produces this type of damped oscillation. The graph of When held stable at point  the external application of a
vibration characteristics below represents the magnitude of

Cooling
force to the motor shaft will produce torque T(
) in the

Fans
vibration of a motor in operation. The lower the vibration counterclockwise direction, trying to return the shaft to stable
level, the smoother the motor rotation will be. point . The shaft will stop when the external force equals
this torque at point . If additional external force is applied,
Power Input: 100 VAC there is an angle at which the torque produced will reach its
maximum at point . This torque is called the holding torque
Vibration component voltage Vp-p[V]

TH.
0.75
Application of external force in excess of this value will drive
the rotor to an unstable point  and beyond, producing
0.50 torque T() in the same direction as the external force, so
that it moves to the next stable point  and stops.
0.25 Stator q w e r

0
100 200 300 400
Speed [r/min] Rotor

Vibration Characteristics Stator t y u i

Rotor

: Attraction between stator and rotor

: Rotor movement

Stable points:
Points where the rotor stops, with the stator teeth and rotor
teeth are exactly aligned. These points are extremely
stable, and the rotor will always stop there if no external
force is applied.
Unstable points:
Points where the stator teeth and rotor teeth are half a
pitch out of alignment. A rotor at these points will move to
the next stable point to the left or right, even under the
slightest external force.

F-33
 Technical Reference

Angular Accuracy
Stepping Motor Packages
Under no-load conditions, a stepping motor has an angular Every 5-phase unit listed in our catalog consists of a New
accuracy within 3 arc minutes (0.05˚). The small error Pentagon, five-lead wire motor and a driver incorporating a
arises from the difference in mechanical precision of the special excitation sequence. This combination, which is
stator and rotor and a small variance in the DC resistance of proprietary to Oriental Motor, offers the following benefits:
the stator winding. Generally, the angular accuracy of the • Simple connections for five leads
stepping motor is expressed in terms of the static angle error, • Low vibration
as described below. The following sections describe the wiring and excitation
sequence.

Static Angle Error
The static angle error is the difference between the rotor’s
 New Pentagon, 4-Phase Excitation:
theoretical stopping position and its actual stopping position.
Full Step System (0.72°/step)
A given rotor stopping point is taken as the starting point,
This is a system unique to the 5-phase motor, in which four
then the static angle error is the difference between the
phases are excited. The stepping angle is 0.72° (0.36°). It
maximum (
) value and maximum () value in the set of
offers a great damping effect, and therefore stable operation.
measurements taken for each step of a full rotation.
Blue
Actual stopping position
0.745° 1.425° 2.17° 2.885° Black
    Red
0° 0.72° 1.44° 2.16° 2.88° 360°
Theoretical stopping position : Theoretical stopping position
 : Actual stopping position Green
Orange
VCC
The static angle error is within 3 arc minutes (0.05˚), but
only under no-load conditions. In actual applications there is
always same amount of frictional load. The angular accuracy
in such cases is produced by the angular displacement Basic circuitry of a New Pentagon connection
caused by the angle vs. torque characteristics based upon
the frictional load. If the frictional load is constant, the angle
0 1 2 3 4 5 6 7 8 9 10
of displacement will be constant for rotation in one direction. Pulse input


However, when operating in both forward and reverse, double Phase A 0

the displacement angle is produced over a round trip. When

Phase B 0
high stopping accuracy is required, always position from one 


direction only. Phase C 0




0.03
Phase D 0




0.02 Phase E 0

Static-Angle Error New Pentagon, 4-phase excitation sequence

Angle Difference

0.01 0.04

0
0.72° 1.44° 2.16° 2.88° 360°  New Pentagon, 4-5-Phase Excitation:
0.01 Half-Step (0.36°/step)
0.02
A step sequence of alternating the four-phase and five-phase
excitation produces rotation at 0.36˚ per step. One revolution
0.03
may be divided into 1,000 steps.
0 1 2 3 4 5 6 7 8 9 10 11 12 1314 15 16 17 1819 0
Pulse input


Phase A 0



Phase B 0



Phase C 0



Phase D 0



Phase E 0

New Pentagon, 4-5-phase excitation sequence

F-34
 Technical Reference

Stepping Motor Drivers  Differences Between AC Input and DC Input
There are two common ways of driving a stepping motor: Characteristics
constant current drive and constant voltage drive. The A stepping motor is driven by a DC voltage applied through a
circuitry for the constant voltage drive is simpler, but it’s driver. In Oriental Motor’s 24 VDC input drivers, 24 VDC is
relatively more difficult to achieve torque performance at high applied to the motor. In the 115 VAC and 220 VAC drivers the
speeds. The constant current drive, on the other hand, is input is rectified to DC and then approximately 162 VDC is
now the most commonly used drive method, since it offers applied to the motor. (Certain products are exceptions to

Fan Sizing AC Motors

Motor and Standard Speed Control Stepping
excellent torque performance at high speeds. All Oriental this.)
Motor stepping motor and driver packages use the constant This difference in voltages applied to the motors appears as
current drive system. a difference in torque characteristics at high speeds. This is
due to the fact that the higher the applied voltage is, the
 An Introduction to Constant Current Drivers faster the current rise through the motor windings will be,
The stepping motor rotates through the sequential switching facilitating the application of rated current at higher speeds.

Systems
of current flowing through the windings. When the speed Thus, the AC input unit has superior torque characteristics
increases, the switching rate also becomes faster and the over a wide speed range, from low to high speeds, offering a
current rise falls behind, resulting in lost torque. large speed ratio. It is recommended that AC input units,

Motors Gearheads
The chopping of a DC voltage that is far higher than the which are compatible with a wider range of operating
motor’s rated voltage will ensure the rated current reaches conditions, be considered for your applications.
the motor, even at higher speeds. 12 1.2

VCC Tr2 10 1.0

Power input: 100-115 VAC

Motion
Linear
8 0.8

Torque [kgfcm]
Motor Winding

Torque [Nm]
T r1 6 0.6
Voltage Comparator

Cooling
Pulse-Width

Fans
Control Circuit Current Detecting
4 0.4 Power input: 24 VDC
Reference Voltage Resistor
2 0.2

Basic Circuitry for Constant Current Chopper Driver 0 0

1000 2000 3000 4000
Speed [r/min]
0 10 20 30 Full step
The current flowing to the motor windings, detected as a Pulse speed [kHz]
voltage through a current detecting resistor, is compared to
Comparison of the characteristics of AC input and DC input
the reference voltage. Current control is accomplished by
holding the switching transistor Tr 2 ON when the voltage
across the detecting resistor is lower than the reference  Microstep Drive Technology
voltage (when it hasn’t reached the rated current), or turning Microstep drive technology is used to divide the basic step
Tr 2 OFF when the value is higher than the reference voltage angle (0.72°) of the 5-phase stepping motor into smaller
(when it exceeds the rated current), thereby providing a steps (up to a maximum of 1/250th) without the use of a
constant flow of rated current. speed reduction mechanism.

Microstep Drive Technology

Voltage

The stepping motor moves and stops in increments of the

step angle determined by the rotor and stator’s salient pole
t0 t1 Time
structure, easily achieving a high degree of precision in
Current

positioning. The stepping motor, on the other hand, causes

the rotor speed to vary because the motor rotates in step
angle increments, resulting in resonance or greater vibration
at a given speed.
t0 t1 Time
Microstepping is a technology that achieves low resonance,
Voltage-current relationship in constant current chopper drive low noise operation at extremely low speeds by controlling
the flow of electric current fed to the motor coil and thereby
dividing the motor’s basic step angle into smaller steps.
● The motor’s basic step (0.72°/full step) can be divided into
smaller steps ranging from 1/1 to 1/250. Microstepping
thus ensures smooth operation.
● With the technology for smoothly varying the motor drive
current, motor vibration can be minimized for low noise
operation.

F-35
 Technical Reference

Up to 250 Microsteps
Relationship Between Cable Length
Thanks to the microstep driver, different step angles (16 step and Transmission Frequency
resolutions up to 1/250) can be set to two step angle A longer pulse line cable equates to a lower maximum
switches. By controlling the input signal for step angle frequency of transmission. Specifically, the resistive
switching via an external source, it is possible to switch the component and stray capacitance of the cable cause the
step angle between the levels set for the respective switches. formation of a CR circuit, thereby delaying the pulse rise and
The step angle can be switched at any given position, and fall times.
switching will not cause the stop position to become Stray capacitance of the cable occurs between electrical
misaligned. wires and ground planes. However, it is difficult to provide
distinct numerical data, because conditions vary according to
Features of Microstep Driving the cable type, layout, routing and other factors.
 Low Vibration Controller Output Driver Interior
Microstep technology electronically divides the step angle
into smaller steps, ensuring smooth incremental motion at Cable
low speeds and significantly reducing vibration. While a
Open-Collector V
damper or similar device is generally used to reduce Output
vibration, the low vibration design employed for the motor
itself––along with the microstep technology––minimizes
vibration more effectively. Anti-vibration measures can be
Image Diagram of Stray Capacitance in Cable
dramatically simplified, so it’s ideal for most vibration Voltage
sensitive applications and equipment. [V]

Power Input: 24 VDC Load Inertia: JL = 0 kg·m2

Vibration Component Voltage Vp-p [V]

Resolution 10 (0.072°/step) Time [sec.]

Resolution 1 (0.72°/step) Image of Pulse Waveform
0.5
The following table shows the transmission frequencies
(actual measurements provided for reference purposes) of
the cables when used with Oriental Motor products.
0.25

Maximum transmission frequencies (reference data)

Maximum
0 Driver Controller Cable transmission
100 200 300 400
frequency
Rotation Speed [r/min]
Vibration Characteristics CC01EMP5 (1 m) 170 kHz
RK Series
CC02EMP5 (2 m) 140 kHz
EMP400 Series
 Low Noise CC01EMP4 (1 m) 150 kHz
AS Series
Microstep technology effectively reduces the vibration related CC02EMP4 (2 m) 120 kHz

noise level at low speeds, achieving low noise performance.

