Project: Sample 1.ssp
System: Project Notes

04-Nov-2010
Page 1 of 16
SERVOsoft v2.9.185 Pro   Database: v2.9.23  23-Oct-2010

Standard 3-Axis Gantry Robot

========================

Baumueller Drives and Motors

Alpha Gearboxes

Points of Interest:

==============

1. The Y Axis (Axis 2) has an external bleeder connected to its internal chopper.

2. All bleeder power is channeled through the external bleeder.

3. Click on any module in the 'Power' frame, and its rated and calculated performance values will be displayed.

4. In E-Stop mode, the bleeder has enough peak power capacity to stop the X & Z axes simultaneously, or the Y axis on its own. Hence, the E-Stop scenario considers the X & Z axes at full speed when an E-Stop occurs, and the Y axis has no E-Stop sequence.

Project: Sample 1.ssp
System: System Check

04-Nov-2010
Page 2 of 16
SERVOsoft v2.9.185 Pro   Database: v2.9.23  23-Oct-2010
Type
 Axis
 Description
 Alarm
 Value
 Limit
 Units
W
 1
 X Axis
 Gearbox max output torque could be exceeded if available motor max torque is applied
 210
 90
 Nm
W
 1
 X Axis
 Gearbox output shaft load values are different than the calculated values.
      
             
W
 2
 Y Axis
 Gearbox max output torque could be exceeded if available motor max torque is applied
 209.6
 180
 Nm
W
 2
 Y Axis
 Gearbox output shaft load values are different than the calculated values.
      
             
W
 3
 Z Axis
 Gearbox max output torque could be exceeded if available motor max torque is applied
 349
 250
 Nm
W
 3
 Z Axis
 Gearbox output shaft load values are different than the calculated values.
      
Project: Sample 1.ssp
System: System Power

04-Nov-2010
Page 3 of 16
SERVOsoft v2.9.185 Pro   Database: v2.9.23  23-Oct-2010
Energy: $ 467.95 /year
Supply
  RMS power
  Total cont power
  Net cont power
  Peak power
Bus
  Output cont power
  Output peak power
  Regen cont power
  Regen peak power
  Pxt
Inverter
  Output cont power
  Output peak power
  Regen cont power
  Regen peak power
  Ixt
Bleeder
  Cont power
  Peak power
  Energy dissipation
Units
 
W
W
W
W
 
W
W
W
W
%
 
W
W
W
W
%
 
W
W
Ws
X Axis
 
 
 
 
 
 
 
 
 
 
 
 
59.5
2,063
14.04
919
2.846
 
 
 
 
Y Axis
400V 3Ø
1,466
490
490
8,797
LF [25°C, 1000m] = 1
14,960 / 475 / 96.8%
27,280 / 8,533 / 68.7%
 
 
3.3
 
436
16,553
192.2
9,389
21.57
LF [25°C, 1000m] = 1
1,400 / 168.1 / 88.0%
14,000 / 6,755 / 51.7%
140,000 / 862 / 99.4%
Z Axis
400V 3Ø
1,466
490
490
8,797
LF [25°C, 1000m] = 1
14,960 / 475 / 96.8%
27,280 / 8,533 / 68.7%
 
 
3.3
 
612
11,693
269.3
6,841
13.17
LF [25°C, 1000m] = 1
0 / 0 / 0%
0 / 0 / 0%
0 / 0 / 0%
Project: Sample 1.ssp
Axis 1: X Axis - Sequence

