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Gearbox Selector

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More about the Nominal and Maximum Values here

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Notes:

- At nominal speed, the service life of a SureGear™ gearbox is 20,000 hours (rated service life).
- The maximum output torque required for starting or stopping operation.
- The maximum intermittent output speed.
- SureServo Systems DO NOT provide
*maximum torque AT maximum speed*- select a motor/gearbox combination (above) to see the specific torque/speed curve. - Servo System Price includes: SureServo Motor (w/o brake), SureServo Drive, 10' Servo Power cable, 10' Feedback Cable,
*ZIP*Link I/O Module and*ZIP*Link I/O Cable. Options such as longer cables, and motor brake will cost more and can be selected after you chose a gearbox & motor combination.

- Why use a gear reducer?
- Backlash Explained
- Radial Load Explained
- Thrust Load Explained
- Nominal and Maximum Values Explained
- Moment of Interia Explained

Why use a gear reducer?

If the application requires low speed and high torque then it is common to introduce a speed reducer so that the servo system can operate over more of the available
speed range. Gear reducers also increase the available torque at the load which may allow the use of a smaller and lower cost servo system.

Additional benefits are also possible with reduction in reflected inertia, increased number of motor encoder counts at the load, and increased ability to overcome
load disturbances due to mechanical advantage of the speed reducer.

Backlash:

Backlash is a measure of the amount of 'play' (or 'lash') in a gearbox.

Optimally, the backlash would be zero, but in actual practice some backlash must be allowed to prevent jamming. With precision servo gearboxes
such as the SureGear™ the backlash is extremely low.

Backlash for the SureGear gearboxes is measured in ´minutes´ (arc-min). One minute is 1/60th of a degree.

A common technique used to minimize the effect of backlash in precise positioning applications is to approach all target positions in a common
direction. In the event that a reversing move is required, some system designers will elect to 'overshoot' the desired position and
then return to that position in the 'common' direction.

Allowable Radial Load:

'Radial Load' refers to the amount of force acting perpendicular to the output shaft. The force of gravity (acting on the load) is
perhaps the most common source of a radial load, but many other sources are possible depending on the mechanical apparatus attached to the output shaft.

The maximum allowable radial load for a SureGear gearbox is measured with that load centered on the exposed portion of the output shaft.
System designers should attempt to mount all loads as close to the body of the gearbox as possible and thereby avoid any substantial overhung loads.

Allowable Radial Load is measured in Newtons (N) or in pound-force (lbf).

This selector does not request any data nor provide any calculations related to the radial load. *It is up to the system designer to evaluate the radial load separately, the value is shown here as a reminder.*

Allowable Axial Thrust Load:

'Axial Thrust' Load refers to the amount of force acting along the axis of the output shaft.

Allowable Axial Thrust is measured in Newtons (N) or in pound-force (lbf).

This selector does not request any data nor provide any calculations related to the axial thrust load. *It is up to the system designer to evaluate the axial thrust load separately, the value is shown here as a reminder.*

Nominal and Maximum (Speed and Torque) Explained:
*Maximum Speed* refers to the maximum speed that the servo motor can operate divided by the gear ratio. The output shaft of the gearbox simply can't turn any
faster. However, in most cases this speed is not 'healthy' for the gearbox. At *Nominal Speed*, the service life of a SureGear™ gearbox is 20,000 hours
(the rated service life). While it may be necessary to exceed this speed for brief periods (preferably while the torque requirement is reduced) it will maximize
the service life of the gearbox if normal operation stays at or below the *Nominal Speed* shown.

With precision gearbox/servo systems there is an inherent tradeoff between torque and speed. When a gearbox is added to a servo system, the torque output (at the gearbox output shaft)
goes up by the gear ratio, while the top speed drops by the same factor.

Servo Systems (alone) are rated for continuous output torque and intermittent torque. They will eventually 'trip' if they are operated in the intermittent range for
too long a period of time. Usually this will not harm the system, but it may require a 'cool down' period and manual reset. The *Nominal Torque* output value
for the gear/motor combinations shown in this selector are derived from the continuous torque output capability of the servo system multiplied by the gearbox ratio.

Correspondingly, the *Maximum Torque* value for the gear/motor combination used in this selector is the maximum intermittent torque of the servo system multiplied
by the gearbox ratio. Operating up to the *Maximum Torque* output value will not damage the gearbox - and in many cases the additional start-up torque of a machine may
require it - but system designers should attempt to stay within the continuous torque range (at or below the *Nominal Torque* value) of the system for
routine machine operation.

Moment of Inertia (Inertia Mismatch):

Moment of Inertia is a measure of rotating mass. With geared servo systems the relationships between the Moment of Inertia of the servo Motor, the Gearbox, and the Load have important implications.

For high performance servo systems (systems with high dynamic response, low overshoot, etc.) the ratio between the *reflected load inertia* and the
*motor inertia *should be as low as practical and ideally under 10 to 1. A precision gearbox helps achieve this goal by reducing the reflected inertia by the
*square of the reduction ratio*. For example, using a 25:1 gearbox will reduce the reflected inertia of the load by a factor of 625! The formula for reflected inertia is:

Reflected Load Inertia =

Load Inertia

Gearbox Ratio²

Gearbox Ratio²

+ Gearbox Inertia

Please note that selecting the holding brake option for the servo motor will increase the moment of inertia *of the motor* significantly.

