Copyright: 1995 Superior Electric


Contents

  CAMAS Help Contents

Technical Support is available by contacting Superior Electric at 800-SUPELEC (800-787-3532), between the hours of 8am and 5pm EST.

Analysis of Mechanical System

Overview

Leadscrew Specifications

Cylinder or Rod Specifications

Disc or Pulley Specifications

Nip Rollers Specifications

Rack & Pinion Specifications

Conveyor Specifications

Additional Motor Interface Specifications

System Selection

System Selection Overview

Motion Profile Parameters

Load Specifications

Additional Specifications

Units of Linear Measure

Menu Bar Selections

File Control Options

Print Application

Units of Measure

Save Settings on Exit

Solve Using...


Analysis of Mechanical System Overview

The Analysis of Mechanical System section is used to determine the load characteristics.

Select one of the six pre-defined mechanical systems and enter dimensions and weights pertaining to various parts of the system.  CAMAS then calculates the inertia and  torque reflected to the motor.  Inertia and torque values reflected to the motor, along with the motion profile requirements determine which motors and controllers are suited for the application.


Leadscrew Specifications

Leadscrew Diameter

The diameter of the leadscrew, not including the nut, driven by the motor directly, or thru a gearbox and/or belt and pulleys.  Diameter, length and material density are required to determine the inertia of the leadscrew.

inertia   =   Pi / 32   X   diameter ^4   X   length   X   material density

Leadscrew Length

The overall length of the leadscrew, usually greater than the travel length, driven by the motor directly, or thru a gearbox and/or belt and pulleys.  Diameter, length and material density are required to determine the inertia of the leadscrew.

inertia   =   Pi / 32   X   diameter ^4   X   length   X   material density

Leadscrew Lead

The linear distance the nut and load travel for one revolution of the leadscrew.  Leadscrew lead is required for several inertia and torque calculations.

Leadscrew Preload

The force the nut applies the leadscrew to eliminate backlash in the nut.  Leadscrew preload, leadscrew lead and leadscrew efficiency are required to determine the torque required to overcome the leadscrew preload.

torque   =   leadscrew preload   X   16   /   ( (1 / leadscrew lead)   X   (leadscrew efficiency / 100) X   2   X   Pi)

Leadscrew Orientation

Horizontal, vertical or incline on which the load travels.  The load weight, degree of incline, leadscrew lead and leadscrew efficiency are required to determine the torque due to gravity.

Torque Due to Gravity   =   (load weight   /   Sin(degree of incline) )   X   16   /   ( (1 / leadscrew lead)   X   (leadscrew efficiency / 100)   X   2   X   Pi)

Leadscrew Screw and Nut Material

The material in which the leadscrew and nut are constructed.  Used to determine the leadscrew efficiency and coefficient of friction.  Leadscrew efficiency and coefficient of friction are required for several inertia and torque calculations.

Leadscrew Rails

The material in which the rails and load supports are constructed.  Used to determine the rails coefficient of friction.  Rails coefficient of friction is required to determine the required torque to move the load.

Leadscrew Pulley Diameter

The diameter of the pulley directly attached to each leadscrew in a dual leadscrew application.  Diameter and weight are required to determine the inertia of the leadscrew pulley.

inertia   =   weight   X   (diameter / 2)²   /   2

Leadscrew Pulley Thickness

The thickness of the pulley directly attached to each leadscrew in a dual leadscrew application.   The diameter, thickness and material density are required to calculate the weight of the leadscrew pulley.   Diameter and weight are then used to determine the inertia of the leadscrew pulley.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

Leadscrew Weight of Belt

The weight of the belt that connects the two leadscrew pulleys in a dual leadscrew application. Belt weight and pulley diameter are required to determine the inertia of the belt.

inertia   =   belt weight   X   (pulley diameter / 2)²

Leadscrew Pulley Material

The material of the pulley directly attached to each leadscrew in a dual leadscrew application.   The diameter, thickness and material density are required to calculate the weight of the leadscrew pulley.   Diameter and weight are then used to determine the inertia of the leadscrew pulley.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

Load Weight

The entire weight of all items (load) to be move by the leadscrew, including leadscrew nut.  Load weight, leadscrew efficiency and leadscrew lead are required to determine the inertia of the load.  Leadscrew coefficient of friction, load weight, leadscrew lead and leadscrew efficiency are also required to determine the torque required to move the load.

inertia   =   load weight   /   ( (leadscrew efficiency / 100)   X   (1 / leadscrew lead)² )   X   (1 / (2 X Pi))²

torque   =   leadscrew coefficient of friction  X   load weight   X   16   /   ( (1 / leadscrew lead)   X   (leadscrew efficiency / 100)   X   2   X   Pi)

Load Opposing Force

Any force that opposes movement of the load, not including friction or gravity.  Opposing force, leadscrew lead and leadscrew efficiency are required to determine the torque required to overcome the opposing force.

torque   =   opposing force   X   16   /   ( (1 / leadscrew lead)   X   (leadscrew efficiency / 100)   X   2   X   Pi)


