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