04-Nov-2010
Page 4 of 16
SERVOsoft v2.9.185 Pro   Database: v2.9.23  23-Oct-2010
No.
 Description
 Start Time
(s)
 Duration
(s)
 Distance
(mm)
 Start Vel
(m/s)
 End Vel
(m/s)
 Acceleration
(m/s²)
 Jerk
(m/s³)
 Payload
(kg)
 Thrust
(N)
1
 Dwell
 0
 1.2
 0
 0
 0
 0
 0
 0
 0
2
 Move to drop
 1.2
 0.18333
 91.67
 0
 1
 10
 120
 5
 50
3
 Move to drop
 1.3833
 0.3667
 366.7
 1
 1
 0
 0
 5
 100
4
 Move to drop
 1.75
 0.18333
 91.67
 1
 0
 -10
 120
 5
 50
5
 Move to drop
 1.9333
 0.75
 0
 0
 0
 0
 0
 5
 0
6
 Move to pick
 2.6833
 0.18333
 -91.67
 0
 -1
 -10
 -120
 0
 50
7
 Move to pick
 2.8667
 0.3667
 -366.7
 -1
 -1
 0
 0
 0
 100
8
 Move to pick
 3.233
 0.18333
 -91.67
 -1
 0
 10
 120
 0
 50
9
 Move to pick
 3.417
 0.583
 0
 0
 0
 0
 0
 0
 0
Project: Sample 1.ssp
Axis 1: X Axis - Drive Mechanics

04-Nov-2010
Page 5 of 16
SERVOsoft v2.9.185 Pro   Database: v2.9.23  23-Oct-2010
Req'd
 Limit
 Margin
Cycle time
 10.0
 s
Velocity
 1
 m/s
Acceleration
 10
 m/s²
Deceleration
 10
 m/s²
Drive pulley output torque
 72.6
 Nm
 0
 Nm
 0%
Belt tensile force
 3,226
 N
 0
 N
 0%
Rigidity at input
 0
 Nm/arcmin
Max load (Load + Payload)
 155
 kg
Max thrust
 100
 N
Efficiency
 95
 %
Incline
 0
 °
Drive pulley radius
 45
 mm
Drive pulley inertia
 0.003043
 kg-m²
Driven pulley radius
 45
 mm
Driven pulley inertia
 0.001047
 kg-m²
Idler radius
 30
 mm
Idler inertia
 0.0002415
 kg-m²
Belt mass
 0.5
 kg
Belt rigidity
 0
 N/m
Belt preload
 100
 %
Load mass
 150
 kg
Counterbalance mass
 0
 kg
Counterbalance force
 0
 N
Project: Sample 1.ssp
Axis 1: X Axis - Gearbox

04-Nov-2010
Page 6 of 16
SERVOsoft v2.9.185 Pro   Database: v2.9.23  23-Oct-2010
GEARBOX: Alpha SP075S-MF1-10-0G1
Rated
 Req'd
 Margin
Type
 Planetary Coaxial
Input/Output
 Hollow / Shaft
Ratio
 10
 :1
Stages
 1
TLF
 0.984
nLF [0°C, 0m]
 1
Max output torque
 88.6
 77.1
 Nm
 12.99%
Max input speed
 6,000
 2,122
 rpm
 64.6%
Nominal output torque
 51.2
 33.4
 Nm
Mean input speed
 233.4
 rpm
Duty Cycle
 60
 14.58
 %
Efficiency
 97
 %
Inertia
 0.000191
 kg-m²
Gearbox life L10h
 0
 0
 h
Output bearing life L10h
 20,000
 0
 h
Max radial load at output
 4,000
 0
 N
 100%
Max axial load at output
 3,350
 0
 N
 100%
Max input shaft dia
 24
 19
 mm
Project: Sample 1.ssp
Axis 1: X Axis - Inverter and Motor