Cylinder or Rod Specifications

Cylinder or Rod Diameter

The diameter of the cylinder or rod driven by the motor directly, or thru a gearbox and/or belt and pulleys.  Diameter and weight are required to determine the inertia of the cylinder or rod.

inertia   =   weight   X   (diameter / 2)²   /   2

Cylinder or Rod Outer Diameter

The outer diameter of the cylinder or rod driven by the motor directly, or thru a gearbox and/or belt and pulleys.  Outer diameter, inner diameter and weight are required to determine the inertia of the cylinder or rod.

inertia   =   weight   X   ( (outer diameter / 2)²   +   (inner diameter / 2)² )   /   2

Cylinder or Rod Inner Diameter

The inner diameter of the cylinder or rod driven by the motor directly, or thru a gearbox and/or belt and pulleys.  Outer diameter, inner diameter and weight are required to determine the inertia of the cylinder or rod.

inertia   =   weight   X   ( (outer diameter / 2)²   +   (inner diameter / 2)² )   /   2

Cylinder or Rod Weight

The weight of the cylinder or rod driven by the motor directly, or thru a gearbox and/or belt and pulleys.  Outer diameter, inner diameter and weight are required to determine the inertia of the cylinder or rod.

inertia   =   weight   X   ( (outer diameter / 2)²   +   (inner diameter / 2)² )   /   2

Cylinder or Rod Length

The length of the cylinder or rod driven by the motor directly, or thru a gearbox and/or belt and pulleys.  The diameter, thickness and material density are required to calculate the weight of the cylinder or rod.   Diameter and weight are then used to determine the inertia of the cylinder or rod.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

Cylinder or Rod Material

The material of the cylinder or rod driven by the motor directly, or thru a gearbox and/or belt and pulleys.  The diameter, thickness and material density are required to calculate the weight of the cylinder or rod.   Diameter and weight are then used to determine the inertia of the cylinder or rod.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

Cylinder or Rod Material Density

The material density of the cylinder or rod driven by the motor directly, or thru a gearbox and/or belt and pulleys.  The diameter, thickness and material density are required to calculate the weight of the cylinder or rod.   Diameter and weight are then used to determine the inertia of the cylinder or rod.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

Cylinder or Rod Angle of Offset

The angle of offset of the cylinder or rod driven by the motor directly, or thru a gearbox and/or belt and pulleys.  Length, weight and angle of offset are required to determine the inertia of the cylinder or rod.

inertia   =   1 / Pi   X   length²   X   weight   X   Sin(offset angle)


Disc or Pulley Specifications

Disc or Pulley Diameter

The diameter of the disc or pulley driven by the motor directly, or thru a gearbox and/or belt and pulleys.  Diameter and weight are required to determine the inertia of the disc or pulley.

inertia   =   weight   X   (diameter / 2)²   /   2

Disc or Pulley Weight

The weight of the disc or pulley driven by the motor directly, or thru a gearbox and/or belt and pulleys.  Diameter and weight are required to determine the inertia of the disc or pulley.

inertia   =   weight   X   (diameter / 2)²   /   2

Disc or Pulley Thickness

The thickness of the disc or pulley driven by the motor directly, or thru a gearbox and/or belt and pulleys.  The diameter, thickness and material density are required to calculate the weight of the disc or pulley.   Diameter and weight are then used to determine the inertia of the disc or pulley.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

Disc or Pulley Material

The material of the disc or pulley driven by the motor directly, or thru a gearbox and/or belt and pulleys.  The diameter, thickness and material density are required to calculate the weight of the disc or pulley.   Diameter and weight are then used to determine the inertia of the disc or pulley.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

Disc or Pulley Material Density

The material density of the disc or pulley driven by the motor directly, or thru a gearbox and/or belt and pulleys.  The diameter, thickness and material density are required to calculate the weight of the disc or pulley.   Diameter and weight are then used to determine the inertia of the disc or pulley.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

Load Weight

The weight of the load attached to the disc or pulley at the outer most point or radius.  The disc or pulley diameter and load weight are required to determine the inertia of the load.

inertia   =   load weight   X   (disc or pulley diameter / 2)²


Nip Rollers Specifications

Nip Rollers Drive Roller Diameter

The diameter of the drive roller driven by the motor directly, or thru a gearbox and/or belt and pulleys.  Diameter and weight are required to determine the inertia of the drive roller.

inertia   =   weight   X   (diameter / 2)²   /   2

Nip Rollers Drive Roller Weight

The weight of the drive roller driven by the motor directly, or thru a gearbox and/or belt and pulleys. Diameter and weight are required to determine the inertia of the drive roller.

inertia   =   weight   X   (diameter / 2)²   /   2

Nip Rollers Drive Roller Length

The length of the drive roller driven by the motor directly, or thru a gearbox and/or belt and pulleys.  The diameter, length and material density are required to calculate the weight of the drive roller.   Diameter and weight are then used to determine the inertia of the drive roller.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

