Linear Units

Drive Calculations
Belt Driven Units
Feed Force Formula [N]
Fx = m × g × µ
Acceleration Force Formula [N]
Fa = m × a
Power Formula [kW]
P =
Drive Moment Formulas [Nm]
Ma = Mload + Mtrans + Mrot + M idle
Mload =
Mtrans =
Ma × nmax × 2 × 3,14
60 × 1000
Fx × do
1000 × 2
Fa × do
1000 × 2
Mrot = Jsyn × 2 × 3,14 × nmax × a
60 Vmax
M idle = see table for unit in question
www.danahermotion.com
Fx = feed force [N]
m = total mass to be moved [kg] 1
g = acceleration due to gravity [m/s 2 ]
µ = friction factor specific for each unit
Fa = acceleration force [N]
m = mass to be operated [kg]
a = acceleration [m/s 2 ] 2
P = required power [kW]
Ma = required drive moment [Nm]
nmax = maximum required rotational speed [rpm]
Ma = required drive moment [Nm]
Mload = moment as a result of various loads [N]
Mtrans = translational acceleration moment [Nm]
Mrot = rotational acceleration moment [Nm]
M idle = carriage/rod idle torque [Nm] 3
Fx = feed force [N]
do = pulley diameter [mm] 4
Fa = maximum required acceleration force [N]
Jsyn = idle torque of pulleys [kgm 2 ] 5
nmax = maximum required rotational speed [rpm]
a = maximum required acceleration [m/s 2 ]
Vmax = maximum required linear speed [m/s]
Linear Units
1 The total mass is the mass of all masses to be moved (objects to
be moved, carriage(s)/rod, belt).
2 In vertical applications, the mass acceleration must be added to
the acceleration due to gravity g (9,81 m/s 2 ).
3 This value can be found in the carriage idle torque tables.
4 This value can be found in the performance specifications tables
for each unit.
5 This value can be found in the additional technical data tables.
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