Month: March 2017

How to Calculate RMS Torque

Guest contributor: Hurley Gill, Kollmorgen

Question: How do I calculate RMS (Root Mean Square) Torque for a given axis motion profile in my application?

Answer:  Let’s take a look at the Root Mean Square (RMS) Torque and why it is important. Typically an axes’ motion profile is broken up into multiple segments, each segment is found to require a specific torque for a specific amount of time to complete the desired motion.  For example, this can include torque required to accelerate, traverse (against an external force and/or friction),  decelerate, and dwell.  Each of these segments affects the amount of heating the motor experiences and thus the equivalent steady state continuous requirement utilized to select the correct motor.  The RMS Torque calculation  considers not only the amount of torque, but also the duration of that torque (by segment).  Our example below illustrates how to calculate Trms of your motion profile.

The below motion profile would be broken up into eight (8) different segments, each with a required torque Tx and time tx.

Motion Profile with Segmentation

To calculate Trms, use this equation:
 RMS Torque Formula

Where T1 = torque required by and during segment 1, and t1 = time duration (t1-t0) of segment 1, etc..  Note the additional torque required by the motor to over come some external/thrust force (greater than friction alone) during segment 2, and the lack of this required torque  during the dwell segment 4 and 8.

Going back to the example motion profile above and the chart of that motion profile:

Motion Profile Table with Segmentation

Therefore, if you do the math – and we will spare you writing this into a very long equation, the result is:

Trms =  RMS Example   = 2.74 lb-ft or 3.715_Nm (1.35582_Nm/lb-ft.)

Conclusion:  We hope that this tutorial has helped you!  If you have questions about this or other calculations,  or any automation related problem you may be having, please contact the motion control and programming experts at CMA/Flodyne/Hydradyne.

cropped-cmafh-logo-with-tagline-caps.pngCMA/Flodyne/Hydradyne is an authorized  Kollmorgen distributor in Illinois, Wisconsin, Iowa and Northern Indiana.

In addition to distribution, we design and fabricate complete engineered systems, including hydraulic power units, electrical control panels, pneumatic panels & aluminum framing. Our advanced components and system solutions are found in a wide variety of industrial applications such as wind energy, solar energy, process control and more.

IO-Link Hydraulic Cylinder Position Feedback

Guest contributor: Scott Rosenberger, Balluff

Ready for a better mousetrap?  Read on…..btl_io-link

Some time ago on Sensortech, we discussed considerations for choosing the right in-cylinder position feedback sensor.  In that article, we said:

“…….Analog 0-10 Vdc or 4-20 mA interfaces probably make up 70-80% of all in-cylinder feedback in use…..”

And while that 70-80% analog figure is still not too far off, we’re starting to see those numbers decline, in favor a of newer, more capable interface for linear position feedback:  IO-Link.  Much has been written, here on Sensortech and elsewhere, about the advantages offered by IO-Link.  But until now, those advantages couldn’t necessarily be realized in the world of hydraulic cylinder position feedback.  That has all changed with the availability of in-cylinder, rod-style magnetostrictive linear position sensors.  Compared to more traditional analog interfaces, IO-Link offers some significant, tangible advantages for absolute position feedback in hydraulic cylinders.

Connectivity

First and foremost, the story of IO-Link is that it offers easy, simple connection of sensors and IO to nearly any industrial network.  You can read more about that here.

Simplicity

Another big advantage of IO-Link is the ability to connect sensors to the network using standard, simple, unshielded M12 connectors and cables.  Compared to analog systems, which require shielded cabling, and sometimes unusual or proprietary connectors, connecting IO-Link sensors to the network is simpler, and usually less costly.

Visibility

Unlike their traditional analog counterparts, position sensors with IO-Link offer built-in diagnostic capabilities.  Sensor status can be monitored over the network, greatly simplifying troubleshooting and fault detection.

Flexibility

This is where IO-Link position sensors really start to shine.  Traditional analog position sensors provide one thing: position feedback in the form of an analog signal (obviously).  IO-Link position sensors provide position feedback, of course…but wait, there’s more.  In addition to position feedback, IO-Link sensors can provide velocity/speed information, temperature, and differential position (the difference between two position magnets).  And the best part?  All of this functionality can be freely configured over the network.  Plus, sensor configurations can be stored and subsequently downloaded to a replacement sensor if necessary.

Suitability

It’s worthwhile to point out that IO-Link linear position sensors are ideal for most positioning or position monitoring applications.  Just as with analog sensors though, they’re probably not suitable for high-performance closed-loop servohydraulic motion control applications.  In those applications, interfaces that are capable of providing super-fast, deterministic data, such Synchronous Serial Interface (SSI) or even Ethernet/IP are more suitable.

You can learn more in this overview flyer.

cropped-cmafh-logo-with-tagline-caps.pngCMA/Flodyne/Hydradyne is an authorized  Balluff distributor in Illinois, Wisconsin, Iowa and Northern Indiana.

In addition to distribution, we design and fabricate complete engineered systems, including hydraulic power units, electrical control panels, pneumatic panels & aluminum framing. Our advanced components and system solutions are found in a wide variety of industrial applications such as wind energy, solar energy, process control and more.