Nip Rollers Drive Roller Material

The material of the drive roller driven by the motor directly, or thru a gearbox and/or belt and pulleys.  The diameter, length and material density are required to calculate the weight of the drive roller.   Diameter and weight are then used to determine the inertia of the drive roller.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

Nip Rollers Drive Roller Material Density

The material density of the drive roller driven by the motor directly, or thru a gearbox and/or belt and pulleys.  The diameter, length and material density are required to calculate the weight of the drive roller.  Diameter and weight are then used to determine the inertia of the drive roller.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

Nip Rollers Driven Roller Diameter

The diameter of the roller pressing against the drive roller.  Diameter and weight are required to determine the inertia of the driven roller.  The driven roller inertia and ratio to drive roller are then used to determine the driven roller reflected inertia to the motor directly, or to the gearbox and/or belt and pulleys.

inertia   =   weight   X   (diameter / 2)²   /   2

reflected inertia   =   driven roller inertia   /   (driven roller diameter / drive roller diameter)²

Nip Rollers Driven Roller Weight

The weight of the roller pressing against the drive roller.  Diameter and weight are required to determine the inertia of the driven roller.  The driven roller inertia and ratio to drive roller are then used to determine the driven roller reflected inertia to the motor directly, or to the gearbox and/or belt and pulleys.

inertia   =   weight   X   (diameter / 2)²   /   2

reflected inertia   =   driven roller inertia   /   (driven roller diameter / drive roller diameter)²

Nip Rollers Driven Roller Length

The length of the roller pressing against the drive roller.  The diameter, length and material density are required to calculate the weight of the driven roller.   Diameter and weight are required to determine the inertia of the driven roller.  The driven roller inertia and ratio to drive roller are then used to determine the driven roller reflected inertia to the motor directly, or to the gearbox and/or belt and pulleys.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

reflected inertia   =   driven roller inertia   /   (driven roller diameter / drive roller diameter)²

Nip Rollers Driven Roller Material

The material of the roller pressing against the drive roller.  The diameter, length and material density are required to calculate the weight of the driven roller.   Diameter and weight are required to determine the inertia of the driven roller.  The driven roller inertia and ratio to drive roller are then used to determine the driven roller reflected inertia to the motor directly, or to the gearbox and/or belt and pulleys.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

reflected inertia   =   driven roller inertia   /   (driven roller diameter / drive roller diameter)²

Nip Rollers Driven Roller Material Density

The material density of the roller pressing against the drive roller.  The diameter, length and material density are required to calculate the weight of the driven roller.   Diameter and weight are required to determine the inertia of the driven roller.  The driven roller inertia and ratio to drive roller are then used to determine the driven roller reflected inertia to the motor directly, or to the gearbox and/or belt and pulleys.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

reflected inertia   =   driven roller inertia   /   (driven roller diameter / drive roller diameter)²

Roller Hub Bearings Diameter

The hub bearing diameter of the drive roller and driven roller.  Roller tension force, hub bearing coefficient of friction and hub bearing diameter are required to determine the torque required to overcome the roller tension force.

torque   =   roller tension force   X   hub bearing coefficient of friction   X   (hub bearing diameter / 2)   X   16

Roller Hub Bearings Coefficient of Friction

The hub bearing coefficient of friction of the drive roller and driven roller.  Roller tension force, hub bearing coefficient of friction and hub bearing diameter are required to determine the torque required to overcome the roller tension force.

torque   =   roller tension force   X   hub bearing coefficient of friction   X   (hub bearing diameter / 2)   X   16

Material Weight

The weight of the material pressed between the drive roller and driven roller.  Material weight and drive roller diameter are required to determine the inertia of the material.  Material weight and drive roller diameter are required to determine the torque required to move the material.

inertia   =   material weight   X   (drive roller diameter / 2)²

torque   =   material weight   X   (drive roller diameter / 2)   X   16

Material Opposing Force

Any force that opposes movement of the material, not including friction or gravity.  Opposing force and drive roller diameter are required to determine the torque required to overcome the opposing force.

torque   =   opposing force   X   (drive roller diameter / 2)   X   16

Material Roller Tension

The force applied between the drive roller and driven roller.  Roller tension force, hub bearing coefficient of friction and hub bearing diameter are required to determine the torque required to overcome the roller tension force.

torque   =   roller tension force   X   hub bearing coefficient of friction   X   (hub bearing diameter / 2)   X   16

Additional Rollers Diameter

The diameter of any additional rollers.  Diameter and weight are required to determine the inertia of the additional rollers.  The additional rollers inertia and ratio to drive roller are then used to determine the additional rollers reflected inertia to the motor directly, or to the gearbox and/or belt and pulleys.

inertia   =   weight   X   (diameter / 2)²   /   2

reflected inertia   =  additional rollers inertia   /   (additional rollers diameter / drive roller diameter)²

