W.O.

NO-WD123
`
Z-AXIS L.M. RAIL RUNNER BLOCK CALCULATION
SR.
DESCRIPTION SYMBOL UNITS VALUE FORMULA
NO.
1 ROBOT HORIZONTAL LOAD FH Kg 252
DIST. BETWEEN ROBOT BASE TO
2 S MM 2168
R BLOCK AT 4000 MM STROKE
3 DIST. BETWEEN RUNNER BLOCK M MM 1000

4 LOAD ON ONE RUNNER BLOCK FR N 5359.55616 FR=((FH x S)/M) x 9.81

6 ROBOT TORSION MOMENT MH Nm 2264

8 DIST. BETWEEN RUNNER BLOCK Q MTR. 0.165

9 LOAD ON ONE RUNNER BLOCK FR N 13721.21212 FR=MH/Q

Page 1 of 5
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JET RACK SLIDE CALCULATIONS

ACTUAL
DESCRIPTION SYMBOL UNITS VALUE FORMULA
VALUE

TOTAL MASS TO BE MOVED MT Kg. 800 MT=MX+MZ+MMY+MP

COUNTERBALANCE 0

COEFFICIENT OF ROLLING FRICTION µ -- 0.005 LM SYSTEM, REF. CATALOG

FF= u x MT x 9.81 x COS(θ) +

FORCE (FRICTION) Ff N 79.24 { RUNNER BLOCK FRICTION (10N
/ BLOCK) }

FORCE GRAVITY N 0.00

EXTERNAL FORCE N 0.00

TOTAL 16 PASSES
REQUIRED DIST TO BE COVERED S m 0.500
1 PASS = 8mm
TOTAL 16 PASSES IN 3 SEC
TIME REQUIRED TO COVER THIS DIST. T sec 1.00 0.81
1 PASS OF 8mm = 0.18

AVERAGE VELOCITY Savg m/sec. 0.5000 0.62005

INITIAL VELOCITY U m/sec. 0.00 0.00

MAXIMUM VELOCIY USING TRIANGULAR MOVE PROFILE Vf1 m/sec. 1.0000 1.240 Savg x 2

ACCELERATION USING TRIANGULAR MOVE PROFILE Acc2 m/sec2 2.00 2.480

INERTIA FORCE FOR TRANGULAR Fib N 1600.00 1984.16 FI =MTXAcc2

TOTAL FORCE REQUIRED FOR TRANGULAR Ft1 N 1679.24 2063.40

TOTAL FORCE CONSIDERED FOR DESIGN Ft N 2183.01 2524.08 MISS ALIGNMENT FACTOR= 30%

P.C.D. OF PINION D2 MTR 0.0810

PINION TORQUE CAPACITY
TOTAL TORQUE REQUIRED AT GB O/P T2 N-m 88.41 102.23
(21 30 020 )ATLANTA = 215 N-m

PREPARED BY CES Page 2 of 5 PENTA REF. NO WJ118

 B140
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JET RACK SLIDE CALCULATIONS

ACTUAL
DESCRIPTION SYMBOL UNITS VALUE FORMULA
VALUE

MOTOR RPM R RPM 3000.00 3000.00

PINION RPM REQUIRED R1 RPM 235.79 292.40

REQUIRED GEARBOX RATIO r 12.72

ACTUAL GEARBOX RATIO SELECTED Ar 10.26 10.26

EFFICIENCY OF G.B 0.680 0.680

REQUIRED RATED TORQUE OF MOTOR Rt N-m 12.67 14.65

RATED TORQUE OF THE MOTOR SELECTED Tmotor N-m 15.5 1FK7101-5AF71-1FH5

MAX TORQUE OF THE MOTOR SELECTED ATmotor N-m 22

CORRECTION FACTOR F1 1.2 REF.GIRRARD CATALOGUE

CORRECTION FACTOR F2 1 REF.GIRRARD CATALOGUE
GEARBOX OUTPUT MAX TORQUE RATING T(g.b) N-m 184.18752
DYNABOX-63-BASIC-10.26-CR-
GEARBOX SELECTED WITH OUTPUT MAX TORQUE (S5) N-m 192 H1-BM F 165/130-AM N° 60(Motor
Shaft Ø32)
INERTIA REFLECTED AT PINION Kg-m2 1.3122

