Rotary Table
Multiple stop rotary tables are used in
component assembly processes, dosing and filling
machines, labeling machines, packaging machines,
robotics, etc. They can be directly driven or use an
intermediate reduction stage, composed of either
gear wheels or a timing belt and two pulleys. This
later arrangement allows for smaller gearboxes and
higher precision.
D Disclaimer
r This tool has been created to assist engineers
with the sizing of the different parts of the system.
h
Calculations might not cover all corner cases. and
results should always be checked by a qualified
engineer. Under no circumstances shall we beheld
responsible to any damages to persons or property
Gearbox
due to correct or incorrect use of this tool, or to
Servomotor errors in it.
Direct Drive Rotary Table Time per Division
t on =t a +t cs +t d [ s ]
Cycle Duration
t cycle=t a +t cs +t d +t off [ s ]
Cycles per Minute
60
Z=
t cycle
System Efficiency (Direct Drive)
D η=ηg
r
System Efficiency (Indirect Drive)
h
η=η pu⋅ηg
System Efficiency (SRT Servo-Table)
P1 η=ηSRT⋅ηg
P2 Gearbox
Plate Mass
( )
Servomotor 2
D h
m pla =π⋅ ⋅ ⋅ρ [ kg ]
Indirect Drive Rotary Table 2000 1000
Axis Automation, SLU Avda de la Plata, 23-1 E-46013 Valencia - Spain Tel. +34-963 950 442 e-mail: info@servotak.com www.servotak.com
Total Workstation Mass
m aws=nows⋅mws [ kg ]
Total Load Mass
m load =m pla +maws [ kg ]
Pulley Ratio
DP2
D iP =
DP1
r
Total Transmission Ratio (Direct Drive)
h i=i g
SRT Servo-Table Total Transmission Ratio (Indirect Drive)
i=i g⋅i pu
Gearbox
Total Transmission Ratio (SRT Servo-Table)
Servomotor
i=i g⋅i SRT
SRT Servo Rotary Table
Required Acceleration Torque
T acc =J T⋅αa [ N⋅m ]
Required Deceleration Torque
T dec =J T⋅αd [ N⋅m ]
Plate Inertia
( )
2
1 D
J pla = ⋅m pla⋅ [ kg⋅m2 ]
2 2000
Single Work Station Inertia
( )
2
r
J ws =m ws⋅ [ kg⋅m2 ]
1000
Total Work Station Inertia
J aws =J ws⋅mws [ kg⋅m ]
2
Plate and Workstations Inertia
J T =J pla +J aws [ kg⋅m ]
2
Axis Automation, SLU Avda de la Plata, 23-1 E-46013 Valencia - Spain Tel. +34-963 950 442 e-mail: info@servotak.com www.servotak.com
Total Inertia as Seen by the Motor (Direct
Constants Drive)
Pi π≃3.141592654 10000⋅J T
+J g [ kg⋅cm ]
2
J T 1= 2
Inputs i
Acceleration Time ta [ s] Total Inertia as Seen by the Motor (SRT
Servo-Table)
Deceleration Time td [ s ]
10000⋅(J T +J SRT )
+J g [ kg⋅cm ]
2
Constant Speed Time t cs [ s ] J T 1= 2
i
Dwell Time t off [ s ]
Load to Motor Inertia Ratio
Plate Diameter D [ mm ] JT1
Λ=
Plate Thickness h [ mm ] J M +J g
Plate Density ρ
[ ] kg
m
3
Angular Acceleration
No of Work Stations no ws
αa =
ωmax
ta [ ] rad
s
2
Work Station Mass m ws [ kg ]
Angular deceleration
[ ]
Work Stations at Radius r [ mm ] ωmax rad
αd =
P1 Pulley Pitch Diameter D P 1 [ mm ] td s
2
P2 Pulley Pitch Diameter D P 2 [ mm ] Maximum Rotational Speed
SRT Internal Ratio i SRT 30
n2 max=ωmax⋅ [ rpm ]
Pulleys' Efficiency η pu π
SRT Efficiency ηSRT Maximum Rotational Speed
Gearbox Efficiency ηg ωmax =
2⋅π
[ ]
rad
( )
ta t d s
Service Factor KA no ws⋅ t ws + +
2 2
Max. Motor Speed
During Cycle n1 [ rpm ]
Minimum Recommended Motor Inertia
Positioning Accuracy Δ p [ mm ]
JT 1
−J g [ kg⋅m ]
2
J M min =
Gearbox Inertia J g [ kg⋅cm 2
] 5
J SRT [ kg⋅cm ]
2
SRT Inertia Motor Power during Acceleration
J M [ kg⋅cm 2 ] T acc⋅n2
Motor Inertia
P acc 1= [ kW ]
9550⋅η
Motor Encoder/Resolver PPR i PPR [ ]
Resolution PPR: Pulses per Revolution
Axis Automation, SLU Avda de la Plata, 23-1 E-46013 Valencia - Spain Tel. +34-963 950 442 e-mail: info@servotak.com www.servotak.com
Motor Power during Deceleration
T dec⋅n 2
P dec 1= [ kW ]
9550⋅η
Ideal Gearbox Ratio (Direct Drive)
n1
ig =
n2
Speed Ideal Gearbox Ratio (Indirect Drive)
ω max
n1
n2
ig =
iP
Time
ta t cs td t off Ideal Gearbox Ratio (SRT Servo-Table)
Sample duty cycle n1
n2
ig =
iSRT
Ideal Gearbox Backlash (Direct Drive)
60⋅180⋅Δ p
Δ ϕ= [ arcmin ]
r⋅π
Ideal Gearbox Backlash (Indirect Drive)
60⋅180⋅Δ p⋅iP
Δ ϕ= [ arcmin ]
r⋅π
Ideal Gearbox Backlash (SRT Servo-Table)
60⋅180⋅Δ p⋅i SRT
Δ ϕ= [ arcmin ]
r⋅π
Required Gearbox Output Torque (Direct
Drive)
T 2max =max ( T acc , T dec ) [ N⋅m ]
Required Gearbox Output Torque (Indirect
Drive)
max ( T acc ,T dec )
T 2max = [ N⋅m ]
i P⋅η pu
Axis Automation, SLU Avda de la Plata, 23-1 E-46013 Valencia - Spain Tel. +34-963 950 442 e-mail: info@servotak.com www.servotak.com
Required Gearbox Output Torque (SRT Servo-
Table)
max ( T acc ,T dec )
T 2max = [ N⋅m ]
iSRT⋅ηSRT
Required Gearbox Output Torque, Adjusted
for Service Factor
T 2 KA =T 2max⋅K a [ N⋅m ]
Required Motor Torque
T 2max
T m= [ N⋅m ]
ig
Outer Ring Resolution
PPRo =PPRi⋅i g⋅iSRT [ PPR ]
Pulses/Degree
PPR o
PPD o= [ PPR ]
360
Pulses/Workstation
PPR o
PPW o= [ PPR ]
no ws
Axis Automation, SLU Avda de la Plata, 23-1 E-46013 Valencia - Spain Tel. +34-963 950 442 e-mail: info@servotak.com www.servotak.com