Additional Rollers Weight

The weight of any additional rollers.  Diameter and weight are required to determine the inertia of the additional rollers.  The additional rollers inertia and ratio to drive roller are then used to determine the additional rollers reflected inertia to the motor directly, or to the gearbox and/or belt and pulleys.

inertia   =   weight   X   (diameter / 2)²   /   2

reflected inertia   =   additional rollers inertia   /   (additional rollers diameter / drive roller diameter)²

Additional Rollers Length

The length of any additional rollers.  The diameter, length and material density are required to calculate the weight of the additional rollers.   Diameter and weight are required to determine the inertia of the additional rollers.  The additional rollers inertia and ratio to drive roller are then used to determine the additional rollers reflected inertia to the motor directly, or to the gearbox and/or belt and pulleys.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

reflected inertia   =   additional rollers inertia   /   (additional rollers diameter / drive roller diameter)²

Additional Rollers Material

The material of any additional rollers.  The diameter, length and material density are required to calculate the weight of the additional rollers.   Diameter and weight are required to determine the inertia of the additional rollers.  The additional rollers inertia and ratio to drive roller are then used to determine the additional rollers reflected inertia to the motor directly, or to the gearbox and/or belt and pulleys.

weight   =   Pi   X   (diameter / 2) ²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

reflected inertia   =   additional rollers inertia   /   (additional rollers diameter / drive roller diameter)²

Additional Rollers Material Density

The material density of any additional rollers.  The diameter, length and material density are required to calculate the weight of the additional rollers.   Diameter and weight are required to determine the inertia of the additional rollers. The additional rollers inertia and ratio to drive roller are then used to determine the additional rollers reflected inertia to the motor directly, or to the gearbox and/or belt and pulleys.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

reflected inertia   =   additional rollers inertia   /   (additional rollers diameter / drive roller diameter)²


Rack & Pinion Specifications

Rack & Pinion Pinion Diameter

The diameter of the pinion gear driven by the motor directly, or thru a gearbox and/or belt and pulleys.  Diameter and weight are required to determine the inertia of the pinion gear.

inertia   =   weight   X   (diameter / 2)²   /   2

Rack & Pinion Pinion Thickness

The thickness of the pinion gear driven by the motor directly, or thru a gearbox and/or belt and pulleys.  The diameter, thickness and material density are required to calculate the weight of the pinion gear.   Diameter and weight are then used to determine the inertia of the pinion gear.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

Rack & Pinion Pinion Material

The material of the pinion gear driven by the motor directly, or thru a gearbox and/or belt and pulleys.  The diameter, thickness and material density are required to calculate the weight of the pinion gear.   Diameter and weight are then used to determine the inertia of the pinion gear.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

Rack & Pinion Orientation

Horizontal, vertical or incline on which the load travels.  The load weight, degree of incline and pinion diameter are required to determine the torque due to gravity.

torque due to gravity   =   (load weight   /   Sin(degree of incline) )   X   (pinion diameter / 2)   X   16

Rack & Pinion Coefficient of Friction

The material in which the rack and rack supports are constructed.  Used to determine the rails coefficient of friction.  Rack coefficient of friction is required to determine the required torque to move the load.

Load Weight

The entire weight of all items (load) to be move by the rack, including the rack.  Load weight and pinion diameter are required to determine the inertia of the load.  Rack coefficient of friction, load weight and pinion diameter are also required to determine the torque required to move the load.

inertia   =   load weight   X   (pinion diameter / 2)²

torque   =   load weight   X   rack coefficient of friction   X   (pinion diameter / 2)   X   16

Load Opposing Force

Any force that opposes movement of the load, not including friction or gravity.  Opposing force and pinion diameter are required to determine the torque required to overcome the opposing force.

torque   =   opposing force   X   (pinion diameter / 2)   X   16


Conveyor Specifications

Conveyor Driver Pulley Diameter

The diameter of the driver pulley driven by the motor directly, or thru a gearbox and/or belt and pulleys.  Diameter and weight are required to determine the inertia of the driver pulley.

inertia   =   weight   X   (diameter / 2)²   /   2

Conveyor Driver Pulley Weight

The weight of the driver pulley driven by the motor directly, or thru a gearbox and/or belt and pulleys. Diameter and weight are required to determine the inertia of the driver pulley.

inertia   =   weight   X   (diameter / 2)²   /   2

Conveyor Driver Pulley Thickness

The thickness of the driver pulley driven by the motor directly, or thru a gearbox and/or belt and pulleys.  The diameter, thickness and material density are required to calculate the weight of the driver pulley.   Diameter and weight are then used to determine the inertia of the driver pulley.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

Conveyor Driver Pulley Material

The material of the driver pulley driven by the motor directly, or thru a gearbox and/or belt and pulleys.  The diameter, thickness and material density are required to calculate the weight of the driver pulley.   Diameter and weight are then used to determine the inertia of the driver pulley.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

Conveyor Driver Pulley Material Density

The material density of the driver pulley driven by the motor directly, or thru a gearbox and/or belt and pulleys.  The diameter, thickness and material density are required to calculate the weight of the driver pulley.   Diameter and weight are then used to determine the inertia of the driver pulley.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