INERTIA REFLECTED AT MOTOR Kg-m2 0.012635373961

ROTOR INERTIA Kg-m2 0.008 Inwertia of motor rotor with brake

INERTIA RATIO 1.579422

PREPARED BY CES Page 3 of 5 PENTA REF. NO WJ118

 B140
`
JET RACK SLIDE CALCULATIONS

ACTUAL
DESCRIPTION SYMBOL UNITS VALUE FORMULA
VALUE

TOTAL MASS TO BE MOVED MT Kg. 800 MT=MX+MZ+MMY+MP

COUNTERBALANCE 0

COEFFICIENT OF ROLLING FRICTION µ -- 0.005 LM SYSTEM, REF. CATALOG

FF= u x MT x 9.81 x COS(θ) +

FORCE (FRICTION) Ff N 79.24 { RUNNER BLOCK FRICTION (10N
/ BLOCK) }

FORCE GRAVITY N 0.00

EXTERNAL FORCE N 0.00

REQUIRED DIST TO BE COVERED S m 0.500

TIME REQUIRED TO COVER THIS DIST. T sec 1.00 0.82

AVERAGE VELOCITY Savg m/sec. 0.5000 0.60916

INITIAL VELOCITY U m/sec. 0.00 0.00

MAXIMUM VELOCIY USING TRIANGULAR MOVE PROFILE Vf1 m/sec. 1.0000 1.218 Savg x 2

ACCELERATION USING TRIANGULAR MOVE PROFILE Acc2 m/sec2 2.00 2.437

INERTIA FORCE FOR TRANGULAR Fib N 1600.00 1949.32 FI =MTXAcc2

TOTAL FORCE REQUIRED FOR TRANGULAR Ft1 N 1679.24 2028.56

TOTAL FORCE CONSIDERED FOR DESIGN Ft N 2183.01 2482.27 MISS ALIGNMENT FACTOR= 30%

P.C.D. OF PINION D2 MTR 0.0795

PINION TORQUE CAPACITY
TOTAL TORQUE REQUIRED AT GB O/P T2 N-m 86.77 98.67
(21 30 525 )ATLANTA = 170 N-m

PREPARED BY CES Page 4 of 5 PENTA REF. NO WJ118

 B140
`
JET RACK SLIDE CALCULATIONS

ACTUAL
DESCRIPTION SYMBOL UNITS VALUE FORMULA
VALUE

MOTOR RPM R RPM 3000.00 3000.00

PINION RPM REQUIRED R1 RPM 240.23 292.68

REQUIRED GEARBOX RATIO r 12.49

ACTUAL GEARBOX RATIO SELECTED Ar 10.25 10.25

EFFICIENCY OF G.B 0.920 0.920

REQUIRED RATED TORQUE OF MOTOR Rt N-m 9.20 10.46

RATED TORQUE OF THE MOTOR SELECTED Tmotor N-m 15.5 1FK7100-5AF71-1EG0

MAX TORQUE OF THE MOTOR SELECTED ATmotor N-m 22

CORRECTION FACTOR F1 1.2 REF.GIRRARD CATALOGUE

CORRECTION FACTOR F2 1 REF.GIRRARD CATALOGUE
GEARBOX OUTPUT MAX TORQUE RATING T(g.b) N-m 248.952
DYNABOX-63-BASIC-10.26-CR-
GEARBOX SELECTED WITH OUTPUT MAX TORQUE (S5) N-m 192 H1-BM F 165/130-AM N° 60(Motor
Shaft Ø32)
INERTIA REFLECTED AT PINION Kg-m2 1.26405

INERTIA REFLECTED AT MOTOR Kg-m2 0.012201409875

ROTOR INERTIA Kg-m2 0.008 Inertia of motor rotor with brake

INERTIA RATIO 1.525176

PREPARED BY CES Page 5 of 5 PENTA REF. NO WJ118