The motor demonstrates outstanding performance in even
the most noise sensitive environment.

 Improved Controllability
● The New Pentagon microstep driver, with its superior
damping performance, minimizes overshoot and
undershoot in response to step changes, accurately
following the pulse pattern and ensuring improved linearity.
● Shock normally resulting from the motions of starting and
stopping can be lessened.
1/5
1.44°
Rotation Angle

1/1
1/50
0.72°

0 200 400
Rotation Time [ms]
Step-response Variation

F-36
 Technical Reference

Glossary  Angular Transmission Error
 1-Step Response Angular transmission error is the difference between the
The stepping motor rotates through a series of stepping theoretical angle of rotation of the output shaft, as calculated
movements. 1-step response refers to the step-like from the input pulse count, and the actual angle of rotation. It
movement (the movement of one step and stop). is generally observed when a speed reduction mechanism is
provided. Angular transmission error is used to represent the
 CW, CCW accuracy of a speed reduction mechanism. Oriental Motor’s

Fan Sizing AC Motors

Motor and Standard Speed Control Stepping
The direction of motor rotation is expressed as CW Planetary (PN) gear is designed to minimize the angular
(clockwise) or CCW (counterclockwise). These directions are transmission error to a maximum of only six arc-minutes, and
as seen from the output shaft. may be effectively used in high-precision positioning and
indexing applications.

 Inertial Load (Moment of Load Inertia)

Systems
This is the degree of force possessed by a physical object to
maintain its current level of kinetic energy. Every physical
object has an inherent inertial load. Greater torque is
Clockwise

Motors Gearheads
CW required to accelerate and decelerate an object having a
larger inertial load. The degree of such torque is proportional
to the degree of inertial load and the acceleration rate that is
Counterclockwise
CCW
obtained from the operating speed and acceleration time.

 Automatic Current Cutback Function

Motion
Linear
 T.I.R. This is a function used for the automatic reduction of motor
Total Indicator Reading: Refers to the total dial gauge current by approximately 50 percent (approximately 40
reading when the measurement section is rotated one percent in the CSK and UMK Series 2-phase motors) when

Cooling
Fans
revolution centered on the reference axis center. the pulse signal is not input. This minimizes the heating of
the motor and driver.
 Overhung Load This function automatically reduces the motor current at
The load on the motor shaft in the vertical direction. The motor standstill, and does so within approximately 0.1
value varies with the model. second after the pulse signal stops.

 Regeneration Holding torque [oz-in (N·m)] 

This is the condition in which the motor is being rotated by an Maximum static torque Current at motor
external force, or the generation of electric power through at excitation [oz-in (N·m)]  standstill [A]
such rotation. Rated motor current [A]

 Angle Accuracy
The difference between the actual rotation angle and the  Resonance
theoretical rotation angle. Although there are several This refers to the phenomenon in which vibration becomes
expressions according to how the criteria are set, generally, larger at specific speeds. For 2-phase stepping motors, the
the angular accuracy of the stepping motor is expressed in area between 100-200 Hz is a resonance area; 5-phase
terms of the static angle error. stepping motors have lower levels of resonance in their
resonance area.

 Vibration Component Voltage

Vibration component voltage is the level of deviation from the
reference rotation speed.

 Vibration Characteristics
A graph with the horizontal axis expressing the speed and
the vertical axis expressing the vibration component voltage.

 Thrust Load
The thrust load is the load in the direction of the motor axis.
The value varies with the model.

F-37
 Technical Reference
 Static Angle Error  Pulse Input Mode
This refers to the difference between the rotor’s theoretical The pulse mode used when the CW/CCW rotation direction
stopping position and its actual stopping position. A given is controlled by the pulse command. The pulse input
rotor stopping point is taken as the starting point, then the configuration may be 1-pulse (1P) input mode or 2-pulse (2P)
static angle error is the difference between the maximum (
) input mode. The 1-pulse input mode uses the pulse signal
value and maximum () value in the set of measurements and rotational direction signal, while the 2-pulse input mode
taken for each step of a full rotation. The static angle error is uses the CW pulse input for the CW direction and the CCW
within 3 arc minutes (0.05°), but only under no-load pulse input for the CCW direction.
conditions. The small error arises from the difference in
mechanical precision of the stator and rotor and a small  Photocoupler “ON” “OFF”
variance in the resistance of the stator winding. However, in Photocouplers are electronic components that relay electrical
actual applications there is always frictional load. signals as light. They are electronically insulated on the input
The angular accuracy in such cases is produced by the and output sides, so noise has little effect on them.
angular displacement caused by the angle vs. torque Input (Output) “ON” means that the photocoupler inside the
characteristics based upon the frictional load. driver is energized, and Input (Output) “OFF” means that the
photocoupler inside the driver is not energized.
 Loss of Synchronism
Photocoupler state OFF ON
Stepping motors are synchronized by pulses. They can lose
their synchronization when speed changes rapidly or an
overload occurs. Loss of synchronism is the term for losing
 Microstepping
synchronization with the input pulse.
Microstepping is a technology used to achieve greater
The correctly selected and normally operated motor doesn’t
resolution by controlling the flow of current to the motor’s coil
suffer a sudden loss of synchronism.
and dividing the step angle into smaller steps. Extremely
small steps help eliminate vibrations caused by the stepping
 Twisted Pair Wires
drive, thus achieving low vibration, low noise operation.
Twisted pair wires entwine two wires as shown in the figure
below. They are used to reduce noise in signal wires.
 Excitation Home Position
Because the wires face in opposite directions from each
Condition in which the excitation sequence is in its initial
other and carry the same current, noise from the ambient
condition. In the 5-phase stepping motor, the sequence
surroundings is cancelled out and noise effects reduced.
returns to the initial condition at 7.2° intervals.

 Excitation Sequence

5V

The stepping motor rotates by sending current to the motor
Pulse coils according to a preset combination and order. The
Input
 excitation sequence is the order in which current is sent to
Twisted Pair Wire Photocoupler
the motor coils. It varies with the type of motor and excitation
system.

 Excitation Timing Output

 Electromagnetic Brake This is a signal that indicates that the excitation sequence is
The mechanical brake that is used to hold the motor in place. initialized, which is a function of the driver. It is output every
Oriental Motor uses a non-excitation type of electromagnetic 7.2°. For 5-phase stepping motors, it is output every 10
brake that automatically holds the motor in place in the event pulses (for full step) or 20 pulses (for half step).
of a power failure or other interruption.

 Backlash
The play in the gear output shaft when the motor shaft is
fixed. It affects positioning precision when positioning occurs
from both directions. The term originally referred to
looseness between gear teeth.

F-38
 Technical Reference
Gearheads

Role of the Gearhead
Gearheads for AC Motors

The role of a gearhead is closely related to motor Standard AC motors have a long history, as do the
development. Originally, when the AC motor was a simple gearheads used with these motors. During the course of that

Fan Sizing AC Motors

Motor and Standard Speed Control Stepping
rotating device, the gearhead was mainly used to change the history, AC motors and gearheads have found a wide
motor speed and as a torque amplifier. With the introduction spectrum of applications and user needs including low noise
of motors incorporating speed control functions, the primary level, high power, long life, wide range of gear ratios and
role of the gearhead was to amplify torque. But with the wide resistance to environmental conditions. Oriental Motor has
acceptance of stepping motors and brushless DC motors to therefore been developing products in order to accommodate
meet the requirements for control of speed and position, various needs.
gearheads found new purposes, including the amplification of

Systems
torque, improvement in permissible inertia and reduction of  Parallel Shaft Gearheads
motor vibration. Parallel shaft gearheads are the most commonly used gear

Motors Gearheads
systems today. Our parallel shaft gearheads employ spur
Furthermore, the accurate positioning capability of motors gears and helical gears. Helical gears are used for low-noise,
has created a demand for high-precision, backlash-free high-strength performance.
gearheads, unlike the conventional gearheads for AC motors. ● Spur Gear ● Helical Gear
The spur gear is a cylindrical gear on The helical gear is a cylindrical gear
Oriental Motor, keeping up with these trends, has been
which the teeth are cut parallel to the having teeth cut in a helical curve. Its
developing specific gearheads having optimal characteristics shaft. high rate of contact, as compared to the

Motion
Linear
needed to preserve the characteristics of the motor with spur gear, has the advantages of low
noise and higher strength, but its axial
which it is used. Gearheads for AC motors, are designed with thrust calls for careful consideration in
emphasis on high permissible torque, long life, low noise and design.

Cooling
Fans
a wide range of gear ratios. By contrast, gearheads for
stepping motors are designed for highly accurate positioning,
where a high degree of precision, high permissible torque
and high speed operation are important. The following
sections describe these gearheads in detail.

In both types of gearheads, the helical configuration is

employed for the motor pinion and its mating gear. This
contributes significantly to noise because of their high
contact speeds, thereby achieving lower noise output.

The high-strength GV gearhead achieves total noise

reduction by increasing the rigidity of the gear case while
limiting the effect of alignment error at each shaft. The GV
gearhead motors, with their hardened gears and larger
bearings, also generate high torque, being equivalent to two
to three times the level produced by the general purpose GN
and GU Series motors. Moreover, the rated service life of the
GV Series is twice that of its counterparts, meaning the GV
gearhead will survive 20,000 hours of operation if used under
the same torque commonly expected of conventional models
(GN/GU Series). Indeed, the GV Series provides a great
way to extend maintenance intervals and save energy and
resources.

F-39
 Technical Reference
 Right-Angle Gearheads
Bearing Retainer Plate 2 Bearing Retainer Plate 1 (solid and hollow shafts)
GN Gearhead The right-angle gearhead is designed to facilitate the efficient
use of limited mounting space and the elimination of
couplings and other power-transmission components (in the
case of the hollow-shaft type). RA and RH right-angle shaft-
Gear Shaft
type gearheads have worm gears, screw gears or hypoid
gears.
Gear Case Both right-angle gearheads incorporate right-angle gearing
at the final stage, leaving the input end identical to that of the
parallel shaft types. This facilitates the conversion from the
Motor Pinion parallel shaft to a right angle shaft gearhead without
Spacer changing the motor.