Conveyor Driven Pulley Diameter

The diameter of the pulley opposite the driver pulley.  Diameter and weight are required to determine the inertia of the driven pulley.  The driven pulley inertia and ratio to driver pulley are then used to determine the driven pulley reflected inertia to the motor directly, or to the gearbox and/or belt and pulleys.

inertia   =   weight   X   (diameter / 2)²   /   2

reflected inertia   =   driven pulley inertia   /   (driven pulley diameter / driver pulley diameter)²

Conveyor Driven Pulley Weight

The weight of the pulley opposite the driver pulley.  Diameter and weight are required to determine the inertia of the driven pulley.  The driven pulley inertia and ratio to driver pulley are then used to determine the driven pulley reflected inertia to the motor directly, or to the gearbox and/or belt and pulleys.

inertia   =   weight   X   (diameter / 2)²   /   2

reflected inertia   =   driven pulley inertia   /   (driven pulley diameter / driver pulley diameter)²

Conveyor Driven Pulley Thickness

The thickness of the pulley opposite the driver pulley.  The diameter, thickness and material density are required to calculate the weight of the driven pulley.   Diameter and weight are required to determine the inertia of the driven pulley.  The driven pulley inertia and ratio to driver pulley are then used to determine the driven pulley reflected inertia to the motor directly, or to the gearbox and/or belt and pulleys.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

reflected inertia   =   driven pulley inertia   /   (driven pulley diameter / driver pulley diameter)²

Conveyor Driven Pulley Material

The material of the pulley opposite the driver pulley.  The diameter, thickness and material density are required to calculate the weight of the driven pulley.   Diameter and weight are required to determine the inertia of the driven pulley.  The driven pulley inertia and ratio to driver pulley are then used to determine the driven pulley reflected inertia to the motor directly, or to the gearbox and/or belt and pulleys.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

reflected inertia   =   driven pulley inertia   /   (driven pulley diameter / driver pulley diameter)²

Conveyor Driven Pulley Material Density

The material density of the pulley opposite the driver pulley.  The diameter, thickness and material density are required to calculate the weight of the driven pulley.   Diameter and weight are required to determine the inertia of the driven pulley.  The driven pulley inertia and ratio to driver pulley are then used to determine the driven pulley reflected inertia to the motor directly, or to the gearbox and/or belt and pulleys.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

reflected inertia   =   driven pulley inertia   /   (driven pulley diameter / driver pulley diameter)²

Belt Weight

The weight of the conveyor belt connecting the driver pulley and driven pulley.  Belt weight and driver pulley diameter are required to determine the inertia of the belt.

inertia   =   belt weight   X   (driver pulley diameter / 2)²

Load Weight

The entire weight of all items (load) to be move by the conveyor.  Load weight and driven pulley diameter are required to determine the inertia of the load.  Conveyor support coefficient of friction, load weight and driver pulley diameter are also required to determine the torque required to move the load.

inertia   =    load weight   X   (driven pulley diameter / 2)²

torque   =   load weight   X   conveyor support coefficient of friction   X   (driver pulley diameter / 2)   X   16

Load Opposing Force

Any force that opposes movement of the load, not including friction or gravity.  Opposing force and driver pulley diameter are required to determine the torque required to overcome the opposing force.

torque   =   opposing force   X   (driver pulley diameter / 2)   X   16

Orientation

Horizontal, vertical or incline on which the load travels.  The load weight, belt weight, degree of incline and driver pulley diameter are required to determine the torque due to gravity.

torque due to gravity   =   ( (load weight + belt weight)   /   Sin(degree of incline) )   X    (driver pulley diameter / 2)   X   16

Additional Pulleys Diameter

The diameter of any additional pulleys.  Diameter and weight are required to determine the inertia of the additional pulleys.  The additional pulleys inertia and ratio to driver pulley are then used to determine the additional pulleys reflected inertia to the motor directly, or to the gearbox and/or belt and pulleys.

inertia   =   weight   X   (diameter / 2)²   /   2

reflected inertia   =   additional pulleys inertia   /   (additional pulleys diameter / driver pulley diameter)²

Additional Pulleys Weight

The weight of any additional pulleys.  Diameter and weight are required to determine the inertia of the additional pulleys.  The additional pulleys inertia and ratio to driver pulley are then used to determine the additional pulleys reflected inertia to the motor directly, or to the gearbox and/or belt and pulleys.

inertia   =   weight   X   (diameter / 2)²   /   2

reflected inertia   =   additional pulleys inertia   /   (additional pulleys diameter / driver pulley diameter)²

Additional Pulleys Thickness

The thickness of any additional pulleys.  The diameter, thickness and material density are required to calculate the weight of the additional pulleys.   Diameter and weight are required to determine the inertia of the additional pulleys.  The additional pulleys inertia and ratio to driver pulley are then used to determine the additional pulleys reflected inertia to the motor directly, or to the gearbox and/or belt and pulleys.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

reflected inertia   =   additional pulleys inertia   /   (additional pulleys diameter / driver pulley diameter)²

