Step-Servo/Stepper motors Selection Flow
Step1: Select a motor based on the calculated required speed and torque.
Refer the speed-torque characteristics chart from the product site
Click to
enlarge
Ex) Required Speed = 2,000 rpm and
Required Torque = 0.5 Nm,
AZ66AC can be selected.
Step2: Confirm the rotor inertia JO and the load inertia JL ratio.
Refer the speed-torque characteristics chart from the product site
Inertia Ratio(Reference)
Product Inertia ratio
Step-Servo 30 Max.
Stepper 30 Max.
Where JL: Load inertia
J
Inertia Ratio L
Jo: Rotor inertia
J O i 2
i: gear ratio
Ex) Calculated Load inertia = 1,480 x 10-7 kgm2
Jo of selected motor = 370 x 10-7 kgm2
Gear ratio of selected motor = 1 (no gearhead)
Inertia ratio = 9,500 x 10-7 /(370 x 10-7 x 12 )
= 25.7 ≤ 30
If the ratio is below 30, consider a larger motor or
higher gear ratio
Servo motors Selection Flow
Step1: Select a motor size from based on the Required torque and the RMS torque
Refer the specification from the product site
Required Torque ≤ Max. Instantaneous torque
RMS Torque ≤ Rated Torque
Ex) Required Torque = 30.0 Nm,
RMS Torque = 10.0 Nm
400W or larger can be selected
Next, check the permissible inertia
Step2: Select the gear ratio based on the required speed and the permissible inertia
Ex) Required Speed = 110 rpm,
Required Torque = 30.0 Nm,
RMS Torque = 10.0 Nm
Load inertia = 0.310 kgm2
Permissible load inertia = 0.919 kgm2
AZXM940AC-PS25 can be selected
If the permissible inertia is smaller than the
load inertia, check with the larger motors
AC motors Selection Flow
Step1: Select a motor size based on the calculated required speed and torque.
Refer the Permissible Torque chart from the product site
Ex) Required Speed = 30 rpm and
Required Torque = 9.5 Nm,
40W or larger can be selected.
Next, select a gear ratio
Step2: Select gear ratio based on the required speed.
Refer the specification chart from the product site
Ex) Required Speed = 30 rpm and
Required Torque = 9.2 Nm,
Gear ratio 60 can be selected.
Next, check the permissible inertia
Step3: Confirm the permissible inertia is greater than the load inertia.
Refer the specification chart from the product site
JG > JL
Ex) Calculated load inertia JL = 980 x 10-4 kgm2
Permissible inertia JG= 1,875 x 10-4 kgm2
If the permissible inertia is smaller than the
load inertia, check with the larger motors
Brushless DC motors Selection Flow
Step1: Select a motor size based on the calculated required speed and torque.
Refer the Permissible Torque chart from the product site
Ex) Required Speed = 5 to 60 rpm
Required Torque = 9.2 Nm,
60 W or larger motor can be selected
Step2: Select gear ratio based on the required speed.
Refer the specification chart from the product site
Ex) Required Speed = 5 to 60 rpm
Required Torque = 9.2 Nm
BLM460SHP-GFV/GFV4G50S/BMUD60-A2
can be selected,
then check the permissible inertia
Step3: Confirm the permissible inertia is greater than the load inertia.
Refer the specification chart from the product site
JG > JL
Ex) Calculated load inertia JL = 980 x 10-4 kgm2
Permissible inertia JG= 2,200 x 10-4 kgm2
If the permissible inertia is smaller than the
load inertia, check with the larger motors
Other Considerations
AC motors and BL motors
Product Induction motor Reversible motor Electromagnetic brake motor Brake Pack Low Speed Synchronous motor BLDC motors
Overrun at the motor shaft
30-40 5-6 2-3 1 – 1.5 0 (±10 degrees) Up to 30
(rev)
30 min
Duty Cycle Continuous 30 min - Continuous Continuous
(continuous1)
Stepper motors and Servo motors
Product AZ Series AR Series RK2 PKP 5-phase PKP 2-phase AZX Series NX series
0.36 °/pulse 0.36 °/pulse
0.36 °/pulse 0.36 °/pulse 0.72 °/pulse 1.8 °/pulse
Resolution 0.72 °/pulse (default (default
(default value) (default value) (0.36 °/pulse)2 (0.9°/pulse) 2
value) value)
AZM14/AZM15/AZM24/ AZM26 : ARM14/ARM15:
±3 arc min (±0.05°) 3
±5 arc min (±0.083°) ±5 arc min (±0.083°)
Standard type: ±3 min (±0.05°) 3
PKP21/PKP242/PKP262: ±5 0.03° 0.03°
Stopping AZM46: ARM24/ARM26/ARM46: ±3 arc min
PK513: ±10 min (±0.17°) arc min (±0.083°) (reference (reference
accuracy ±4 arc min (±0.067°) ±4 arc min (±0.067°) (±0.05°)3
value only) value only)
High resolution type: ±2 min(±0.034°) PK26□J, PK26□JD:
AZM66/AZM69/AZM98/AZM911: ARM66/ARM69/ARM98:
±2 arc min (±0.034°)
±3 arc min (±0.05°) ±3 arc min (±0.05°)
Duty Cycle Continuous Continuous Continuous Continuous Continuous Continuous Continuous
Mechanical
Incremental Incremental Magnetic Absolute
Feedback System Mechanical absolute encoder Resolver Incremental Magnetic encoder 4 absolute
Encoder4 Encoder 4 Encoder
encoder
Gearhead Backlash
Harmonic
Gearhead type Harmonic Planetary HPG Planetary PN Planetary PS Planetary PLE Spur SG/TS/TH
HG
0.025° or less
Backlash 0.05 ° 0.034° 0.15° or less 0.2° or less 1.5° or less
(lost motion)
1. Three phase AC motors equipped with the electromagnetic brake can operate continuously
2. Basic step angle for high resolution type
3. This is the value at full step and no load (this value will vary depending on load)
4. Adding an encoder to the motor is optional