Bearing
Retainer Plate
GU Gearhead

Hollow Shaft Solid Shaft

Gear Shaft
Worm Gears
Molded
The worm gear transmits power from a single or multiple
Gear Case threaded worm to a mating worm wheel. The worm gear's
Motor Pinion application has been limited due to its relatively low efficiency
and difficulty of manufacturing. Oriental Motor has
successfully incorporated the worm gear based on its right-
angle property and capacity for large gear ratios, and has
inproved its efficiency over conventional types by increasing
the lead.
GV Gearhead Gear Flange ● Worm Gears
The worm gear transmits power from a single or
multiple threaded worm to a mating worm wheel.
Worm Gear

Worm Wheel
Gear Shaft

Molded Gear Case

Motor Pinion

Screw Gears
A single screw gear appears to be another regular helical
gear. While the mating helical gears in the parallel shaft
configuration have equal helix angles and contact with the
helixes running in opposite directions, the screw gears are
For use with general AC motors, many of which are fixed designed to contact their shafts crossing at right angles. Due
speed motors, the availability of various gear ratios suits a to their point-to-point contact configuration, they’re mainly
wide range of desired speeds. We support these motors with used under relatively small loads, such as at low gear ratios
as many as 20 different gear ratios, ranging from 3:1 to with our right-angle gearheads.
180:1. ● Screw Gears
These are helical gears used on offset shafts (neither
perpendicular nor parallel to each other)

F-40
 Technical Reference

Stepping Motor Gears
Since the stepping motor and other control motors are
designed to allow accurate positioning, the gearheads used
for these motors must provide the same level of accuracy.
Accordingly, Oriental Motor has developed a mechanism to
minimize backlash in gears used with stepping motors in
order to ensure low backlash properties. The basic principles

Fan Sizing AC Motors

Motor and Standard Speed Control Stepping
and structures of typical control motor gears are explained
below.
Structure of the Screw Gear
 Taper Hobbed (TH) Gears

Hypoid Gears
Principle and Structure
Generally, the differential gears for automotive use have Tapered hobbed gears are used for the final stage of the spur
been hypoid gears. Being something of a midpoint between

Systems
gear’s speed reduction mechanism and the meshing gear.
the zero-offset bevel gear and maximum-offset worm gear, The tapered gear is produced through a continuous profile
the hypoid gear achieves a combination of high strength and shifting toward the shaft. The tapered gears used at the final

Motors Gearheads
efficiency. The offset placement of the pinion gear allows the stage are adjusted in the direction of the arrows, as shown in
suppression of vibration and helps obtain higher gear ratios, the figure below to reduce backlash.
as compared to the bevel gear. The hypoid gears in Oriental
Motor gearheads are incorporated at the final stage,
facilitating the disassembly of the gears from the motor.
✽ Offset: In hypoid gears the two shafts do not cross but are in displaced planes,

Motion
Linear
separated from each other at a right angle. The displacement is called the offset.

BH Series, hypoid gear

Cooling
Fans
Tapered Gear

Tapered Gear

Output Shaft

● Hypoid Gears Bearing

Bearing
These are conical gears with curved
teeth for transmitting power between
two offset shafts.

Tapered Gear

Structure of TH gear’s final stage

Structure of the Hypoid Gear

F-41
 Technical Reference
 Planetary (PN) Gears The upper gear eliminates backlash The lower gear eliminates backlash
in the clockwise direction. in the counterclockwise direction.

Principle and Structure The upper internal The lower internal
gear transmits torque in the gear transmits torque in the
The planetary gear mechanism is comprised mainly of a sun clockwise direction. counterclockwise direction.

gear, planetary gears and an internal tooth gear. The sun Upper planetary
gear Lower planetary gear
gear is installed on the central axis (in a single stage type,
this is the motor shaft) surrounded by planetary gears
enclosed in an internal tooth gear centered on the central
axis. The revolution of planetary gears is translated into Lower Planetary Gear
rotation of the output shaft via carriers. Upper Planetary Gear
Sun Gear
Internal Gear

Sun Gear
Carrier
Planetary Gear Lower Internal Gear

Upper Internal Gear

Cross Section of a PN Gear

Sun Gear: A gear located in the center, functioning as an

input shaft. Sun gear Sun gear Sun gear
Planetary Gears: Several external gears revolving around the sun
gear. Each planetary gear is attached to the carrier,
onto which the gear’s output shaft is securely fixed. Upper planetary gear
Internal Gear: A cylindrical gear affixed to the gearbox, having Upper planetary gear Lower planetary gear Lower planetary gear
teeth on its inside diameter.
Relationship between upper
and lower planetary gears
The PN gear achieves the specified backlash of two arc
minutes through the improved accuracy of its components
High Permissible Torque
and the backlash elimination mechanism. That mechanism is In conventional spur-gear speed reduction mechanisms,
comprised of two sets of internal and planetary gears on the gears mesh one to one, so the amount of torque is limited by
upper and lower levels with the internal gear teeth twisted in the strength of each single gear. On the other hand, in the
the circumferential direction. The upper level internal gears planetary gear speed reduction mechanism, a greater
and planetary gears reduce clockwise backlash; the lower amount of torque can be transmitted, since torque is
level internal gears and planetary gear reduce distributed through dispersion via several planetary gears.
counterclockwise backlash. The torque applied to each gear in the planetary gear speed
reduction mechanism is obtained through the following
formula:
T=k n TÕ T: Torque applied to each planetary gear (N·m)

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.

F-42
 Technical Reference

Torsional Rigidity Circular Spline
When a load is applied to the PN gear’s output shaft, The circular spline is a rigid internal gear with teeth formed
displacement (torsion) is proportional to the spring constant. along its inner circumference. These teeth are the same size
The graph below shows data for torsion angles measured by as those of the flex spline, but the circular spline has two
gradually increasing and decreasing the load on the output more teeth than the flex spline. The circular spline is
shaft in the forward and backward directions. attached to the gearbox along its outer circumference.

Torsional rigidity of PN geared types 0˚

Fan Sizing AC Motors

Motor and Standard Speed Control Stepping
1.8
Circular Spline The flex spline is bent into an oval shape
Torsional torque (N·m)
1.5
1.2 by the wave generator. The teeth at the
0.9
Wave Generator long axis of the oval mesh with the
0.6 circular spline, while the teeth at the
0.3 Flex spline short axis of the oval are completely
0 separate from it.
-18 -15 -12 -9 -6 -3 -0.3 0 3 6 9 12 15 18
-0.6 Torsion angle (min)
-0.9

Systems
-1.2 90˚
-1.5
-1.8
Rotating the wave generator (input) clockwise while
AS66AA-N5 keeping the circular spline fixed in position will

Motors Gearheads
subject the flex spline to elastic deformation,
causing a gradual shift in the point of engagement
between the circular spline and flex spline.

 Harmonic (HG) Gears

Principle and Structure 360˚

The harmonic gear offers unparalleled precision in When the wave generator completes one revolution,

Motion
Linear
the flex spline has rotated two fewer teeth than the
positioning and features a simple construction utilizing the circular spline has, resulting in the movement of flex
metal’s elastomechanical property. It is comprised of three spline for the difference in the tooth count (two teeth)
in the opposite direction of the wave generator’s
basic components: a wave generator, flex spline and circular rotation (i.e., counterclockwise). This movement

Cooling
Fans
spline. translates into output, thereby reducing the speed.

Wave Generator

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
Circular Spline
two arc minutes or less. When using a harmonic gear for
Flex Spline
ultra-high precision positioning, remember the following three
points.

Wave Generator
Lost Motion
The wave generator is an oval-shaped component with a thin
Lost motion is the total value of the displacement produced
ball bearing placed around the outer circumference of the
when about five percent of permissible torque is applied to
oval cam. The bearing’s inner ring is attached to the oval
the gear’s output shaft. Since harmonic gears have no
cam, while the outer ring is subjected to elastic deformation
backlash, the measure indicating the gear’s precision is
via the balls. The wave generator is mounted onto the motor
represented as lost motion.
shaft.
Torsion Angle (minute)
Flex Spline
The flex spline is a thin, cup-shaped component made of
Lost Motion
elastic metal, with teeth formed along the outer
circumference of the cup’s opening. The gear’s output shaft
Load Torque
is attached to the bottom of the flex spline.

Torque

F-43
 Technical Reference
Hysteresis Loss

Torque
When torsion torque is gradually applied to the gear output
shaft until it reaches the permissible torque in the clockwise
or counterclockwise direction, the angle of torsion will T K3

become smaller as the torque is reduced. However, the

angle of torsion never reaches zero, even when fully returned
T2
to its initial level. This is referred to as “hysteresis loss,” as K2
shown by B-B’ in the figure.

Harmonic gears are designed to have a hysteresis loss of

less than two minutes. When positioning from the clockwise
or counterclockwise direction, this hysteresis loss occurs T1
K1
even with a frictional coefficient of 0. When positioning to two
minutes or less, positioning must be done from a single
direction.

1
2 Torsion Angle

Torque

A Torsion Angle and Torque Characteristics

Permissible Torque

Torsion angles obtained by these equations are for individual

harmonic gears.