Additional Pulleys Material

The material of any additional pulleys.  The diameter, thickness and material density are required to calculate the weight of the additional pulleys.   Diameter and weight are required to determine the inertia of the additional pulleys.  The additional pulleys inertia and ratio to driver pulley are then used to determine the additional pulleys reflected inertia to the motor directly, or to the gearbox and/or belt and pulleys.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

reflected inertia   =   additional pulleys inertia   /   (additional pulleys diameter / driver pulley diameter)²

Additional Pulleys Material Density

The material density of any additional pulleys.  The diameter, thickness and material density are required to calculate the weight of the additional pulleys.   Diameter and weight are required to determine the inertia of the additional pulleys. The additional pulleys inertia and ratio to driver pulley are then used to determine the additional pulleys reflected inertia to the motor directly, or to the gearbox and/or belt and pulleys.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

reflected inertia   =   additional pulleys inertia   /   (additional pulleys diameter / driver pulley diameter)²


Additional Motor Interface Specifications

Gearbox Ratio

The ratio of input revolutions vs. output revolutions of the gearbox.  The gearbox ratio is required to determine the inertia reflected to the motor.  The entire system inertia is divided by the square of the gearbox ratio.

inertia reflected to motor   =   system inertia   /   (gearbox ratio²)

Gearbox Efficiency

The efficiency rating due to losses within the gearbox.

Motor Pulley Diameter

The diameter of the pulley driven by the motor directly, or thru a gearbox.  Diameter and weight are required to determine the inertia of the pulley.  The entire system inertia is divided by the square of the belt and pulleys ratio.

inertia   =   weight   X   (diameter / 2)²   /   2

inertia reflected to motor   =   system inertia   /   (belt and pulleys ratio²)

Motor Pulley Weight

The weight of the pulley driven by the motor directly, or thru a gearbox.  Diameter and weight are required to determine the inertia of the pulley.  The entire system inertia is divided by the square of the belt and pulleys ratio.

inertia   =   weight   X   (diameter / 2)²   /   2

inertia reflected to motor   =   system inertia   /   (belt and pulleys ratio²)

Motor Pulley Thickness

The thickness of the pulley driven by the motor directly, or thru a gearbox.  The diameter, thickness and material density are required to calculate the weight of the pulley.   Diameter and weight are then used to determine the inertia of the pulley.  The entire system inertia is divided by the square of the belt and pulleys ratio.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

inertia reflected to motor   =   system inertia   /   (belt and pulleys ratio²)

Motor Pulley Material

The material of the pulley driven by the motor directly, or thru a gearbox.  The diameter, thickness and material density are required to calculate the weight of the pulley.   Diameter and weight are then used to determine the inertia of the pulley.  The entire system inertia is divided by the square of the belt and pulleys ratio.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

inertia reflected to motor   =   system inertia   /   (belt and pulleys ratio²)

Motor Pulley Material Density

The material density of the pulley driven by the motor directly, or thru a gearbox.  The diameter, thickness and material density are required to calculate the weight of the pulley.   Diameter and weight are then used to determine the inertia of the pulley.  The entire system inertia is divided by the square of the belt and pulleys ratio.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

inertia reflected to motor   =   system inertia   /   (belt and pulleys ratio²)

Load Pulley Diameter

The diameter of the pulley attached to the load.  Diameter and weight are required to determine the inertia of the pulley.  The load pulley inertia and ratio to motor pulley are then used to determine the load pulley reflected inertia to the motor directly, or to the gearbox.  The entire system inertia is divided by the square of the belt and pulleys ratio.

inertia   =   weight   X   (diameter / 2)²   /   2

reflected inertia   =   load pulley inertia   /   (load pulley diameter / motor pulley diameter)²

inertia reflected to motor   =   system inertia   /   (belt and pulleys ratio²)

Load Pulley Weight

The weight of the pulley attached to the load.  Diameter and weight are required to determine the inertia of the pulley.  The load pulley inertia and ratio to motor pulley are then used to determine the load pulley reflected inertia to the motor directly, or to the gearbox.  The entire system inertia is divided by the square of the belt and pulleys ratio.

inertia   =   weight   X   (diameter / 2)²   /   2

reflected inertia   =   load pulley inertia   /   (load pulley diameter / motor pulley diameter)²

inertia reflected to motor   =   system inertia   /   (belt and pulleys ratio²)

Load Pulley Thickness

The thickness of the pulley attached to the load.  The diameter, thickness and material density are required to calculate the weight of the load pulley.   Diameter and weight are required to determine the inertia of the load pulley.  The load pulley inertia and ratio to motor pulley are then used to determine the load pulley reflected inertia to the motor directly, or to the gearbox.  The entire system inertia is divided by the square of the belt and pulleys ratio.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

reflected inertia   =   load pulley inertia   /   (load pulley diameter / motor pulley diameter)²

inertia reflected to motor   =   system inertia   /   (belt and pulleys ratio²)