04-Nov-2010
Page 7 of 16
SERVOsoft v2.9.185 Pro   Database: v2.9.23  23-Oct-2010
MOTOR: Baumueller DS56M35
Rated
 Req'd
 Margin
Type
 Synchronous servo motor
Cooling
 Natural convection
LF [25°C, 1000m]
 1
Bus voltage
 540
 328
 V
Cont standstill torque
 7
 Nm
Max torque
 22
 11.25
 Nm
 46.4%
Max current
 14.3
 6.89
 A
Torque constant
 1.71
 Nm/A
Max speed
 3,300
 2,122
 rpm
RMS torque
 7
 1.709
 Nm
 75.6%
Mean speed
 233.4
 rpm
Inertia
 0.00102
 kg-m²
Shaft diameter
 19
 mm
Dwell torque
 0.844
 Nm
I²t
 24.42
 %
Inertia mismatch
 3.32
 : 1
INVERTER: Baumueller BM4423-STx-2
Rated
 Req'd
 Margin
Type
 Inverter
LF [25°C, 1000m, 540V]
 1
Bus voltage
 540
 328
 V
 39.3%
PWM Frequency
 4
 kHz
Max current
 22
 6.89
 A
 68.7%
Cont current
 11
 1.055
 A
 90.4%
Ixt
 2.846
 %
Project: Sample 1.ssp
Axis 2: Y Axis - Sequence

04-Nov-2010
Page 8 of 16
SERVOsoft v2.9.185 Pro   Database: v2.9.23  23-Oct-2010
No.
 Description
 Start Time
(s)
 Duration
(s)
 Distance
(mm)
 Start Vel
(m/s)
 End Vel
(m/s)
 Acceleration
(m/s²)
 Jerk
(m/s³)
 Payload
(kg)
 Thrust
(N)
1
 Move to wait
 0
 0.07778
 -97.22
 0
 -2.5
 -50
 -1,800
 0
 100
2
 Move to wait
 0.07778
 0.0022222
 -5.556
 -2.5
 -2.5
 0
 0
 0
 200
3
 Move to wait
 0.08
 0.07778
 -97.22
 -2.5
 0
 50
 1,800
 0
 100
4
 Move to wait
 0.15778
 0.05
 0
 0
 0
 0
 0
 0
 100
5
 Move down to pick
 0.20778
 0.11778
 -265
 0
 -4.5
 -50
 -1,800
 0
 100
6
 Move down to pick
 0.3256
 0.015556
 -70
 -4.5
 -4.5
 0
 0
 0
 200
7
 Move down to pick
 0.3411
 0.11778
 -265
 -4.5
 0
 50
 1,800
 0
 100
8
 Move down to pick
 0.4589
 0.1
 0
 0
 0
 0
 0
 0
 100
9
 Move up from pick
 0.5589
 0.11778
 265
 0
 4.5
 50
 1,800
 5
 100
10
 Move up from pick
 0.6767
 0.06
 270
 4.5
 4.5
 0
 0
 5
 200
11
 Move up from pick
 0.7367
 0.11778
 265
 4.5
 0
 -50
 -1,800
 5
 100
12
 Move up from pick
 0.8544
 0.95
 0
 0
 0
 0
 0
 5
 100
13
 Move down to drop
 1.8044
 0.17333
 -390
 0
 -4.5
 -50
 -600
 5
 100
14
 Move down to drop
 1.9778
 0.04889
 -220
 -4.5
 -4.5
 0
 0
 5
 200
15
 Move down to drop
 2.0267
 0.17333
 -390
 -4.5
 0
 50
 600
 5
 100
16
 Move down to drop
 2.2
 0.2
 0
 0
 0
 0
 0
 5
 100
17
 Move up from drop
 2.4
 0.17333
 390
 0
 4.5
 50
 600
 0
 100
18
 Move up from drop
 2.5733
 0.04889
 220
 4.5
 4.5
 0
 0
 0
 200
19
 Move up from drop
 2.6222
 0.17333
 390
 4.5
 0
 -50
 -600
 0
 100
20
 Move up from drop
 2.7956
 7.204
 0
 0
 0
 0
 0
 0
 100
Project: Sample 1.ssp
Axis 2: Y Axis - Drive Mechanics