Values for Determining Torsion Angle

B' T1 K1 T2 K2 K3
Item Gear lb-in lb-in/min

1 lb-in lb-in/min
2 lb-in/min
B Torsion Angle ratio min min.
Model (N·m) (N·m/min.) (N·m) N·m/min. N·m/min.
0 13.2 20
ASC34-H50 50 — — — — —
(1.5) (2.3)
Hysteresis Loss
17.7 23
ASC34-H100 100 — — — — —
(2) (2.6)

AS46-H50
Permissible Torque 7 5.6 17.7 7.6 8.2
A' ASC46-H50 50 1.25 2.6
(0.8) (0.64) (2) (0.87) (0.93)
RK543-H50
Torsion Angle and Torque Characteristics AS46-H100
7 6.9 17.7 8.7 11.3
ASC46-H100 100 1.02 2.2
(0.8) (0.79) (2) (0.99) (1.28)
RK543-H100
AS66-H50
Torque and Torsion Characteristics ASC66-H50 50
17.7 8.7
2
61 12.1
5.6
14.6
(2) (0.99) (6.9) (1.37) (1.66)
Displacement (torsion) is produced by the gear’s spring RK564-H50
AS66-H100
constant when a load is applied to the output shaft of the ASC66-H100 100
17.7 12.1
1.46
61 15.6
4.2
18.5
(2) (1.37) (6.9) (1.77) (2.1)
harmonic gear. The amount of this displacement, which is RK564-H100

caused when the gear is driven under a frictional load, is the AS98-H50 61 33 220 46 59
50 1.85 5.3
RK596-H50 (7) (3.8) (25) (5.2) (6.7)
same as the value when the motor shaft is held fixed and
AS98-H100 61 41 220 64 74
torsion (torque) is applied to the gear’s output shaft. The RK596-H100
100
(7) (4.7)
1.5
(25) (7.3)
4
(8.4)
amount of displacement (torsion angle) can be estimated
through use of an equation, as shown below.

Calculation method
The harmonic gear’s torsion angle/torque characteristic
curve is not linear, and the characteristics can be expressed
in one of the following three equations depending on the load
torque:
1. Load torque TL is T1 or less.
TL

 [min.]
K1
2. Load torque TL is greater than T1 but not larger than T2.


1 TLT1 [min.]
K2
3. Load torque TL is greater than T2.


2 TLT2 [min.]
K3

F-44
 Technical Reference

Useful Life of a Gearhead K2: Load factor
The useful life of a gearhead is reached when power can no The load factor (K2) is calculated based on actual
longer be transmitted because the bearing’s mechanical life operating torque and the allowable torque for each
has ended. Therefore, the actual life of a gearhead varies gear. The average torque may be considered
depending on the load size, how the load is applied, and the operating torque if the gear is subjected to load
allowable speed of rotation. Oriental Motor defines service while starting and stopping only, as when driving
life under certain conditions as “rated lifetime,” based on an inertial body. The calculation of average torque

Fan Sizing AC Motors

Motor and Standard Speed Control Stepping
which the useful life under actual operation is calculated is explained later in this section.
according to load conditions and other factors. K2 Operating torque
Permissible torque

 Rated Lifetime Permissible torque is per the specified values

Oriental Motor defines the rated lifetime as the useful life of a listed in the product catalog and operating
gearhead under the following operating conditions: manual.

Systems
Torque: Permissible torque f : Load-type factor
Load: Uniform continuous load The factor ( f ) may be determined based on load

Motors Gearheads
Input rotational speed: Reference input rotational speed type, using the following examples as a reference:
Rotational speed at the rated lifetime
Load Type Example Factor (f)
of each gear type
• One-way continuous operation
Overhung load: Permissible overhung load Uniform Load • For driving belt conveyors and film rollers that are 1.0
Thrust load: Permissible thrust load subject to minimal load fluctuation.
• Frequent starting and stopping
Light Impact • Cam drive and inertial body positioning via 1.5

Motion
Linear
Table 1: Rated Lifetime per Gear Type stepping motor
• Frequent instantaneous bidirectional operation,
Reference-Input Rated starting and stopping of reversible motors
Series/Motor Type Gear Type Medium Impact 2.0
• Frequent instantaneous starting and stopping of

Cooling
Rotational Speed Lifetime (L1)

Fans
PN geared type 3000 r/min brushless motors
TH geared type
1500 r/min
HG geared type
Notes regarding the effects of overhung load and thrust load
PN geared type 3000 r/min
RK Series TH geared type 5000 hrs.
● The above estimated lifetime is calculated according to the overhung and thrust
HG geared type loads, which are in proportion to a given load factor. For example, if the load
5-phase CSK Series TH geared type 1500 r/min factor is 50%, the lifetime is calculated using 50% overhung and thrust loads.
2-phase CSK Series SH geared type ● The actual life of a gearhead having a low load factor and a large overhung or
2-phase PK Series SH geared type thrust load will be shorter than the value determined through the above
MG geared type 5000 hrs. equation.
PMC Series 3000 r/min
HG geared type 2500 hrs.
GN, GU gear type
1500 r/min
AC Motor
BH (Pararell Shaft) combination type
GFB, GFH, 6GH combination type
5000 hrs.  How to Obtain the Average Torque
3000 r/min
Brushless DC Motor
GV, GVH, GVR combination type The stepping motor is used for intermittent operation of an
1500 r/min 10000 hrs.
BH (right angle) combination type
inertial body, such as driving an index table and arm. If the
stepping motor is used in such an application, the average
torque shall be considered the operating torque, as
 Estimating Lifetime
described below. The load factor for driving an inertial body
Lifetime under actual conditions of use is calculated based
using an AC or DC brushless motor shall be 1.0.
on the permissible rotational speed, load size and load type,
Torque
using the following formula: Acceleration/
P1 , P 3

L (lifetime) L1 K1 [h]

Deceleration Torque

(K2)3  f
Pa Average Torque
Disregard the
torque at constant
L1 : Rated lifetime [hrs.] speed
See Table 1 above to find the applicable rated t Time
Speed
lifetime for the gear.
n2
K1 : Rotational speed coefficient
The rotational speed coefficient (K1) is calculated n1 , n 3

based on the reference input rotational speed

listed in Table 1 above and the actual input Time
t1 t2 t3
rotational speed.
Reference input rotational speed
K 1 3 (P13n1t1)  (P33n3t3)
Actual input rotation speed Pa
(n1t1)  (n2t2)  (n3t3)

n1, n3 shows average speed in the t1, t3 periods.

In the above chart, n1n31/2 n2

F-45
 Technical Reference

Driving an Inertial Load Directly
Advantages of Geared Stepping Motors
The previous graph shows torque generated in order to drive Geared stepping motors are designed mainly for speed
an inertial body over a long operating cycle. Friction load reduction, higher torque and high resolution, as well as the
caused by bearings and other parts during constant-speed following purposes:
operation are negligible.
● Downsizing (smaller frame size and lower weight)

Driving an Inertial Load using an Arm or Similar ● High rigidity (motor less prone to the effects of fluctuation in friction load)
Object ● Shorter positioning time for improved safety against inertial loads
When driving an arm or similar object, the gearhead may be ● Low vibration
subjected to load fluctuation as shown in the graph.
For example, such load fluctuation will occur when driving a To further explain these four purposes using examples,
double-joint arm or moving an arm in the vertical direction. comparisons will be made below between a motor (no
In such an application, the average torque shall be 75 gearhead) and a geared motor, both of which have similar
percent of the maximum acceleration/deceleration torque, as output torque and allowable torque. If no problem exists in
shown in the equation below. terms of rotational speed, the motor may be replaced by the
Torque geared motor.
Pmax Acceleration/
Deceleration Torque
Average Torque Pa  Downsizing
(75% of Pmax)
A motor may be switched to a smaller geared motor as long as
both motors operate at equivalent torque. For example, a motor
with a frame size of 3.35 in. (85 mm) can be replaced by
PaPmax0.75
t Time the geared motor with a frame size of 2.36 in. (60 mm),
thereby reducing the weight from 4.0 lb. (1.8 kg) to 3.3 lb. (1.5
 Operating Temperature kg) (comparison between AS98AA and AS66AA-N5).
An increase in gearhead temperature affects the lubrication
Product Name Motor Geared Motor
of the bearing. However, since the effect of temperature on Item AS98AA AS66AA-T7.2 AS66AA-N5
gearhead life varies according to the condition of the load Frame Size in. (mm) 3.35 (85) 2.36 (60) 2.36 (60)
applied to the gearhead bearings, model number and many Gear Ratio / 7.2 : 1 5:1
Maximum Holding Torque
other factors, it is difficult to include the temperature effect in 17.7 (2) 22 (2.5) 30 (3.5)
Permissible Torque lb-in (N·m)
the equation to estimate the lifetime, which was described Backlash arc min / 15 2
earlier. Output Shaft’s Rotation Speed r/min 04000 0250 0600
The graph below shows the temperature effect on the
AS98AA Dimensions Unitinch (mm)
gearhead bearings. The gearhead life is affected when the
)
)
(140.018
(600.030
0

gearbox’s surface temperature is 131°F (55˚C) or above.

0.256 (6.5) 4 Holes
0.55120.0007
2.36220.0012

Gearhead Temperature Factor 1.460.04

(371) 3.35 (85)
0

1
3.15 (80) 0.08 (2) 2.7560.014
(700.35)
Temperature Factor

0.8
0.9840.010
(250.25)
0.6 2.7560.014
(700.35)
0.4

0.2
0.49 (12.5)

0.60 (15.2) 555710R (MOLEX)

0 1.22
20 30 40 50 60 70 80 90 100 110 (°C) (31)
(68) (86) (104) (122) (140) (158) (176) (194) (212) (°F)

Gearhead Temperature Cable 0.28 (7) 16 inch (400 mm) Length

Notes:
AS66AA-N5 Dimensions Unitinch (mm)
)
)
(120.018
(370.025

In some cases, a lifetime of several tens of thousands of hours may be obtained

0

from the calculation. Use the estimated life as a reference only. The above life
estimation is based on the bearing life. An application in excess of the specified
2.36 (60)
0.47240.0007
1.45670.0010

value may adversely affect parts other than the bearings. Use the product within 1.500.04
the range of specified values listed in the product catalog or operating manual.
0

4.24 (107.6) (381) M5P0.8, 0.39 (10)

0.24 (6) 0.98 Deep Min. 4 Places
(25)

.02
0
Cable 0.28 (7) 16 inch (400 mm) Length .76 0.5 )
 2 70
0.49 (12.5)

(
0.60 (15.2) 1.22
555710R(MOLEX) (31)

F-46
 Technical Reference
 High Rigidity (making the motor less prone Comparison of Static Angle Error (angle transfer error)
to the effects of fluctuation in friction load) between AS98AA and AS66AA-N5
With the motor’s power on, the output shaft is subjected to

Angle Transfer Error [min]

