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The practical rule is to size pan and tilt separately, use continuous torque for normal motion, reserve peak torque for short acceleration or disturbance events, and treat every published payload figure as conditional on mounting orientation and center-of-gravity assumptions.
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What a gear ratio changes in a pan-tilt head
A gearbox trades rotational speed for torque. If the reduction ratio is i, the ideal output speed is the motor speed divided by i, while ideal output torque is the motor torque multiplied by i. ScienceDirect summarizes the relationship as ωout = ωin/G and τout = Gτin.
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Real gearboxes are not lossless. Bearing friction, tooth sliding, seals and other losses reduce usable torque. Oriental Motor expresses permissible output torque as motor torque multiplied by gear ratio and transmission efficiency. The gearbox’s material strength can impose a lower limit even when the motor calculation appears adequate.
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Ideal and usable torque
Use this first estimate:
τout,estimated = τmotor × i × η
Here, η is transmission efficiency as a decimal. A 20:1 reducer at 80 percent efficiency therefore delivers 16 times the motor’s torque, not 20 times. The result is still only an estimate until you check the manufacturer’s continuous torque, intermittent or peak torque, thermal rating and permissible shaft load.
Why a higher ratio is not automatically better
- Output speed falls in direct proportion to the ratio. A head that is too highly geared may be unable to meet a required slew rate.
- Gear friction and reflected inertia can make reversals slower and less responsive.
- Backlash, torsional compliance and tooth loads may increase with a larger reduction stage.
- A motor can overheat while producing a seemingly acceptable torque if it must run near its current limit for long periods.
- The gears, shafts and bearings may be rated below the theoretical motor-times-ratio value.
Choose the smallest reduction that meets the torque requirement with margin while still meeting speed, smoothness and holding requirements.
Calculate the torque each axis actually needs
Payload mass alone cannot size a pan-tilt axis. You need the perpendicular distance from the axis to the combined center of gravity, the desired angular acceleration, friction, cable forces and the operating orientation.
1. Measure mass and center-of-gravity arm
Measure the camera, lens, battery, recorder, housing, quick-release plate and any accessories as one assembly. Locate its combined center of gravity (CG). Measure the shortest perpendicular distance, r, from the axis of rotation to that CG. Use kilograms and metres for SI calculations.
The static gravitational moment is:
τgravity = m × g × r
where m is mass in kilograms and g is approximately 9.81 m/s². This moment is greatest when gravity acts perpendicular to the arm. If the load is directly over the axis, the gravity moment approaches zero even though the payload still contributes inertia and bearing load.
2. Add acceleration torque
Starting, stopping and changing direction require torque in addition to the gravity moment. The inertial component is:
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τacceleration = I × α
I is the assembly’s moment of inertia about the axis, and α is angular acceleration in radians per second squared. A long lens or camera mounted far from the axis can have a large I even when its mass is modest. The UTEC positioner example specifically notes that starting and stopping add I × α torque.
3. Include friction, cables and disturbances
Add bearing and seal friction, cable drag, hose stiffness, wind load, unbalanced accessories and any external force from a moving platform. Cable drag is often underestimated: a tightly dressed multicore cable can impose a reversing torque that is larger than the head’s unloaded friction.
4. Apply a design margin
A useful sizing expression is:
τrequired = (τgravity + τacceleration + τfriction + τcable + τexternal) × margin
Select the margin according to how accurately the loads are known, how often the head accelerates, the consequences of a stall and the manufacturer’s duty-cycle rules. Do not use a margin to conceal an unknown CG or an unverified peak rating; measure or obtain those values first.
Why tilt usually needs more torque than pan
Pan rotates around a generally vertical axis, so gravity often produces little or no continuous pan moment when the assembly is centered. Pan torque is then dominated by acceleration, bearing friction, cable twist and wind or platform motion.
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Tilt rotates around a horizontal or inclined axis. A CG offset therefore creates a direct gravity moment that changes with angle. The motor must support that moment while holding position and must overcome it during acceleration in the unfavourable direction. This is why the same camera can be easy to pan but difficult to tilt.