This selector does not request any data nor provide any calculations related to the actual moment of inertia (or inertia mismatch) of your particular Load. *It is
up to the system designer to calculate the moment of inertia of the Load and evaluate the mismatch. The equation is shown here as a reminder.*

Backlash:

Backlash is a measure of the amount of 'play' (or 'lash') in a gearbox.

Optimally, the backlash would be zero, but in actual practice some backlash must be allowed to prevent jamming. With precision servo gearboxes
such as the SureGear™ the backlash is extremely low.

Backlash for the SureGear gearboxes is measured in ´minutes´ (arc-min). One minute is 1/60th of a degree.

A common technique used to minimize the effect of backlash in precise positioning applications is to approach all target positions in a common
direction. In the event that a reversing move is required, some system designers will elect to 'overshoot' the desired position and
then return to that position in the 'common' direction.

Allowable Radial Load:

'Radial Load' refers to the amount of force acting perpendicular to the output shaft. The force of gravity (acting on the load) is
perhaps the most common source of a radial load, but many other sources are possible depending on the mechanical apparatus attached to the output shaft.

The maximum allowable radial load for a SureGear gearbox is measured with that load centered on the exposed portion of the output shaft.
System designers should attempt to mount all loads as close to the body of the gearbox as possible and thereby avoid any substantial overhung loads.

Allowable Radial Load is measured in Newtons (N) or in pound-force (lbf).

This selector does not request any data nor provide any calculations related to the radial load. *It is up to the system designer to evaluate the radial load separately, the value is shown here as a reminder.*

Allowable Axial Thrust Load:

'Axial Thrust' Load refers to the amount of force acting along the axis of the output shaft.

Allowable Axial Thrust is measured in Newtons (N) or in pound-force (lbf).

This selector does not request any data nor provide any calculations related to the axial thrust load. *It is up to the system designer to evaluate the axial thrust load separately, the value is shown here as a reminder.*

Nominal and Maximum Speed and Torque Explained:

With precision gearbox/servo systems there is an inherent tradeoff between torque and speed. When a gearbox is added to a servo system, the torque output (at the gearbox output shaft)
goes up by the gear ratio, while the top speed drops by the same factor.

Servo Systems (alone) are rated for continuous output torque and intermittent torque. They will eventually 'trip' if they are operated in the intermittent range for
too long a period of time. Usually this will not harm the system, but it may require a 'cool down' period and manual reset. The *Nominal Torque* output value
for the gear/motor combinations shown in this selector are derived from the continuous torque output capability of the servo system multiplied by the gearbox ratio.

Correspondingly, the *Maximum Torque* value for the gear/motor combination used in this selector is the maximum intermittent torque of the servo system multiplied
by the gearbox ratio. Operating up to the *Maximum Torque* output value will not damage the gearbox - and in many cases the additional start-up torque of a machine may
require it - but system designers should attempt to stay within the continuous torque range (at or below the *Nominal Torque* value) of the system for
routine machine operation.

Moment of Inertia (Inertia Mismatch):

Moment of Inertia is a measure of rotating mass. With geared servo systems the relationships between the Moment of Inertia of the servo Motor, the Gearbox, and the Load have important implications.

For high performance servo systems (systems with high dynamic response, low overshoot, etc.) the ratio between the *reflected load inertia* and the
*motor inertia *should be as low as practical and ideally under 10 to 1. A precision gearbox helps achieve this goal by reducing the reflected inertia by the
*square of the reduction ratio*. For example, using a 25:1 gearbox will reduce the reflected inertia of the load by a factor of 625! The formula for reflected inertia is:

Reflected Load Inertia =

Load Inertia

Gearbox Ratio²

Gearbox Ratio²

+ Gearbox Inertia

The Motor Inertia is:
**moi kg·cm²
moi lbf-in-s²
moi kg·cm²
moi lbf-in-s²**

The Gearbox Ratio is:**x** (remember to square this factor)

The Gearbox Inertia is:**et kg·cm²
et lbf-in-s²**

The Load Inertia is: the inertia of the item(s) to be attached to the gearbox output shaft.

The Gearbox Ratio is:

The Gearbox Inertia is:

The Load Inertia is: the inertia of the item(s) to be attached to the gearbox output shaft.

For example, **IF** the load inertia was:
li kg·cm²
li lbf-in-s²:

The Reflected Load Inertia would be: (
li
li
/
x2
) +
et
et
=
et kg·cm²
et lbf-in-s²

And given that the Motor Inertia is: moi kg·cm² moi lbf-in-s² moi kg·cm² moi lbf-in-s²

The Inertia Mismatch would be: 5 to 1, and you could expect good performance from this Motor, Gearbox & Load combination*after tuning* (servo systems must always be tuned for optimal performance).
See Chapter 5 of the SureServo User Manual for tuning info.

And given that the Motor Inertia is: moi kg·cm² moi lbf-in-s² moi kg·cm² moi lbf-in-s²

The Inertia Mismatch would be: 5 to 1, and you could expect good performance from this Motor, Gearbox & Load combination

Please note that selecting the holding brake option for the servo motor will increase the moment of inertia *of the motor* significantly.

This selector does not request any data nor provide any calculations related to the actual moment of inertia (or inertia mismatch) of your particular Load. *It is
up to the system designer to calculate the moment of inertia of the Load and evaluate the mismatch. The examples and equations are shown here as a reminder.*