No Load
12
torsion applied externally to measure the amount of

Static Angle Error

10
8
displacement (torsion angle) for comparison of rigidity. At a 6
4
2
given torque, the smaller displacement (torsion angle) means 0
-2
-4
higher rigidity. For example, the AS66AA-T7.2 geared -6
-8
- 10
motor receives backlash effects at a light load of 0.88 lb-in

Fan Sizing AC Motors

Motor and Standard Speed Control Stepping
- 12
0 30 60 90 120 150 180 210 240 270 300 330 360
(0.1N·m) torsional torque, but becomes less prone to twisting Measured Angle of Output Shaft [ ˚ ]
than the AS98AA as the torsion increases. The AS66AA-
AS98AA AS66AA-N5
N5 motor receives little in the way of backlash effects at a
light load, and maintains high rigidity throughout the entire

Angle Transfer Error [min]

13.3 lb-in (1.5 N·m) Friction Load
torque range. 12

Static Angle Error

10
8
6

Systems
Comparison of Torsional Rigidity between Motor and Geared Motor 4
2
0
[current cutback disabled] -2
1.8 -4
-6
Torsional Torque (N·m)

-8
1.5 - 10

Motors Gearheads
- 12
1.2 0 30 60 90 120 150 180 210 240 270 300 330 360
0.9 Measured Angle of Output Shaft [ ˚ ]
0.6
0.3 AS98AA AS66AA-N5
0
-60 -50 -40 -30 -20 -10 0 10 20 30 40 50 60
-0.3
Torsion Angle (min)
-0.6
 Shorter Positioning Time for Improved Safety

Motion
Linear
-0.9
-1.2 Against Load Inertia
-1.5
To drive a large load inertia within a short period of time, the
-1.8

Cooling
use of a geared motor will achieve a shorter positioning time

Fans
AS98AA AS66AA-T7.2 AS66AA-N5
than a motor.

Positioning accuracy against the fluctuating friction load is an

Assume that the AS98AA motor is connected to inertia
important determinant of motor rigidity. Positioning accuracy
loads that are 5 and 30 times the motor’s rotor inertia,
can be measured by the static angle error (angle transfer
respectively, and that each of these inertia loads is
error for the geared motor). The static angle error (angle
connected to the AS66AA-N5 geared motor. The shortest
transfer error) refers to the difference between the theoretical
angle of rotation (this is the rotation angle calculated from the positioning time for each rotational speed is measured as
number of input pulses) and the actual output shaft’s rotation shown in the graphs below.
angle. The error closer to zero represents higher rigidity. JL 38 oz-in2 (7,000107 kg·m2)
The AS98AA motor and AS66AA-N5 geared motor are (Equivalent to 5 times the rotor inertia of AS98AA motor)
450
compared by measuring the static angle error (angle transfer
Positioning Time (msec.)

400
error) under no load and a friction load, at 0.36˚ intervals for 350
a single revolution. The results of comparison show that 300 Geared Motor
AS66AA-N5
motor’s static angle error significantly increases when the 250
200
load is applied while the geared motor’s angle transfer error 150
Motor Proper
barely changes, even when the load is applied. In other 100 AS98AA
words, the geared motor is more resistant to fluctuations in 50
friction load, thus achieving more stable positioning. This 0
0° 90° 180° 270° 360° 450° 540° 630° 720°
feature applies to any type of geared motor. Positioning Angle of Output Shaft ( ˚ )
Therefore, geared motors are more effective for positioning
operation for up/down motion and other applications in which JL  1230 oz-in2 (42,000107 kg·m2)
(Equivalent to 30 times the rotor inertia of AS98AA motor)
friction load fluctuates due to the changing quantity and
450
Positioning Time (msec.)

weight of the workpiece(s). 400

350
300 Motor
AS98AA
250
200 Geared Motor
150 AS66AA-N5
100
50
0
0˚ 90˚ 180˚ 270˚ 360˚ 450˚ 540˚ 630˚ 720˚
Positioning Angle of Output Shaft ( ˚ )

F-47
 Technical Reference
The geared motor is more effective in reducing the While the shortest positioning time of the motor changes
positioning time for a smaller positioning angle and a larger significantly with the increase in load inertia, that of the
load inertia. The geared motor tends to achieve shorter geared motor shows little change. In other words, the geared
positioning time in a wider range of positioning angles with a motor is capable of driving a larger load inertia within the
larger load inertia.
most consistent, shortest positioning time.
No matter how quickly a motor can perform positioning, the
The geared motor reduces positioning time for the following
failure to achieve stable operation against load inertia
reasons:
fluctuations may result in a problem. Therefore, it is also
• Load inertia to the motor shaft can be reduced through the
important to study how the operation waveform is shaped
use of gears, thereby ensuring quick acceleration and
according to fluctuations in load inertia.
deceleration startups.
Connect the same inertial body to both the motor and geared
JG (gear shaft inertia) motor, under the operating conditions that allow for the
JM (motor shaft inertia)  shortest positioning. Then switch the inertial body to a
I2 (gear ratio)
smaller load inertia without changing the operating
This formula indicates that a load inertia that is 30 conditions. The operation waveform for each of these cases
times the rotor inertia of the motor can be reduced is shown in the graphs below.
to nearly four times the motor shaft inertia when
connected to the geared motor with a ratio of 5:1. AS98AA (Motor) AS66AA-N5 (Geared Motor)

• Positioning for a small positioning angle is completed before 348 r/min

the motor reaches the high rpm range (triangle drive

(28,000107 kg·m2)
(reference setting)
instead of trapezoidal drive).

JL  153 oz-in2
Output Shaft Movement Output Shaft Movement

Load Inertia

Speed

Speed
100 ms 100 ms
Another advantage of the geared motor is its ability to 0 r/min 0 r/min
maintain a consistent positioning time regardless of changes END Signal END Signal

in load inertia. The graphs below show changes in the Time Time
shortest positioning time of the motor and geared motor
when each motor is subjected to variations in load inertia. 348 r/min
(21,000107 kg·m2)

Changes in Positioning Time due to Variations in Load Inertia Output Shaft Movement Output Shaft Movement
JL  115 oz-in2

(Motor Proper: AS98AA)

Load Inertia

Speed
Speed

600
100 ms 100 ms

JL  38 oz-in2 (7,000107 kg·m2) 0 r/min 0 r/min

500
JL  76 oz-in2 (14,000107 kg·m2) END Signal END Signal
Positioning Time (msec.)

JL  153 oz-in2 (28,000107 kg·m2)

Time Time
400 JL  230 oz-in2 (42,000107 kg·m2)

300
Even under the operating conditions that are optimized to
200 reduce damping with a given load inertia, the damping
characteristics of the motor will deteriorate with fluctuations
100
in load inertia. For the motor it is therefore necessary to reset
the operating conditions for optimal performance each time
0
0 90 180 270 360 450 540 630 720 810 900 990 1080 the load inertia fluctuates. On the other hand, the geared
Positioning Angle of Output Shaft ( ˚ ) motor’s damping characteristics change little with fluctuations
in load inertia, thereby ensuring steady operation.

Changes in Positioning Time due to Variations in Load Inertia

(Geared Motor: AS66AA-N5)
600
JL  38 oz-in2 (7,000107 kg·m2)
JL  76 oz-in2 (14,000107 kg·m2)
500
JL  153 oz-in2 (28,000107 kg·m2)
Positioning Time (msec.)

JL  230 oz-in2 (42,000107 kg·m2)

400

300

200

100

0
0 90 180 270 360 450 540 630 720 810 900 990 1080
Positioning Angle of Output Shaft ( ˚ )

F-48
 Technical Reference
 Low Vibration
Vibration characteristics are represented in electric voltage,
into which the vibration width of the output shaft in rotary
motion is converted. Vibration of the geared motor can be
reduced for the following reasons:
• The motor’s own vibration can be reduced in accordance
with the gear ratio.

Fan Sizing AC Motors

Motor and Standard Speed Control Stepping
• The low speed vibration range can be avoided, since the
motor is run at higher speeds.
• Because the motor is smaller, its own vibration is reduced
accordingly.

Vibration Characteristic of AS98AA

Systems
Vibration -Component Voltage Vp-p [V]

AS98AA
0.036˚/step

Motors Gearheads
1.0

0.5

Motion
Linear
50 100 150 200 250
Speed [r/min]

Vibration Characteristic of AS66AA-N5

Cooling
Fans
Vibration -Component Voltage Vp-p [V]

AS66AA-N5
0.072˚/step

1.0

0.5

0 50 100 150 200 250

Speed [r/min]

F-49
 Technical Reference

Linear Motion

Linear Heads Transmission Pinion Pitch

Gear Ratio efficiency Diameter
 Characteristics of Linear Heads Linear Head Model
i 1 ,2 inch (mm)
The three major characteristics of linear heads are rack 0LB (F) 20N- 30 0.66
speed, maximum transportable mass and holding force. 0LB (F) 10N- 50 0.66 0.295 (7.5)
0LB (F) 5N- 100 0.59
2LB (F) 50N- 17.68 0.73

Rack Speed 2LB (F) 25N- 35.36 0.66 0.472 (12)
The basic speed of a linear head can be calculated from the 2LB (F) 10N- 86.91 0.59
motor speed, by using the following equation. 4LB (F) 45N- 36 0.73
1 1 4LB (F) 20N- 75 0.66 0.837 (21.25)
V
NS  60  i  DP 4LB (F) 10N- 150 0.66
5LB (F) 45U- 36 0.66
5LB (F) 20U- 90 0.59 0.945 (24)
V: Rack moving speed [inch/sec.] 5LB (F) 10U- 180 0.59
NS: Speed of motor used [r/min]
i: Ratio of gear unit on the linear head (see table on the right)
DP: Pinion pitch circumference [inch] (see table on the right)
Holding Force
The following equation is used to calculate the holding force
of the linear head when connected to a motor.
2
FB
TB  i  DP

