Last Update:  11jun99

Torque, Rate and Step Calculations:

    Need to lift 200 lbs, about 3 ft.
	If using a 6" diameter (1/4 ft radius) spindle, that's 50 ft-lbs.
	The unit which seems to occur in the stepping motor catalogues
	is oz-in, so 50 ft-lbs becomes 50*12*16= 9600 oz-in, or, say:

			10 000 oz-in.
	                   625 in-lbs.

	Need to gear down a 100 oz-in motor by 100:1
	Need to gear down a 200 oz-in motor by  50:1
	Need to gear down a 300 oz-in motor by  33:1
	Need to gear down a 480 oz-in motor by  21:1
	Need to gear down a 600 oz-in motor by  17:1


	==> Cut ratio in half if using 2:1 pulley lifter:

			 5 000 oz-in.
	                   313 in-lbs.

	Need to gear down a 100 oz-in motor by  50:1
	Need to gear down a 200 oz-in motor by  25:1
	Need to gear down a 300 oz-in motor by  17:1
	Need to gear down a 480 oz-in motor by  11:1
	Need to gear down a 600 oz-in motor by   9:1

    Rate should vary from 0 to 3 ft. in no more than 1 minute:
	Lifting rate, L
	Max motor rotation rate, R
	Gear ratio, G
	Spindle Radius, r

	L = R/G * 2 pi * r ==> R = L*G/(2*pi*r)

	e.g., for G = 48, r = 3", L = 3 ft/min:

	R = 3 ft/min * 48 / (6.28*3")

	R = (36 in/min)/(18.85 in)*48 = 92 / min

	                R > 92 RPM

	==> Double rate if using 2:1 pulley lifter.

	                R > 184 RPM

    Minimum step should be about 1/10 mm.
	Minimum Linear Step, L
	Gear ratio, G
	Step Angle, S (degrees)
	Spindle Radius, r

	L = (S/360)*2*pi*r/G ==>  S = L*G/(2*pi*r)*360

	==> Double minimum step if using 2:1 pulley lifter.

	e.g., for G = 21, r = 3", L = 1/10mm:

	  S = 0.1mm*21/(6.28*3")*360
	    = (0.01cm/7.62cm) * (21/6.28) * 360
	    = 1.58 degrees.

	e.g., for G = 48, r = 6", L = 1/10mm:

	  S = 0.1mm*48/(6.28*6")*360
	    = (0.01cm/15.24cm) * (48/6.28) * 360
	    = 3.16 degrees.


Braking Clutch:

    Servo Systems Co. 1999-2000    800-922-1103

    Probably way too small:

    Dynamic Inst. Corp. Model DMCSB-13-2A or
    Autotronics MC-10-16 Brake-Clutch    p145
	Coil 24 VDC, 160 mA  1.250" dia by 1.620".
	Input gear flange hub 0.500" dia.
	Output shaft is a Split Hub with Clamp to
	accept a 0.125" dia shaft.
	De-energized:  Input gear flange free, output shaft braked to housing.
	Energized:     Brake released, Input gear flange clutched to output shaft.
	Stock No. PC-123  $18.50


Gearheads:

    Servo Systems Co. 1999-2000    800-922-1103

    Size 42 (NEMA), Inline Spur, p 33, available in ratios from 3:1 to 10 000:1
	            Output shaft size:  1.50" long, 1.25" dia, 505 Woodruff key.
	            Shaft Loading:  250 lbs. radial, 300 lbs. axial.
	            Weight: 6.2 lbs.
	            Torque Rating: 500 in-lbs continuous, 1000 in-lbs max.
	            Manufacturer:  Applied Motion Products.
	            "Call for pricing"

    Paragon Size 34, Double Stage Planetary Gearhead, p 35, available in ratios:
	             16, 22, 28, 40, 49, 55, 70 and 100:1.
	            Output shaft size:  1.50" long, 0.75" dia, 808 Woodruff key.
	            Shaft Loading:  300 lbs. radial, 300 lbs. axial.
	            Weight: 8 lbs.
	            Torque Rating: 750 in-lbs continuous, 975 in-lbs max.

    34 Eliminator Planetary Gearhead, p38
	Part # 34EP049  Ratio:  49:1   Torque: 1067 in-lbs continuous, 1500 RPM
	            Output shaft size: 1.5" long, 0.75" dia, 3/16" by 0.60" keyway.
	            Weight:  9.68 lbs, Length: 4.063", plus shaft.  Width: 3.25".

Stepper Motors:

    Servo Systems Co. 1999-2000    800-922-1103

    Size 34:  p 25.     To order double shaft, add "D" to end of part number, plus $4.00.
	                Leads are 18", shaft is 1.19" long, 0.750" dia.

	Part #  5034-350  Length:  5.1"  Holding Torque: 472 oz-in  8 leads  Step angle: 1.8
	        $233.85   Volts:  2.5  Amps: 5.90  Ohms: 0.42  mH: 2.6
	                  Rotor inertia: 10.2/1870 (oz-in^2/G-CM^2)   Weight: 7.70 lbs.

	                  Needs gear-ratio of 21:1 to lift 200 lbs.

	Part #  4034-331  Length:  3.7"  Holding Torque: 300 oz-in  6 leads  Step angle: 1.8
	        $160.00   Volts:  2.5  Amps: 4.60  Ohms: 0.55  mH: 2.76
	                  Rotor inertia: 6.72/1230 (oz-in^2/G-CM^2)   Weight: 5.40 lbs.

	                  Needs gear-ratio of 21:1 to lift 200 lbs.

    Direct Drive:
	Model: MT232-06        p 14  160 oz-in/1.13 N-m                                 $205.00


Motors:

    Geared:
	Model: LYMC-62700-661  p 41  480 oz-in, 12 V, 1.023 A, 3.73 RPM  Stock: BC-114  $114.00
	Model: CYHC-42700-661  p 42  480 oz-in, 12 V, 0.696 A, 3.19 RPM  Stock: BC-109  $122.00



Temperature Controller:

    Omega 99  Volume E

	CN72133-PV2  p P113C                 in-hand



Stepper Motor Driver/Controller:

    Servo Systems Co. 1999-2000    800-922-1103

	Panther LI                           $695.00
	-RM (rack mount option)               $59.00
	  Input Voltage  120 VAC
	  Drive Current  0.4 to 3.0 Amps (per phase)
	  Motor Speed    0 - 6 000 RPM
	  Inputs (General Purpose):    3 (0 to +5 VDC)
	  Inputs (Dedicated Inputs - Go, Jog +, Hog -, Jog Speed, Soft Stop):  5  (0 to +15 VDC)
	  Outputs (General Purpose):   3 (0 to +5 VDC)

	Quickstart (Software)                 $49.00






PC (486 should be adequate):

	To run Quickstart on.

	Allan Bradley:  May sell whole system.

	"PLC"