Load Pulley Material

The material of the pulley attached to the load.  The diameter, thickness and material density are required to calculate the weight of the load pulley.   Diameter and weight are required to determine the inertia of the load pulley.  The load pulley inertia and ratio to motor pulley are then used to determine the load pulley reflected inertia to the motor directly, or to the gearbox.  The entire system inertia is divided by the square of the belt and pulleys ratio.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

reflected inertia   =   load pulley inertia   /   (load pulley diameter / motor pulley diameter)²

inertia reflected to motor   =   system inertia   /   (belt and pulleys ratio²)

Load Pulley Material Density

The material density of the pulley attached to the load.  The diameter, thickness and material density are required to calculate the weight of the load pulley.   Diameter and weight are required to determine the inertia of the load pulley.  The load pulley inertia and ratio to motor pulley are then used to determine the load pulley reflected inertia to the motor directly, or to the gearbox.  The entire system inertia is divided by the square of the belt and pulleys ratio.

weight   =   Pi   X   (diameter / 2)²   X  thickness  X   material density

inertia   =   weight   X   (diameter / 2)²   /   2

reflected inertia   =   load pulley inertia   /   (load pulley diameter / motor pulley diameter)²

inertia reflected to motor   =   system inertia   /   (belt and pulleys ratio²)

Belt Weight

The weight of the belt connecting the motor pulley and load pulley.  Belt weight and motor pulley diameter are required to determine the inertia of the belt.

inertia   =   belt weight   X   (motor pulley diameter / 2)²


System Selection Overview

The Motor & Controller Selection section determines which systems are suited for your application.

Define your motion profile by selecting one of the three following motion profiles:

Simple Triangular or Trapezoidal Motion Profile

Start by selecting the proper units of measure, then input the motion profile by defining two profile parameters for a triangular profile or three profile parameters of a trapezoidal profile.

Multiple Point Motion Profile

Start by selecting the proper units of measure, then input the motion profile by defining two profile parameters for each segment of the motion profile.

Time Optimized Motion Profile

Start by selecting the proper units of measure, then input the move distance.  You may wish, but are not required to change any other parameters to determine the best move time.

The next step is to input values for total reflected inertia and total reflected torque.  If you have used CAMAS to calculate your inertia and torque requirements by defining your mechanical system, values for total reflected inertia and total reflected torque are already present.

The last step is to click on the 'Additional Specs' button if you would like to change any of the default safety factors or pulses per revolution.  You may also choose which systems are used in the selection routine by clicking on the 'Search Criteria' button.

When all selections are complete click on the Search Database for Solutions button.  CAMAS searches it's database and displays a listing of all systems that meet all requirements.  By clicking on any system in the list, CAMAS displays the detailed move characteristics for that combination.  Buttons are also provided to display the performance curve, system information, motor dimensions, and print detailed characteristics.


Motion Profile Parameters

Simple Triangular or Trapezoidal or Multiple Point Motion Profile Parameters

Distance

If linear units of measure are selected (i.e. inches, centimeters, etc.) the move distance is the distance the load is required to move.  If counts, degrees or revolutions are selected the move distance is the distance the motor shaft is required to move.

Velocity & Ending Velocity

If linear units of measure are selected (i.e. inches, centimeters, etc.) the velocity is the velocity the load is required to move.  If counts, degrees or revolutions are selected the velocity is the velocity the motor shaft is required to move.

Time

The time required to complete motion.

Acceleration / Deceleration Rate

If linear units of measure are selected (i.e. inches, centimeters, etc.) the acc/dec rate is the acc/dec rate the load is required to move.  If counts, degrees or revolutions are selected the acc/dec rate is the acc/dec rate the motor shaft is required to move.

Dwell After Cycle

The time between cycles when no motion is required.

Time Optimized Motion Profile Parameters

Move Distance

If the mechanical system has been defined using the Analysis of Mechanical System section of CAMAS the move distance is the distance the load is required to move.  If the mechanical system has not been defined the move distance is the distance the motor shaft is required to move.  Default: distance equivalent to one motor revolution.

Max Speed

The highest possible speed the motor is allowed to achieve during motion.  More than the equivalent of 10,000 full steps per second (50rps) is not recommended.  Default: 10,000 full steps/second.

Max Time

The maximum allowable time to move the entire move distance.  Default: 9999 seconds.

Max Acc/Dec Time

The maximum allowable time accelerate and decelerate the motor and load.  Default: 9999 seconds.

Max Acc/Dec Distance

The maximum allowable distance to accelerate and decelerate the motor and load.  Default: 1/2 the move distance.

Select Base Speed for Stepper Systems

Enables or disables the selection of an initial starting speed other than zero for stepper systems.


Load Specifications

Total Inertia

The static inertia reflected to the motor.  If the mechanical system has been defined using the Analysis of Mechanical System section of CAMAS the total inertia value calculated in that section is automatically transferred.