Maximum Transportable Mass
For the maximum transportable mass, see the specifications FB: Holding force [lb.]
table for each product. When using a motor not listed in the TB: Holding torque of motor used [lb.]
specifications table, the thrust force can be calculated based i: Ratio of gear unit on the linear head (see table above)
on the torque generated by the motor using the equation DP: Pinion pitch circumference [inch] (see table above)
below.
Any holding force listed in the specifications table or any
However, in the case of a high gear ratio or use in a calculated holding force is the value for horizontal rack
horizontal direction, the solution obtained by the equation will installation. The value for vertical installation can be obtained
indicate a thrust force sufficient to drive the load mass in by subtracting the rack’s mass-based force (see dimensional
excess of the gear’s mechanical strength. Make sure the drawing) (rack’s mass9.807) from the value indicated in the
linear head’s load mass is at or below its maximum specifications table.
transportable mass, regardless of the rack’s direction of
movement.
Rack Play (initial values)
The linear head rack is supported at two places by oilless
2 metal grommets in the rack case. Because the rack passes
F
Tm  i   1   2
DP through the inside of the grommets, a slight gap has been
m
F/9.807 left between the grommet and the rack. Therefore, the rack is
subject to play, as shown in the figure below.
Tm: Motor torque (lb.) ✽
F: Thrust force (lb.) Direction A or B 0.079 inch (2 mm) max.
Direction C 0.020 inch (0.5 mm) max.
m: Weight capacity (lb.) Direction D 5˚ max.
i: Gear ratio of the linear head’s gear unit (see on the right)
1: Transmission efficiency as determined by gear ratio ● Play in directions A and B has been measured at a point 20 in. (500 mm) from
the case surface. Since the rack is round-shaped, play in the D direction is large.
(see on the right)
● The rack play indicates an initial value which will increase during operation. If
DP: Pinion pitch circle diameter (inch) (see on the right) the rack play becomes a problem, install an external guide.
2: Transmission efficiency of rack and pinion (
0.9)
✽ For motor torque, choose the lesser of starting torque or
rated torque.

Any maximum transportable mass listed in the specifications

A
tables or any calculated thrust force is the value for horizontal
rack movement. The value for vertical movement can be
obtained by subtracting the rack’s mass (see dimensional
B
drawing) or its mass-based force (rack’s mass9.807) from C
Oilless Metal Grommets
the value indicated in the specifications table. D

F-50
 Technical Reference
 Glossary
Compact Actuators DRL Series

Maximum Overhung Load  Repetitive Positioning Accuracy of DRL Series
This is the load that can be applied to the rack in a direction Take proper precautions in order to ensure observance of the
perpendicular to the rack axis. If a load is applied repetitive positioning accuracy requirements provided in the
continuously to the end of the rack, then the weight of that specifications.
load will be applied to the rack as an overhung load. Sufficient Rigidity for Peripheral Equipment
● The linear guides and other mechanical components to be
Stroke

Fan Sizing AC Motors

Motor and Standard Speed Control Stepping
used with the actuator should have rigidity sufficient to
withstand the load mass and external forces. Insufficient
rigidity may cause deflection, which will prevent the
actuator from meeting the requirements defined in the
Total Rack Length
specifications.
● The mounting brackets used for installation of the actuator

Systems
and the work piece attachment brackets should also have
rigidity sufficient to withstand the load mass and external
forces. Insufficient rigidity may cause deflection, which will

Motors Gearheads
Overhung Load prevent the actuator from meeting the requirements
defined in the specifications.
Sensor

Dog ● Use a high-accuracy home position sensor (e.g.
The function of dogs is to trip limit switches and sensors. photomicrosensor). Home positioning accuracy is not
included as part of the repetitive positioning accuracy.

Motion
Linear
Dogs are attached to the rack to set the position where the
rack should stop. Temperature Rise in Actuator
● The actuator may generate a significant amount of heat,

Cooling

Rack depending on the drive conditions. The heat thus

Fans
A gearcut rod is made of S45C or equivalent grade of steel generated will cause the internal ball screw to elongate,
and has a surface treated with nitride. Racks for linear resulting in displacement as shown in the figure below
motors are specially designed and machined, and have (reference data). To minimize the temperature dependent
special cross sections. Those for linear heads have round effects on the repetitive positioning accuracy, control the
cross sections. input current to the actuator and provide a design that
allows for adequate heat ventilation in peripheral areas.

Recommended Operating Conditions for DRL Series

0.020

Maximum Maximum 0.016

Transportable Transportable
Resolution Starting Speed Operating Speed Acceleration
Model Mass Mass
(Horizontal) (Vertical) 0.012
Displacement (mm)

in. (mm) in./s (mm/s) in./s (mm/s) ft./s2 (m/s2) lb. (kg) lb. (kg)
0.000079 0.0079 0.94 0.66  6.6
DRL28PA1-03D 0.008
(0.002) (0.2) (24) (0.2) (3)
0.00016 0.016 1.18 1.31  22
DRL42PA2-04D
(0.004) (0.4) (30) (0.4) (10) 0.004
0.00031 0.031 0.94 0.85  66
DRL60PA4-05D
(0.008) (0.8) (24) (0.26) (30)
0.000
0.000079 0.0079 0.94 0.66 2.2 3.3
DRL28PA1G-03D
(0.002) (0.2) (24) (0.2) (1) (1.5)
0.00016 0.016 1.18 1.31 4.4 11 -0.004
DRL42PA2G-04D
(0.004) (0.4) (30) (0.4) (2) (5) 0 30 60 90 120 150 180
0.00031 0.031 0.94 0.85 6.6 33 Elapsed Time of Operation (Minutes)
DRL60PA4G-05D
(0.008) (0.8) (24) (0.26) (3) (15)
0.000079 0.0079 0.94 0.66  6.6 DRL28PB1G-03C DRL42PA2G-04C DRL60PA4G-05C
DRL28PB1-03D
(0.002) (0.2) (24) (0.2) (3)
0.00016 0.016 1.18 1.31  22
DRL42PB2-04D
(0.004) (0.4) (30) (0.4) (10)
Conditions
0.000079 0.0079 0.94 0.66 2.2 3.3
DRL28PB1G-03D Current down: Off
(0.002) (0.2) (24) (0.2) (1) (1.5)
0.00016 0.016 1.18 1.31 4.4 11 Operation duty: 80%
DRL42PB2G-04D
(0.004) (0.4) (30) (0.4) (2) (5) Measurement method: Using a laser displacement meter.

Change

F-51
 Technical Reference

Cooling Fans

Air Flow/Static Pressure Characteristics  Air Flow/Static Pressure Characteristics

 Pressure Loss Fan characteristics are generally expressed in terms of the
When air flows along a certain path, a form of resistance relationship between air flow and the static pressure required
(called “air flow resistance”) is produced by anything in the to generate such air flow, given as a characteristic curve of
path that inhibits that flow. air flow versus static pressure.
Comparing the cases illustrated in Fig. 1 and Fig. 2, we see As an example, assume the air flow required is Q1 and the
that the device shown in Fig. 1 is almost empty, so there is accompanying pressure loss of the device is P1. When the
almost no air flow resistance in the device and little decline in fan characteristics are as shown in Fig. 3, the fan is capable
the air flow. By contrast, there are many obstructions of the of a static pressure of P2 at an air flow of Q1. This is more
air flow in the device shown in Fig. 2, which increases air than sufficient for the required air flow, since it exceeds the
flow resistance and decreases air flow. required static pressure value of P1.
Equipment to be cooled

Since pressure loss is proportional to the square of the air

flow, if the air flow needs to be doubled, then the fan chosen
Fan
must be capable of providing not only twice the air flow but
four times the static pressure, as well.

Static Pressure [Pa]

Static Pressure [inH2O]

Required Static
Fig. 1 Flow Path with Low Air Flow Resistance Pressure

Fan

P2
P1

0 0 Q1 Air Flow [CFM]

Air Flow [m3/min]

Fig. 3 Air Flow vs. Static Pressure Characteristics Curve

Rise of Static Pressure
(= Pressure Loss)

Manometer

Fig. 2 Flow Path with High Air Flow Resistance

This situation is very similar to the role of impedance in the

flow of electrical current: when impedance is low, the current
flow is large, and when impedance is high, the current flow is
low. The air flow resistance becomes the pressure energy
that increases the static pressure within the device. This is
called pressure loss. Pressure loss is determined using the
following equation:
Pressure Loss 2=  8 
= 
3 •
)
where V
Flow speed [m/s]

Air density [kg/m3]

Resistance coefficient specific to flow path
A
Cross-sectional area of flow path [m2]
Q
Air flow [m3/s]
In terms of the fan, this equation says that to achieve a
certain air flow (Q), the fan must be able to supply static
pressure sufficient to increase the pressure within the device

by 2 =   3) • 

F-52
 Technical Reference
 How to Measure the Characteristics  Changes in Air Flow/Static Pressure
of Air Flow/Static Pressure Characteristics with two fans installed
When using two fans combined it will change the
Fan to be
measured Nozzle Auxiliary blower characteristics depending on how the fans are installed.

Chamber A Chamber B

Fan Sizing AC Motors

Motor and Standard Speed Control Stepping
PS P

Fig. 5 Installing two fans

Manometer

Fig. 4 Double-chamber Measuring Device MU1238A-21B

Systems
50 Hz, 115 VAC

Static Pressure [Pa]

Static Pressure [inH2O]

Speed [r/min]
Two methods are available for measuring the air flow and
Standard

Motors Gearheads
static pressure: the air-duct measurement method via the 0.6
pitot tube, and the double-chamber measurement method. 2800 140 Installing two fans

Oriental Motor employs the double-chamber method, which 2400 120

0.5
offers higher accuracy than the air-duct method and is in
2000 100 0.4
wide use throughout the world.
1600 80
0.3

Motion
Linear
Moreover, Oriental Motor uses measuring equipment 1200 60
Standard
conforming to AMCA (Air Moving and Conditioning 0.2
800 40
Association) standard 210, a fan measurement standard that Installing two fans

Cooling
Fans
0.1
is widely recognized around the world. In the double- 400 20
chamber method the fan’s air flow/static pressure
0 0 0
characteristics are obtained by measuring the pre- and post- 0 50 100 150 200 250
Air Flow [CFM]
nozzle differential pressure (P) and the pressure within the 0 1.0 2.0 3.0 4.0 5.0 6.0 7.0
chamber (Ps), as shown in Fig. 4. Air Flow [m3/min]
Oriental Motor’s double-chamber equipment is a measuring
device with the highest level of general utility that may be MU1238A-21B
used regardless of whether the fan is equipped with an 60 Hz, 115 VAC
Static Pressure [Pa]

Static Pressure [inH2O]

Speed [r/min]

intake or outlet tube.

