technical data Reducer Servo Motor Reducer TERVO Selection

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Selection

1. Conditions

(1) Driving cycle

Output shaft rotation speed
Output shaft rotation speed
  • n T: Maximum output shaft rotation speed (r/min)
  • t 1: Acceleration time (sec)
  • ​t2: Steady state time (sec)
  • t 3: Deceleration time (sec)
  • t 4: Stop time (sec)
  • t t：Time for one cycle (sec.)
Output Torque
Output Torque
  • T a: Acceleration torque (N・m)
  • ​Tc: Steady-state torque (N・m)
  • T b: Deceleration torque (N・m)

(2) Load moment of inertia Ir

Calculate the load moment of inertia Ir on the output shaft of the reducer from the table on how to calculate the moment of inertia

Ir: Load moment of inertia on the reducer output shaft (kg·m 2)

負荷慣性モーメント

(3) Acceleration/deceleration torque T a, T b

Acceleration torque T a = △T a + T c

Deceleration Torque

△Ta = 2πIr × △na 60 × t1

Tb = △Tb - Tc

△Tb = 2πIr × △nb 60 × t3

  • I r: Load moment of inertia on the reducer output shaft (kg·m 2)
  • △T a: Inertial acceleration torque (N・m)
  • △n a: Rotational speed difference (r/min) △n a = n T- n o
  • △T b: Inertial deceleration torque (N・m)
  • △n b: Rotational speed difference (r/min) △n b = n T-no

(4) Steady-state torque T c

定常トルク

Tc = G(M1 + 2.1 × M2 × L) × μ × r

G = gravitational acceleration: 9.80665m/s 2
定常トルク

Tc = G(M1 + M2) × μ × ℓ 2 × π × η

定常トルク

Tc = GM × r

2. Selection Procedure

(1) Calculate the reduction ratio i​ i ≒ Nm nT

Nm: Motor rotation speed
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(2) Calculate the average output torque 平均出力トルクを算出
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(3) Deciding on size

Average Torque
T ave. < Reducer output shaft rated torque

Maximum torque
T a < rated torque of reducer output shaft × series coefficient f s
T b < rated torque of reducer output shaft × series coefficient f s

 f s: Series coefficient

GMTK・HMTK：1.4

EWJMK・EWMK・SWJMK・SWMK：1.0
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(4) Calculate the average output shaft rotation speed n ave.​ 平均出力軸回転速度
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(5) Check the rotation speed

n ave. × i < reducer rated input rotation speed

n T × i < Reducer maximum input rotation speed
series Input rotation speed (r/min)
Rating Maximum
GMTK・HMTK 3000 3000
SWJMK・EWJMK 3000 3000
SWMK80・EWMK80 2000 3000
SWMK100・EWMK100 2000 2000
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(6) Check Percentage duty cycle (Worm gear head only)

Percentage duty cycle %ED = t 1 + t 2 + t 3 t t × 100

%ED < 50% and t 1 + t 2 + t 3 < 20 min.
↓
(7) Check the output shaft radial load OHL < N: Allowable radial load of reducer*

O.H.L = 2000 × Ta × f × Lf D

D: Pitch circle diameter of sprocket, etc. (mm)

*Please refer to the allowable radial load in kW ratings table.

f: OHL coefficient

Chain Geared belt V-belt
1.0 1.25 1.5

Lf: Position of action factor

ℓ/Q 0.25 0.38 0.5 0.75 1
Lf 0.8 0.9 1 1.5 2

Hollow output shaft

Hollow output shaft

Q: Please refer to the table on the left for reference lengths.

Solid Output Shaft

Solid Output Shaft

Q: Please refer to the dimension table for each type for the reference length.

Reference length: Q For hollow output shaft

HMTK

Model number speed ratio Q
HMTK0220H 5 ～ 60 36
HMTK0230H 80 ～ 200 42
HMTK0430H 5 ～ 50
HMTK0435H 60 ～ 200 58
HMTK0735H 5 ～ 50
HMTK0745H 60 ～ 200
HMTK1545H 5 ～ 80 66
HMTK2245H 5 ～ 60
HMTK1555H 100 ～ 200
HMTK2255H 80 ～ 120 82
HMTK3755H 5 ～ 60
HMTK5555H 5 ～ 60

SWJMK, SWMK

Model number speed ratio Q
SWJMK35 10 ～ 60 20
SWJMK42 10 ～ 60 25
SWJMK50 10 ～ 60 30
SWJMK63 10 ～ 60 35
SWJMK70 10 ～ 60 40
SWMK80 10 ～ 60 50
SWMK100 10 ～ 60 55