Project: Sample 1.ssp
System: Project Notes

15-Jan-2008
Page 1 of 16
ServoSoft v2.8.140 Pro   Database: v2.8.1  12-Nov-2007

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

15-Jan-2008
Page 2 of 16
ServoSoft v2.8.140 Pro   Database: v2.8.1  12-Nov-2007
Axis
 Description
 Alarm
 Value
 Limit
 Units
1
 X Axis
 Gearbox max output torque could be exceeded if available motor max torque is applied
 210
 90
 Nm
           
2
 Y Axis
 Gearbox max output torque could be exceeded if available motor max torque is applied
 209.6
 180
 Nm
           
3
 Z Axis
 Gearbox max output torque could be exceeded if available motor max torque is applied
 349
 250
 Nm
Project: Sample 1.ssp
System: System Power

15-Jan-2008
Page 3 of 16
ServoSoft v2.8.140 Pro   Database: v2.8.1  12-Nov-2007
 
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
 
 
 
 
 
 
 
 
 
 
 
 
45.5
1,923
15.58
984
2.591
 
 
 
 
Y Axis
400V 3Ø
1,398
432
432
9,232
LF [25°C, 1000m] = 1
14,960 / 420 / 97.2%
27,280 / 8,955 / 67.2%
 
 
2.913
 
415
17,372
230.6
10,772
19.91
LF [25°C, 1000m] = 1
1,400 / 218.6 / 84.4%
14,000 / 7,133 / 49.1%
140,000 / 945 / 99.3%
Z Axis
400V 3Ø
1,398
432
432
9,232
LF [25°C, 1000m] = 1
14,960 / 420 / 97.2%
27,280 / 8,955 / 67.2%
 
 
2.913
 
550
11,230
286.4
7,114
12.89
LF [25°C, 1000m] = 1
0 / 0 / 0%
0 / 0 / 0%
0 / 0 / 0%
Project: Sample 1.ssp
Axis 1: X Axis - Sequence

15-Jan-2008
Page 4 of 16
ServoSoft v2.8.140 Pro   Database: v2.8.1  12-Nov-2007
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

15-Jan-2008
Page 5 of 16
ServoSoft v2.8.140 Pro   Database: v2.8.1  12-Nov-2007
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

15-Jan-2008
Page 6 of 16
ServoSoft v2.8.140 Pro   Database: v2.8.1  12-Nov-2007
GEARBOX: Alpha SP075S-MF1-10-0G1
Rated
 Req'd
 Margin
Input type
 Hollow
Output type
 Shaft
Ratio
 10
 :1
Stages
 1
Shock factor
 1
Max output torque
 90
 77.1
 Nm
 14.36%
Max input speed
 6,000
 2,122
 rpm
 64.6%
Nominal output torque
 52
 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
Max axial load at output
 3,350
 0
 N
Max input shaft dia
 24
 19
 mm
Project: Sample 1.ssp
Axis 1: X Axis - Inverter and Motor

15-Jan-2008
Page 7 of 16
ServoSoft v2.8.140 Pro   Database: v2.8.1  12-Nov-2007
MOTOR: Baumueller DS56M35
Rated
 Req'd
 Margin
Type
 Synchronous servo motor
Cooling
 Natural convection
LF [25°C, 1000m]
 1
Bus voltage
 540
 323
 V
Cont standstill torque
 7
 Nm
Max torque
 22
 10.65
 Nm
 49.3%
Max current
 14.3
 6.51
 A
Torque constant
 1.71
 Nm/A
Max speed
 3,300
 2,122
 rpm
Inertia
 0.00102
 kg-m²
Shaft diameter
 19
 mm
RMS torque
 7
 1.667
 Nm
 76.2%
Mean speed
 233.4
 rpm
Dwell torque
 0.2442
 Nm
I²t
 0
 %
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
 323
 V
 40.2%
PWM Frequency
 4
 kHz
Max current
 22
 6.51
 A
 70.4%
Cont current
 11
 1.026
 A
 90.7%
Ixt
 2.591
 %
Project: Sample 1.ssp
Axis 2: Y Axis - Sequence

15-Jan-2008
Page 8 of 16
ServoSoft v2.8.140 Pro   Database: v2.8.1  12-Nov-2007
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

15-Jan-2008
Page 9 of 16
ServoSoft v2.8.140 Pro   Database: v2.8.1  12-Nov-2007
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
 78.0
 Nm
 0
 Nm
 0
 %
Belt tensile force
 3,900
 N
 0
 N
 0
 %
Rigidity at input
 0
 Nm/arcmin
Max load (Load + Payload)
 30
 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
 25
 kg
Counterbalance mass
 0
 kg
Counterbalance force
 0
 N
Project: Sample 1.ssp
Axis 2: Y Axis - Gearbox