Since this method allows the speed of the fluid flowing 3200 160 Standard
through the nozzle to be determined from the pressure 0.6
2800 140 Installing two fans
differential between chambers A and B, the air flow (Q) can
0.5
be expressed as a product of the flow speed (v) through the 2400 120
nozzle, the nozzle area (A) and the coefficient of flow (C). 2000 100 0.4
Therefore:
1600 80
0.3
3 = 60 +) 
2  2 [m 3/ min ]
1200 60
= 60 +)  0.2
800 40 Installing two fans
where 0.1 Standard
): Nozzle cross-sectional area [m2] 400 20

+: Flow coefficient 0 0 0
 : Average flow speed at the nozzle [m/sec] 50 100 150 200 250
Air Flow [CFM]
: Air density [kg/m3] (
1.2kg/m3 at 20˚C and 1atm)
 2
Differential pressure [Pa] 0 1.0 2.0 3.0 4.0 5.0 6.0 7.0
Air Flow [m3/min]

The measurement of air flow vs. static pressure Fig. 6 Changes in fan characteristics of static pressure and amount of air flow

characteristics uses an auxiliary blower to control the

pressure in chamber B, altering the pressure in chamber A. The graph above shows that when two fans are combined,
Thus, each point on the characteristics curve can be doubles the maximum amount of air flow is achieved.
measured. Oriental Motor’s measuring equipment is
connected to a computer, providing extremely precise
measurements in a short period of time.

F-53
 Technical Reference
 Changes in the Air Flow/Static Pressure
Noise
Characteristics with Installation of Optional Parts  What is Noise?
When installing a fan in equipment, the safety and reliability We generally refer to sounds that are unpleasant to us as
of the overall apparatus can be significantly improved by “noise.” In the case of fans, noise is generated as the
attaching optional parts such as finger guards and filters. rotation of the fan blades causes a change in air pressure.
However, these parts produce air flow resistance, affecting The greater the change in air pressure, the louder the
fan characteristics and fan noise. This should be taken into resulting noise will be.
account when selecting fans and optional parts.
 Measuring Noise
The graph in Fig. 7 shows data regarding pressure loss The noise of Oriental Motor fans is measured in the A range
caused by its optional parts on a fan with the 4.69 in. sq. at a distance of 3.3 feet (1m) from the intake (at a point
(119 mm sq.) frame size. The filter causes the most above the center line of the intake).
significant pressure loss, while the finger guard causes little
loss. Axial Flow Fan
3.3 feet (1 m)
For 4.69 in. sq. (119 mm sq.) Fans
Static Pressure [Pa]

Static Pressure [inH2O]

0.35
80 Finger Guard
0.3 Screen
Filter Microphone
70
0.25
60

50 0.2

40
0.15
30
0.1
20
Centrifugal Blower
0.05 3.3 feet (1 m)
10

0 0
0 20 40 60 80 100 120
Air Flow [CFM]

0.5 1.0 1.5 2.0 2.5 3.0 3.5

Air Flow [m3/min]
Fig. 7 Changes in Characteristics with Optional Parts
Static Pressure [Pa]

Static Pressure [inH2O]

Static Pressure [Pa]

Static Pressure [inH2O]

50 Hz,115 VAC 60 Hz,115 VAC

70 0.28 70 0.28

0.25 0.25 Cross Flow Fan

60 60

50 0.20 50 0.20
3.3 feet (1 m)
40 40 No Accessories
0.15 0.15
No Accessories Finger Guard
Equipped
30 Finger Guard Equipped 30
0.10 0.10 Screen
Screen Equipped Equipped
20 20
Filter Equipped Filter
0.05 0.05 Equipped
10 10

0 0 0 0
20 40 60 80 20 40 60 80
Air Flow [CFM] Air Flow [CFM]
Fig. 9 Measurement of Fan Noise
0 0.4 0.8 1.2 1.6 2.0 0 0.4 0.8 1.2 1.6 2.0
Air Flow [m3/min] Air Flow [m3/min]

Fig. 8 Changes in Characteristics with Optional Parts Attached to the MU1225S-21

As the graphs show, the greater the pressure loss caused by

optional parts, the greater the reduction in air flow and static
pressure characteristics.

F-54
 Technical Reference
 Composition of Noise
3.0
This section discusses the noise value when using two fans,
2.8
each of which produces 40 dB of noise. 2.6
Noise, or relative loudness, is expressed in decibel units, and 2.4

Increase in noise level [dB]

combined noise cannot be determined simply by adding 2.2
2.0
individual noise levels. The value that expresses this
1.8
combined noise is found by determining the energy of the 1.6

Fan Sizing AC Motors

Motor and Standard Speed Control Stepping
noise and then using it to calculate the increase in sound 1.4
pressure. 1.2
1.0
The relationship between sound energy (J) and sound
0.8
pressure (P) is expressed in the following equation: 0.6
2
J = Pc where, (
Air density, c
Speed of sound 0.4
0.2
propagation)
0

Systems
0 1 2 3 4 5 6 7 8 9 10 11 12 13
Using the above equation, the noise value can be expressed
Fig. 10 Difference in Two Noise Levels
in decibel units as follows:

Motors Gearheads
Noise value
20 logP/P0

10 logJ/J0
 Noise and Distance
P: Actual sound pressure The noise level decreases as the distance from the source of
J: Measured noise energy the noise increases. The decrease in noise due to distance is
P0, J0: Minimum noise energy audible to the given by the following expression:
human ear

Motion
Linear
In this equation the noise value is expressed in decibels SPL2
SPL1  20 log r2/r1
based on the reference energy of J0. As the noise energy for SPL2: noise level at distance r2

Cooling
Fans
n fans is n times that of a single fan, the sound pressure SPL1: noise level at distance r1
obtained by this equation will be:
Noise value
10 log n·J/J0 In the following example the noise level at a point 6.6 feet

10 logJ/J0  10log n (2m) from a fan, whose noise level is 40 dB at a point 3.3 feet
In other words, when n fans are operated simultaneously, the (1m) from the intake side, is calculated.
increase in noise is equal to 10 log n (dB). Since r2
6.6 feet (2m), r1
3.3 feet (1m), and SPL1
40
In this example, if two 40 dB fans (n=2) are operated dB, substituting in the expression gives
simultaneously, the increase in noise level is equal to 10 log
2 or 3 dB, and the combined noise level is 43 dB. SPL2
40  20log2 / 1
What would the combined noise level be if a 40 dB fan and a
34 [dB]
50 dB fan were operated simultaneously? Again, the
combined noise level is not given by a simple arithmetic sum Thus, at a distance of 6.6 feet (2m), the noise level
but is obtained as follows: decreases by 6 dB. The value 20log r2/r1 in the above
expression represents the ratio between two distances. Thus,
Take the difference between the two noise levels: 50 dB  40 dB➝10 dB if the values used above were 9.9 feet (3m) and 19.7 feet
(6m), the result would have been the same. Therefore, if the
➝

noise level at a certain distance is known, the noise level at

At the 10 dB point on the x-axis of the graph, find the corresponding another distance can be estimated.
point on the curve and read the y-axis value ➝0.4 dB.
➝

Add 0.4 to the larger of the two noise levels, 50 dB.

➝

The combined noise level when operating the two

fans simultaneously is 50.4 dB.

If 40 dB of noise is combined with 50 dB, the resulting

increase in noise is only 0.4 dB. In other words, the noise
level is always controlled by the larger of noise values, so it is
important to suppress the noise of the fan producing greater
noise.

F-55
 Technical Reference

Fan Life  Fan Bearing Life
The term “fan life” refers to the condition in which the fan’s Unlike the bearings of motors and gearheads, the load
blowing ability has deteriorated due to continuous fan applied to fan bearings is negligible. Fan life is therefore
operation for a certain period of time, or the fan can no determined by the deterioration of the grease in the bearings.
longer be used due to significant noise. Since the fan’s operating and starting torques are
significantly smaller than those of a motor, lack of lubrication

Rotation life: Fan life as defined by certain due to grease deterioration will result in an extremely high
deterioration in fan rotation voltage, which may prevent the fan from starting.
 Acoustic life: Fan life as defined by certain increase in Deterioration of grease also increases the noise generated
noise by the bearings, further affecting fan life.

Rotation life can be easily measured as long as the factors Grease life is given by the following expression:
involved can be clearly specified numerically. This is usually log t = K 1 Ð K 2
n
Ð K3Ð K4
n
T
N max N max
what is meant when referring to “fan life”.
where,
Acoustic life, however, is defined by an increase in decibel t: Average grease life
level, while determining exactly what amount of increase K1, K2, K3, K4: Constants determined by grease
marks the end of acoustic life depends on the user’s Nmax: Maximum rotation allowed by grease
judgment. Moreover, fans can still meet operating lubrication
requirements even after reaching the predetermined increase n: Rotational speed of bearings
level in noise. In general, standards relating to noise and the T: Operating temperature of bearings
length of acoustic life have not been established.
Oriental Motor defines fan life by rotation life; a fan is judged As indicated by the above expression, Nmax is
to have reached the end of its service life when rotational predetermined by the ball bearings, so grease life depends
speed drops to 70 percent of the rated speed. on temperature and the rotational speed of the bearings.
However, Oriental Motor’s products are designed so that the
 Parts Determining Fan Life life of the bearings is only minimally affected by their
Certain fan parts are most critical in determining fan life, rotational speed. Thus, the average grease life is determined
beginning with the relationship between time and failure rate. n
by temperature, since N max is a constant value.
Generally, when parts have been used for a long time, their
failure rate relative to the duration of use fits the pattern of  Estimated Product Life Curve
the wide, U-shaped curve shown in Fig. 11. Figure 12 gives the estimated average life of the bearings of
the MU1238A type fan. This is obtained by measuring the
The first period is the initial failure period in which temperature rise of the ball bearings at the rated voltage and
substandard parts tend to break down. The second is called calculating life using the expression for ball bearing grease
the accidental failure period, characterized by a highly stable, life.
low failure ratio. If this period were to continue forever, the 100,000
part’s life would not be a concern. However, depending on
the part, the failure rate increases again, and enters a third
period called the friction failure period. Bearings are the parts
within a fan whose life is most affected by this friction failure
period. Therefore, fan life could be said to be determined by
Life Time[h]

the life of the bearings used.