Total Torque

The static torque reflected to the motor.  If the mechanical system has been defined using the Analysis of Mechanical System section of CAMAS the total torque value calculated in that section is automatically transferred.


Additional Specifications

Pulses Per Revolution

The amount of pulses in one revolution as defined by the controller.  This requirement applies only when using pulses as units of linear measure.  Default: 1000 pulses.

Maximum Peak Torque Utilized During Acceleration

The percentage of peak torque utilized during acceleration.  More than 50% is not recommended.  Default: 50%.

Maximum Peak Torque Utilized at Constant Speed

The percentage of peak torque utilized while the motor is running at a constant speed.  More than 90% is not recommended.  Default: 90%.

Maximum Continuous Torque Utilized

The percentage of continuous torque utilized to perform the motion profile.  More than 90% is not recommended.  Default: 90%.

Max Load to Rotor Inertia Ratio

The maximum allowable ratio of load inertia to motor rotor inertia.  More than 10X load to rotor inertia is not recommended.  Default: 10:1.

Is Torque Requirement Present at Standstill

If the total reflected torque is required at standstill select 'yes' button.  If no torque is required select 'no' button.


Units of Linear Measure

Inches, Feet, Millimeters, Centimeters & Meters

All move distances and speeds are displayed using inches, feet, millimeters, centimeters or meters as a unit of measure.  This option is only available is mechanical system has been defined using the Analysis of Mechanical System section.

Pulses at Motor Shaft

All move distances and speeds are displayed using motor pulses as a unit of measure.

Degrees at Motor Shaft

All move distances and speeds are displayed using motor degrees as a unit of measure.

Revolutions at Motor Shaft

All move distances and speeds are displayed using motor revolutions as a unit of measure.


File Control Options

New Application

Clears all selections and values and returns to Program Selection screen.  If the present application has not been saved, a message box appears to ask the user if they wish to save the current application.

Open Application

A standard Open File dialog box appears to select the name of a CAMAS application file to open, and loads the file from disk.  If a present exists and has not been saved, a message box appears to ask the user if they wish to save the current application.

Save Application

The present application is saved to disk using the presently selected path and filename.  If no filename is presently selected, CAMAS invokes the Save Application As option.

Save Application As

A standard Save As dialog box appears to select or input a filename, and using that filename, saves the present application to disk.


Print Application

When the Print Application option is selected a Print selection screen appears.  Click on the 'OK' button to print, 'Cancel' button to exit, or 'Printer Setup...' button to setup a printer.  The print screen also provides the following options:

Include Mechanical System Data

This option will be enabled and selected if a mechanical system has been chosen.  This option prints all the mechanical system data.

Include System Selection Data

This option will be enabled and selected after searching the database for systems capable of performing the required motion profile.  This option prints all the system selection data for the system currently selected.

Include Listing of All Capable Systems

This option will be enabled and selected after searching the database for systems capable of performing the required motion profile.  This option prints a listing of all the capable systems shown in the solution grid.

Page Header

The title page of each print selection includes a page header.  The header will include the information that has been entered for Contact, Company Name, and Comments.

Print in Color

This option enables printing in color if the current printer supports color printing.


Units of Measure

The Units of Measure selection screen allows the user to select English and metric units of length, force, inertia and torque.  The selected units of measure are saved to disk upon selecting the Save Settings on Exit option.  The available units of measure are as follows:

metric units of length

millimeters, centimeters & meters

metric units of force

grams, kilograms & Newtons

metric units of inertia

kilogram meters², kilogram centimeters² & gram centimeters²

metric units of torque

Newton meters, Newton centimeters, dyne centimeters, kilogram meters, kilogram centimeters & gram centimeters

English units of length

inches and feet

English units of force

ounces and pounds

English units of inertia

ounce inches², ounce inch seconds², pound inches², pound inch seconds², pound feet² & pound feet seconds²

English units of torque

ounces inches, pound inches & pound feet


Save Settings on Exit

The Save Settings on Exit option saves the user selected units of measure settings to disk when the user exits CAMAS.   The next time the user starts CAMAS the previously selected units of measure will be restored.  This feature toggles each time it is selected.  A 'check' represents feature selected.


Solve Using...

The Solve Using selection screen applies only to the Analysis of Mechanical System section of CAMAS.

To determine the moment of inertia of an object, the outer diameter, inner diameter (if any) and weight must be defined.  The Solve Using screen allows the user to select one of three sets of information to input about the object:

Diameter & Weight

Select this option if the diameter and weight are known.  CAMAS uses these values directly to calculate the moment of inertia.

Diameter, Length or Thickness & Material

Select this option if the diameter, length or thickness, and material are known.  CAMAS will use the length or thickness, and material to determine the weight of the object, then calculate the moment of inertia.

Diameter, Length or Thickness & Material Density

Select this option if the diameter, length or thickness, and material density are known.  CAMAS will use the length or thickness, and material density to determine the weight of the object, then calculate the moment of inertia.