15-Jan-2008
Page 10 of 16
ServoSoft v2.8.140 Pro   Database: v2.8.1  12-Nov-2007
GEARBOX: Alpha SP100S-MC1-3-0G1
Rated
 Req'd
 Margin
Input type
 Hollow
Output type
 Shaft
Ratio
 3
 :1
Stages
 1
Shock factor
 1
Max output torque
 180
 84.1
 Nm
 53.3%
Max input speed
 6,000
 3,223
 rpm
 46.3%
Nominal output torque
 70
 44.0
 Nm
Mean input speed
 257.8
 rpm
Duty Cycle
 60
 14.83
 %
Efficiency
 98.5
 %
Inertia
 0.000468
 kg-m²
Gearbox life L10h
 0
 0
 h
Output bearing life L10h
 20,000
 0
 h
Max radial load at output
 6,300
 0
 N
Max axial load at output
 5,650
 0
 N
Max input shaft dia
 24
 24
 mm
Project: Sample 1.ssp
Axis 2: Y Axis - Inverter and Motor

15-Jan-2008
Page 11 of 16
ServoSoft v2.8.140 Pro   Database: v2.8.1  12-Nov-2007
MOTOR: Baumueller DS71M45
Rated
 Req'd
 Margin
Type
 Synchronous servo motor
Cooling
 Natural convection
LF [25°C, 1000m]
 1
Bus voltage
 540
 465
 V
Cont standstill torque
 7
 Nm
Max torque
 72.5
 51.9
 Nm
 13.39%
Max current
 63.1
 41.4
 A
Torque constant
 1.37
 Nm/A
Max speed
 4,150
 3,223
 rpm
Inertia
 0.00502
 kg-m²
Shaft diameter
 24
 mm
RMS torque
 21.74
 12.07
 Nm
 44.5%
Mean speed
 257.8
 rpm
Brake inertia
 0.00076
 kg-m²
Brake holding torque
 20
 5.62
 Nm
 71.9%
I²t
 0
 %
Inertia mismatch
 1.382
 : 1
INVERTER: Baumueller BM4433-SIx
Rated
 Req'd
 Margin
Type
 Infeed/Inverter/Chopper
LF [25°C, 1000m, 540V]
 1
Bus voltage
 540
 465
 V
 13.81%
PWM Frequency
 4
 kHz
Max current
 60
 41.4
 A
 30.95%
Cont current
 30
 9.26
 A
 69.1%
Ixt
 19.91
 %
Project: Sample 1.ssp
Axis 3: Z Axis - Sequence

15-Jan-2008
Page 12 of 16
ServoSoft v2.8.140 Pro   Database: v2.8.1  12-Nov-2007
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

15-Jan-2008
Page 13 of 16
ServoSoft v2.8.140 Pro   Database: v2.8.1  12-Nov-2007
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

15-Jan-2008
Page 14 of 16
ServoSoft v2.8.140 Pro   Database: v2.8.1  12-Nov-2007
GEARBOX: Alpha SP100-MF1-5-031
Rated
 Req'd
 Margin
Input type
 Hollow
Output type
 Shaft
Ratio
 5
 :1
Stages
 1
Shock factor
 1
Max output torque
 250
 178.4
 Nm
 28.65%
Max input speed
 4,500
 2,984
 rpm
 33.7%
Nominal output torque
 170
 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
Max axial load at output
 5,400
 0
 N
Max input shaft dia
 24
 24
 mm
Project: Sample 1.ssp
Axis 3: Z Axis - Inverter and Motor

15-Jan-2008
Page 15 of 16
ServoSoft v2.8.140 Pro   Database: v2.8.1  12-Nov-2007
MOTOR: Baumueller DSO71M45
Rated
 Req'd
 Margin
Type
 Synchronous servo motor
Cooling
 Forced air
LF [25°C, 1000m]
 1
Bus voltage
 540
 367
 V
Cont standstill torque
 7
 Nm
Max torque
 72.5
 42.0
 Nm
 41.6%
Max current
 63.1
 32.5
 A
Torque constant
 1.37
 Nm/A
Max speed
 4,150
 2,984
 rpm
Inertia
 0.00502
 kg-m²
Shaft diameter
 24
 mm
RMS torque
 31
 12.28
 Nm
 60.4%
Mean speed
 477
 rpm
Dwell torque
 1.519
 Nm
I²t
 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
 367
 V
 32.0%
PWM Frequency
 4
 kHz
Max current
 60
 32.5
 A
 45.9%
Cont current
 30
 9.38
 A
 68.7%
Ixt
 12.89
 %
Project: Sample 1.ssp
BOM: Bill of Material

15-Jan-2008
Page 16 of 16
ServoSoft v2.8.140 Pro   Database: v2.8.1  12-Nov-2007
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, 100 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, 100 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, 100 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, 0.000468 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