10,000

1 2 3
Initial Accidental Friction
Failure Failure Failure
Failure rate

Period Period Period

1,000
Duration of use 0 20 40 60 80 100 120 140 160 180 200
Fig. 11 Relationship between the Duration of Use and Failure Rate Ambient Temperature[[°F]
0 20 40 60 80 100

Ambient Temperature[[°C]
Fig. 12 Estimated Life Characteristics of the MU1238A Fan
Note:
The data shown in the above estimated life curve does not represent guaranteed
values.

F-56
 Technical Reference

Capacitor
Overheat Protection Device
Capacitor-run motors contain an auxiliary winding offset by If a fan in run-mode locks due to overload or the input
90 electric degrees from the main winding. The capacitor is increases for some reason, the fan temperature rises
connected in series with the auxiliary winding, causing the suddenly. If the fan is left in this state, the performance of the
current in the auxiliary winding to lag the current in the main insulation within the fan may deteriorate, shortening service
winding. life and, in extreme cases, scorching the winding and
The motor employs metallized electrode capacitor. This type causing a fire. In order to protect the fan from such thermal

Fan Sizing AC Motors

Motor and Standard Speed Control Stepping
of capacitor, which uses a metallized paper or plastic film as abnormalities, UL, CSA, EN and IEC standard fans from
an element, is also known as a “self-healing (SH) capacitor” Oriental Motor are equipped with the following overheating
because of the self-healing property of the capacitor protection devices.
element. Although most of the previous capacitors used
paper elements, the plastic film capacitor has become a  Thermal Protector
mainstream model in recent years due to the growing The MRS Series, MB Series [certified products with runner

Systems
demand for compact design. diameters of 3.15 inch (80 mm) or more] and MF Series fans
include a built-in, automatic-return type thermal protector.
 Capacitance The structure of the thermal protector is shown in Figure 13.

Motors Gearheads
The use of a capacitor with a different capacitance may The thermal protectors employ bimetal contacts, with solid
cause excessive motor vibration and heat generation or may silver used in the contacts. Solid silver has the lowest
result in torque drops and unstable operation. Be sure to use electrical resistance of all materials, along with a thermal
the capacitor supplied with the fan. The capacitor‘s conductivity second only to copper.
capacitance is expressed in microfarads ( F). ● Operating Temperature of Thermal Protector
open 248˚F9˚F (120˚C5˚C)

Motion
Linear
 Rated Voltage close 170.6˚F27˚F (77˚C15˚C)
Using the capacitor at a voltage level exceeding the rated (The fan motor’s allowable winding temperature, where the

Cooling
voltage may significantly reduce the capacitor’s service life. thermal protector is working, is slightly higher than the

Fans
Be sure to use the capacitor supplied with the fan. The rated operating temperature listed above.)
voltage of the capacitor is expressed in volts (V). The
Bimetal
capacitor’s rated voltage is indicated on the surface of the
capacitor casing. Take proper precautions, since the
capacitor’s rated voltage is different from that of the fan.

 Rated Conduction Time Lead Wire Solid-Silver Contact

The rated conduction time is the minimum design life of the
Fig. 13 Structure of Thermal Protector
capacitor when operated at the rated load, voltage,
temperature and frequency. The standard life expectancy is
25,000 hours. We recommend that the capacitor be replaced
after the rated conduction time.  Impedance Protection
The MU and MB Series (MB520, MB630) fans are
equipped with impedance protection. Impedance-protected
fans are designed with higher impedance in the fan windings
so that even if the fan locks, the increase in input current will
be minimized and the temperature will not rise beyond a
certain level.

F-57
 Technical Reference

Glossary
 Air Flow––Static Pressure Characteristics  Decibels (dB)
With the air flow on the X-axis and static pressure on the Y- Noise level is expressed in decibel units (dB). When the
axis, the graph of air flow/static pressure characteristics noise level is expressed based on the linear scale, with the
shows how much static pressure is produced when the fan is minimum level of noise audible to the human ear being 1, the
generating a certain amount of air flow. maximum level of noise the human ear can withstand is
expressed in such a substantial figure as 5,000,000. In
Point A in Figure 14 indicates the maximum amount of air contrast, if noise (level of acoustic pressure) is expressed in
flow that can be generated by a fan with a static pressure of decibels, then
zero, at which there is no loss of pressure. Point B indicates Sound pressure level
20log P/P0
the maximum level of static pressure that can be produced P
Actual sound pressure
by the fan, known as “maximum static pressure.” However, in P0
Minimum sound pressure perceptible by the
actual application a fan is rarely used at the maximum air human ear
flow or maximum static pressure. The maximum air flow or Therefore, the range of sound pressure audible to the human
static pressure value is generally used for reference ear can be conveniently expressed as 0 to 130 dB.
purposes to compare fan characteristics.
 A Range
It is generally said that the audible range of the human ear is
Static Pressure [Pa]

Static Pressure [inH2O]

B
between 20 Hz and 20 kHz. Moreover, low frequency and
extremely high frequency sounds are not disturbingly loud to
the human ear. For this reason an accurate indication of
loudness as perceived by the human ear cannot be achieved
simply by measuring sound pressure without taking
frequency into account. Therefore, measurements of the
level of acoustic pressure must be corrected according to
A
frequency in order to accurately reflect the human perception
0 0 of loudness. This corrected range of measured acoustic
Air Flow [m3/min]
pressure values is called the A range.
Air Flow [CFM]
Fig. 14 Air Flow/Static Pressure Characteristics Curve Figure 16 compares the frequency-corrected measured values
(A range) with the uncorrected measured values (C range).
+10
 Noise Frequency Analysis 0
C
Oriental Motor adopts the “1/3-octave noise frequency
-10
analysis,” in which the noise frequency components are
Noise [dB]

A
expressed in the sound pressure level (average value) for -20
each 1/3 octave band. -30
If the frequency is slightly off, the average human ear cannot
-40
detect it; Only when the frequency is off by about 1/3 of an
octave can the difference be heard. The 1/3-octave noise 31.5 63 125 250 500 1000 2000 4000 8000
frequency analysis therefore indicates the noise analysis Frequency [Hz]

data according to human audibility. Fig. 16 Comparison of Sound-Pressure Level

60

50
 Fire-Resistant Grade
The fire-resistant grade represents the degree of fire
Noise Level [dB]

40
retardancy for plastic materials used in equipment parts. The
30
generally accepted standards for fire-resistant grade are the
20 UL-approved standards (UL94, standard for tests for
10 flammability of plastic materials for parts in devices and
0
appliances). The UL standards rate the fire-resistant grades
31.5 63 125 250 500 1 K 2 K 4 K 8 K 16 K
of plastic materials based on the burning rate, duration of
1/3-Octave Band Center Frequency [Hz]
burning from the onset of fire, fire ignited by a dripping
Fig. 15 Noise Frequency Analysis substance and other items. Fire resistance is rated in four
different grades, as shown in the table below. O uses
blades and frames with materials that receive the highest
grade in this classification, V-0.
Grade Fire Resistance
V-0 High
V-1
V-2

F-58 HB Low
 Technical Reference

Q&A
Q1 Q4
Can fans be used above the range of operating Where should a fan be mounted to achieve the
voltage? most effective ventilation and cooling?
A1 A4
The AC and DC fans are designed to operate properly within Three points should be kept in mind when using a fan for

Fan Sizing AC Motors

Motor and Standard Speed Control Stepping
the range of operating voltage. Use these fans within the ventilation and cooling:
specified operating voltage range. Do not allow interference to air flow (Fig. 1).
Do not let the air remain stagnant (Fig. 1).
Do not allow short air flow paths (Fig. 2).
Q2
Based on the above, the ideal fan position is where air flows
Are fans, like motors, equipped with overheat- in one direction without interference, as shown in Fig. 3.
protection devices? As long as the fan is mounted in an ideal position, there

Systems
A2 should basically be no significant difference as to whether an
All AC fans in the O line that meet the UL, CSA and intake or exhaust fan is used. However, the exhaust fan will

Motors Gearheads
EN standards either have motors with impedance protection be more effective at maintaining uniform internal
or are equipped with thermal protectors to prevent them from temperature.
burning out. The DC fans include a current-detection function
in their drive circuits. In the case of abnormalities, the fan’s
input current is controlled to prevent an increase in Air is stagnant
temperature and thus protect the fan motor from burning out.

Motion
Linear
For details regarding impedance and thermal protection, see
Fig. 1 Greater air flow interference, Fig. 2 Short airflow path
the section on overheating protection devices on page F-57. stagnant air

Cooling
Fans
Q3
Is there a simple, way to reduce the noise of a
propeller fan? Fig. 3 Example of effective circulation
and cooling
A3
Noise usually decreases as fan speed drops. The MU Series
fans are available in two fan speeds: standard-speed and
middle-speed. Fan noise can be reduced by using the
middle-speed of fan, operating at lower rate of rotation. For
example, if you wish to reduce fan noise while maintaining
the air flow of a standard-speed fan, you should simply
choose a middle-speed fan in a larger size.
And, if you use thermostat (AM1-WA1, AM1-XA1) you
can run the cooling fan when temperature inside the cabinet
rise to pre-set temperature. Using this system it is possible to
reduce total amount of noise.

F-59
 F-60
Technical Reference