04-Nov-2010
Page 9 of 16
SERVOsoft v2.9.185 Pro   Database: v2.9.23  23-Oct-2010
Req'd
 Limit
 Margin
Cycle time
 10.0
 s
Velocity
 4.5
 m/s
Acceleration
 50
 m/s²
Deceleration
 50
 m/s²
Drive pulley output torque
 66.0
 Nm
 0
 Nm
 0%
Belt tensile force
 3,302
 N
 0
 N
 0%
Rigidity at input
 0
 Nm/arcmin
Max load (Load + Payload)
 25
 kg
Max thrust
 -200
 N
Efficiency
 95
 %
Incline
 90
 °
Drive pulley radius
 40
 mm
Drive pulley inertia
 0.001618
 kg-m²
Driven pulley radius
 40
 mm
Driven pulley inertia
 0.000557
 kg-m²
Idler radius
 30
 mm
Idler inertia
 0.0002415
 kg-m²
Belt mass
 0.5
 kg
Belt rigidity
 0
 N/m
Belt preload
 100
 %
Load mass
 20
 kg
Counterbalance mass
 0
 kg
Counterbalance force
 0
 N
Project: Sample 1.ssp
Axis 2: Y Axis - Gearbox

04-Nov-2010
Page 10 of 16
SERVOsoft v2.9.185 Pro   Database: v2.9.23  23-Oct-2010
GEARBOX: Alpha SP100S-MC1-3-0G1
Rated
 Req'd
 Margin
Type
 Planetary Coaxial
Input/Output
 Hollow / Shaft
Ratio
 3
 :1
Stages
 1
TLF
 0.685
nLF [0°C, 0m]
 1
Max output torque
 123.3
 71.5
 Nm
 42.0%
Max input speed
 6,000
 3,223
 rpm
 46.3%
Nominal output torque
 47.9
 36.8
 Nm
Mean input speed
 257.8
 rpm
Duty Cycle
 60
 14.83
 %
Efficiency
 98.5
 %
Inertia
 0.000399
 kg-m²
Gearbox life L10h
 0
 0
 h
Output bearing life L10h
 30,000
 0
 h
Max radial load at output
 6,300
 0
 N
 100%
Max axial load at output
 5,650
 0
 N
 100%
Max input shaft dia
 24
 24
 mm
Project: Sample 1.ssp
Axis 2: Y Axis - Inverter and Motor

04-Nov-2010
Page 11 of 16
SERVOsoft v2.9.185 Pro   Database: v2.9.23  23-Oct-2010
MOTOR: Baumueller DS71M45
Rated
 Req'd
 Margin
Type
 Synchronous servo motor
Cooling
 Natural convection
LF [25°C, 1000m]
 1
Bus voltage
 540
 457
 V
Cont standstill torque
 7
 Nm
Max torque
 72.5
 49.8
 Nm
 16.93%
Max current
 63.1
 39.5
 A
Torque constant
 1.37
 Nm/A
Max speed
 4,150
 3,223
 rpm
RMS torque
 21.74
 11.78
 Nm
 45.8%
Mean speed
 257.8
 rpm
Inertia
 0.00502
 kg-m²
Shaft diameter
 24
 mm
Brake inertia
 0.00076
 kg-m²
Brake holding torque
 20
 7.32
 Nm
 63.4%
I²t
 54.2
 %
Inertia mismatch
 1.192
 : 1
INVERTER: Baumueller BM4433-SIx
Rated
 Req'd
 Margin
Type
 Infeed/Inverter/Chopper
LF [25°C, 1000m, 540V]
 1
Bus voltage
 540
 457
 V
 15.4%
PWM Frequency
 4
 kHz
Max current
 60
 39.5
 A
 34.2%
Cont current
 30
 8.97
 A
 70.1%
Ixt
 21.57
 %
Project: Sample 1.ssp
Axis 3: Z Axis - Sequence

