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6. Glossary
6.1 Technical Data
AC Voltage constant k
EM
Effective value of the induced motor voltage measured at the motor terminals at a speed of 1000 rpm and an operating
temperature of 20° C.
Ambient operating temperature [°C]
The intended operating temperature for the operation of the drive.
Average input speed (grease lubrication) n
Maximum permissible average gear input speed for grease lubrication.
Average input speed (oil lubrication) n
Maximum permissible average gear input speed for oil lubrication.
Average torque T
[Nm]
A
When a variable load is applied to the gear, an average torque should be calculated for the complete operating cycle.
This value should not exceed the specified T
Backlash (Harmonic Planetary gears) [arcmin]
When subjected to the rated torque, Harmonic Planetary
gears display characteristics shown in the hysteresis curve.
When a torque is applied to the output shaft of the gear
with the input shaft locked, the torque-torsion relationship
can be measured at the output. Starting from point 0 the
graph follows successive points A-B-A-B-A A where the value
B-B is defined as the backlash or hysteresis.
Brake closing time t
[ms]
C
Delay time to close the brake.
Brake current to hold I
HBr
Current for applying the brake.
Brake current to open I
Current required to open the brake.
Brake holding torque T
Torque the actuator can withstand when the brake is applied, with respect to the output.
Brake opening time t
[ms]
O
Delay time for opening the brake.
Brake voltage U
[VDC]
Br
Terminal voltage of the holding brake.
1019658
11/2014
[V
/ 1000 rpm]
rms
av (max)
[rpm]
av (max)
limit.
A
[A
]
DC
[A
]
OBr
DC
[Nm]
H
[rpm]
Hysteresis loss/
Backlash
Torsion
φ
Torque T +T
N
T
= Rated torque
N
φ = Output angle
51
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