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Collision torque T
[Nm]
M
In the event of an emergency stop or collision, the Harmonic Drive® Gearing may be subjected to a brief collision torque.
The magnitude and frequency of this collision torque should be kept tom a minimum and under no circumstances should
the collision torque occur during the normal operating cycle.
Continuous stall current I
Effective value of the motor phase current to produce the stall torque.
Continuous stall torque T
Allowable actuator stall torque.
Demagnetisation current I
Current at which rotor magnets start to demagnetise.
Dynamic axial load F
A dyn (max)
With bearing rotating this is the maximum allowable axial load, with no additional radial forces or tilting moments applied.
Dynamic load rating C [N]
Maximum dynamic load that can be absorbed by the output bearing before permanent damage may occur.
Dynamic radial load F
R dyn (max)
With bearing rotating this is the maximum allowable radial load, with no additional axial forces or tilting moments applied.
Dynamic tilting moment M
With the bearing rotating this is the maximum allowable tilting moment, with no additional axial forces or radial forces
applied.
Electrical time constant τ
The electrical time constant is the time required for the current to reach 63% of its final value.
Hollow shaft diameter d
Free inner diameter of the continuous axial hollow shaft.
Inductance (L-L) L
[mH]
L-L
Terminal inductance calculated without taking into account the magnetic saturation of the active motor parts.
Lost Motion (Harmonic Drive® Gearing) [arcmin]
Harmonic Drive® Gearing exhibits zero backlash in the teeth.
Lost motion is the term used to characterise the torsional
stiffness in the low torque region.
The illustration shows the angle of rotation ϕ measured
against the applied output torque as a hysteresis curve, with
the Wave Generator locked. The lost motion measurement of
the gear is taken with an output torque of about ± 4% of the
rated torque.
52
[A
]
0
rms
[Nm]
0
[A
]
E
rms
[N]
[N]
[Nm]
dyn (max)
[s]
e
[mm]
H
Torsion
φ
φ
; φ
1
2
Torque T
φ
; φ
1'
2'
~ -4%T
~ +4%T
N
N
1019658
11/2014
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