04-Nov-2010
Page 12 of 16
SERVOsoft v2.9.185 Pro   Database: v2.9.23  23-Oct-2010
No.
 Description
 Start Time
(s)
 Duration
(s)
 Distance
(mm)
 Start Vel
(m/s)
 End Vel
(m/s)
 Acceleration
(m/s²)
 Jerk
(m/s³)
 Payload
(kg)
 Thrust
(N)
1
 Dwell
 0
 0.8
 0
 0
 0
 0
 0
 5
 0
2
 Move to drop
 0.8
 0.4725
 590.6
 0
 2.5
 8
 50
 5
 175
3
 Move to drop
 1.2725
 0.3275
 818.8
 2.5
 2.5
 0
 0
 5
 250
4
 Move to drop
 1.6
 0.4725
 590.6
 2.5
 0
 -8
 -50
 5
 175
5
 Move to drop
 2.0725
 0.55
 0
 0
 0
 0
 0
 5
 0
6
 Move to pick
 2.6225
 0.4725
 -590.6
 0
 -2.5
 -8
 -50
 0
 175
7
 Move to pick
 3.095
 0.3275
 -818.8
 -2.5
 -2.5
 0
 0
 0
 250
8
 Move to pick
 3.423
 0.4725
 -590.6
 -2.5
 0
 8
 50
 0
 175
9
 Move to pick
 3.895
 0
 0
 0
 0
 0
 0
 0
 0
10
 Dwell
 3.895
 0.105
 0
 0
 0
 0
 0
 0
 0
Project: Sample 1.ssp
Axis 3: Z Axis - Drive Mechanics

04-Nov-2010
Page 13 of 16
SERVOsoft v2.9.185 Pro   Database: v2.9.23  23-Oct-2010
Req'd
 Limit
 Margin
Cycle time
 10.0
 s
Velocity
 2.5
 m/s
Acceleration
 8
 m/s²
Deceleration
 8
 m/s²
Drive pulley output torque
 169.2
 Nm
 0
 Nm
 0%
Belt tensile force
 8,459
 N
 0
 N
 0%
Rigidity at input
 0
 Nm/arcmin
Max load (Load + Payload)
 505
 kg
Max thrust
 250
 N
Efficiency
 95
 %
Incline
 0
 °
Drive pulley radius
 40
 mm
Drive pulley inertia
 0.00148
 kg-m²
Driven pulley radius
 40
 mm
Driven pulley inertia
 0.000509
 kg-m²
Idler radius
 40
 mm
Idler inertia
 0
 kg-m²
Belt mass
 1.5
 kg
Belt rigidity
 0
 N/m
Belt preload
 100
 %
Load mass
 500
 kg
Counterbalance mass
 0
 kg
Counterbalance force
 0
 N
Project: Sample 1.ssp
Axis 3: Z Axis - Gearbox

04-Nov-2010
Page 14 of 16
SERVOsoft v2.9.185 Pro   Database: v2.9.23  23-Oct-2010
GEARBOX: Alpha SP100-MF1-5-031
Rated
 Req'd
 Margin
Type
 Planetary Coaxial
Input/Output
 Hollow / Shaft
Ratio
 5
 :1
Stages
 1
TLF
 0.984
nLF [0°C, 0m]
 1
Max output torque
 246.1
 178.4
 Nm
 27.5%
Max input speed
 4,500
 2,984
 rpm
 33.7%
Nominal output torque
 167.3
 108.4
 Nm
Mean input speed
 477
 rpm
Duty Cycle
 60
 25.29
 %
Efficiency
 97
 %
Inertia
 0.00024
 kg-m²
Gearbox life L10h
 0
 0
 h
Output bearing life L10h
 20,000
 0
 h
Max radial load at output
 6,000
 0
 N
 100%
Max axial load at output
 5,400
 0
 N
 100%
Max input shaft dia
 24
 24
 mm
Project: Sample 1.ssp
Axis 3: Z Axis - Inverter and Motor