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Balance the tilt axis before increasing motor size
Move the camera plate, add a counterweight or reposition accessories so the combined CG lies close to the tilt axis. FLIR advises balancing loads around axes perpendicular to gravity and generally side-mounting heavy loads on its PTU systems to reduce torque. A balanced load lowers holding torque, current, heat and the risk of dropping the camera when power is removed.
Side mounting is not universally superior: it changes the bearing loads, cable path and available clearance. Follow the head’s stated top-mount or side-mount payload condition rather than assuming one orientation transfers to another.
What “payload” means on a specification sheet
Payload normally means the maximum supported load under the maker’s defined mechanical and performance conditions. It is not always simply the camera’s scale reading. The figure may assume a balanced assembly, a particular CG distance, a specified mounting surface, a maximum speed, a limited acceleration or a particular input voltage.
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- Is the value a top payload, side payload or a balanced payload?
- What CG distance and orientation were assumed?
- Does the number describe static support, continuous motion or a short-duration peak?
- At what speed, acceleration and supply voltage does the rating apply?
- Are lens, battery, cage, monitor and cables included?
- Does the head impose a separate axial, radial or overturning moment limit?
A head can support a heavy, well-balanced camera yet fail with a lighter camera whose CG is far forward. Conversely, a published payload can be conservative if it is tied to a demanding speed or acceleration specification.
Worked gear-ratio example
Suppose a motor supplies 0.5 N·m and the gearbox ratio is 20:1 with 80 percent efficiency. The estimated output torque is:
0.5 × 20 × 0.8 = 8 N·m
Output speed is one-twentieth of motor speed. The 8 N·m figure is a calculation from the ratio and efficiency, not a manufacturer rating. Before using it to move a camera, verify the gearbox’s continuous and peak torque, thermal capacity, shaft and bearing limits, backlash, duty cycle and controller current limit.
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Published pan-tilt examples and why their numbers differ
The following figures are manufacturer-published examples, not directly interchangeable performance rankings. Each uses its own definition of payload, speed and operating conditions.
| Head or system | Published payload | Motion or torque information | Important qualification |
|---|---|---|---|
| Panasonic AW-PH400 | Approximately 8 kg maximum load | Maximum pan/tilt speed about 90°/s | Payload and speed are model specifications; the sheet does not make them a universal torque standard. |
| FLIR PTU-5 | 5 lb top payload | Speed depends on payload inertia and input voltage | The top-mount condition matters; a different CG or side mount changes the required torque. |
| Shotoku TG-27 | 17 kg | ±90° tilt and 359° pan | Broadcast-head figure; compare its mounting and duty assumptions with any other model. |
| Vinten FHR-35 | 16 kg/35 lb | 319° pan and ±90° tilt | Specified for robotic studio applications. |
| VECTOR-35G (Gdots datasheet, 2019) | 35 lb/15.9 kg maximum payload | 1,200 oz-in pan peak torque; 8,000 oz-in tilt peak torque | These are peak torque figures; they should not be treated as continuous torque. |
| Proaim Boxer HD-2X | 15 kg/33 lb | 360° pan and tilt; two high-torque Maxon motors | Uses 20 mm small gears driving 103 mm large gears; tooth geometry alone does not establish complete system torque. |
The spread—from a 5 lb compact unit to 17 kg broadcast heads and a 35 lb gear-driven system—reflects different mechanical envelopes, CG assumptions, speeds and duty cycles, not a contradiction in the meaning of payload.
Independent reader supportYour contribution helps us test, update, and keep practical guides available for everyone.How to compare a motorized pan-tilt head
Separate continuous, intermittent and peak torque
Continuous torque is the value the axis can sustain without overheating under the stated conditions. Peak torque may be available only for a short acceleration, braking or disturbance event. Ask for the allowable duration, repetition rate and temperature condition. A peak number without a time limit cannot be used to size a continuously unbalanced tilt load.