04-Nov-2010
Page 15 of 16
SERVOsoft v2.9.185 Pro   Database: v2.9.23  23-Oct-2010
MOTOR: Baumueller DSO71M45
Rated
 Req'd
 Margin
Type
 Synchronous servo motor
Cooling
 Forced air
LF [25°C, 1000m]
 1
Bus voltage
 540
 372
 V
Cont standstill torque
 7
 Nm
Max torque
 72.5
 43.5
 Nm
 39.5%
Max current
 63.1
 33.7
 A
Torque constant
 1.37
 Nm/A
Max speed
 4,150
 2,984
 rpm
RMS torque
 31
 12.4
 Nm
 60.0%
Mean speed
 477
 rpm
Inertia
 0.00502
 kg-m²
Shaft diameter
 24
 mm
Dwell torque
 3.019
 Nm
I²t
 40.0
 %
Inertia mismatch
 6.52
 : 1
INVERTER: Baumueller BM4433-SIx
Rated
 Req'd
 Margin
Type
 Infeed/Inverter/Chopper
LF [25°C, 1000m, 540V]
 1
Bus voltage
 540
 372
 V
 31.16%
PWM Frequency
 4
 kHz
Max current
 60
 33.7
 A
 43.8%
Cont current
 30
 9.49
 A
 68.4%
Ixt
 13.17
 %
Project: Sample 1.ssp
BOM: Bill of Material

04-Nov-2010
Page 16 of 16
SERVOsoft v2.9.185 Pro   Database: v2.9.23  23-Oct-2010
Model
 Vendor
 Type
 Axis
 Qty
 Description
BM4423-STx-2
 Baumueller
 Inverter
 X Axis
 1
 Inverter: 4 kHz, 11 A cont, 22 A peak
BM4433-SIx
 Baumueller
 Infeed/Inverter/Chopper
 Y Axis
 1
 Infeed: 230 - 480Vac +/-10%, 50/60Hz, 3-Ø
Bus: 14,960 W cont, 27,280 W peak
Inverter: 4 kHz, 30 A cont, 60 A peak
Chopper: 10,000 W avg, 27,655 W peak, 36 A max
R44-1400-20-TS
 Baumueller
 Bleeder Module
 Y Axis
 1
 Bleeder: Resistors, 1,400 W avg, 14,000 W peak, 140,000 Ws, 44 ohms
BM4433-SIx
 Baumueller
 Infeed/Inverter/Chopper
 Z Axis
 1
 Infeed: 230 - 480Vac +/-10%, 50/60Hz, 3-Ø
Bus: 14,960 W cont, 27,280 W peak
Inverter: 4 kHz, 30 A cont, 60 A peak
Chopper: 10,000 W avg, 27,655 W peak, 36 A max
DS56M35
 Baumueller
 Motor
 X Axis
 1
 Synchronous servo motor, 7 Nm, Natural convection, 105 K, 22 Nm max, 14.3 A
max, kto = 1.71 Nm/A, 3,300 rpm max, 19 mm Shaft dia
DS71M45
 Baumueller
 Motor with brake
 Y Axis
 1
 Synchronous servo motor, 22 Nm, Natural convection, 105 K, 72.5 Nm max, 63.1 A
max, kto = 1.37 Nm/A, 4,150 rpm max, 24 mm Shaft dia, holding brake 20 Nm
DSO71M45
 Baumueller
 Motor
 Z Axis
 1
 Synchronous servo motor, 31 Nm, Forced air, 105 K, 72.5 Nm max, 63.1 A max, kto
= 1.37 Nm/A, 4,150 rpm max, 24 mm Shaft dia
SP075S-MF1-10-0G1
 Alpha
 Gearbox
 X Axis
 1
 Ratio 10:1, 1 stage, 0.000191 kg-m², 97% Efficiency, 90 Nm max output torque,
6,000 rpm max input speed, 24 mm input shaft dia, Hollow Input type, Shaft Output
type
SP100S-MC1-3-0G1
 Alpha
 Gearbox
 Y Axis
 1
 Ratio 3:1, 1 stage, 0.000399 kg-m², 98.5% Efficiency, 180 Nm max output torque,
6,000 rpm max input speed, 24 mm input shaft dia, Hollow Input type, Shaft Output
type
SP100-MF1-5-031
 Alpha
 Gearbox
 Z Axis
 1
 Ratio 5:1, 1 stage, 0.00024 kg-m², 97% Efficiency, 250 Nm max output torque, 4,500
rpm max input speed, 24 mm input shaft dia, Hollow Input type, Shaft Output type