Check speed at your real inertia
Speed commonly falls as payload inertia rises. A specification measured with a compact balanced mass may not apply to a long camera-and-lens assembly. Obtain the speed-versus-inertia or speed-versus-payload curve where available, and calculate the acceleration needed for your shot or tracking move.
Evaluate backlash and repeatability
Backlash appears as lost motion when direction reverses. It can be visible in telephoto footage even when static positioning looks accurate. Compare stated backlash, repeatability and resolution, and consider whether a brake, preload or closed-loop encoder is used.
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Pan may be limited to a few hundred degrees or made continuous with a slip ring. Tilt range can be ±90° or a full 360° on designs that permit it. Confirm how cables are routed, whether they twist at the end of travel and how many reversals per hour the mechanism is rated to perform.
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Check holding behavior and environment
A worm or high-ratio train may resist back-driving, but do not assume it is self-locking unless the manufacturer states so. A brake can hold a load when powered down, while a non-braked axis may sag. Verify operating temperature, ingress protection, corrosion resistance, vibration rating, mounting pattern and controller compatibility for the installation site.
A practical sizing procedure
- Define the motion. Record required pan and tilt ranges, maximum speed, acceleration, stopping time, reversals and hours of operation.
- Build the complete payload. Weigh every attached item and measure the combined CG in the intended top- or side-mount orientation.
- Calculate gravity moments. For each axis, use
m × g × rat the worst orientation. - Calculate inertia torque. Estimate or obtain
Ifor the camera, lens and accessories, then multiply by the planned angular acceleration. - Add non-ideal loads. Include friction, cable drag, wind, platform movement and any external force at the camera.
- Apply margin and separate duty cases. Determine continuous holding/motion torque and short peak acceleration torque independently.
- Select the ratio and motor together. Use
τmotor × i × ηas an estimate, then verify gearbox, shaft, bearing, thermal and controller limits. - Validate mechanically. Check mounting bolts, plate stiffness, bearing overturning moment, cable bend radius and hard-stop loads before commissioning.
- Test progressively. Test unloaded, then with a balanced dummy mass, then with the complete camera. Monitor current, temperature, vibration, position error and settling after reversals.
Common failures and corrective actions
The tilt axis stalls or overheats
Likely causes are excessive CG offset, an optimistic peak-torque comparison, insufficient reduction, cable drag or acceleration that is too high. Rebalance first, reduce acceleration, measure current and temperature, and then reassess the continuous torque requirement. Do not simply raise the current limit beyond the motor or gearbox rating.
The head moves but overshoots or oscillates
Check backlash, structural flex, aggressive servo gains and a payload inertia larger than the controller expects. Lower acceleration and control gains, stiffen the mounting plate and verify encoder alignment. A larger gearbox may increase torque while worsening response if its compliance is high.
The camera sags when power is removed
The axis may be back-drivable or the brake may be absent or incorrectly adjusted. Use a rated brake or counterbalance, and verify that the brake can hold the worst gravity moment rather than only the nominal payload.
Hard stops damage gears
UTEC warns that hard stops can overload gearing. Use software limits, controlled deceleration and a mechanical stop designed for the maximum kinetic energy. Never rely on a rigid end stop to absorb an uncontrolled high-speed move.
Performance changes after accessories are added
A matte box, wireless transmitter, monitor or long cable changes both mass and CG. Recalculate the complete assembly instead of treating accessories as negligible. The most damaging change is often a small mass moved far from the tilt axis.
Quick Recap
Decision checklist
- Have you measured the combined CG for both axes?
- Is the tilt gravity moment calculated at its worst angle?
- Are continuous and peak torque listed separately?
- Does the gearbox efficiency apply at your speed, temperature and load?
- Does output speed still meet the required acceleration and tracking move?
- Are backlash, repeatability, range, cable routing and duty cycle acceptable?
- Are brakes, self-locking behavior, hard stops and power-loss recovery understood?
- Do the mounting plate, bolts, bearings and environmental ratings suit the installation?
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