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7. Glossary
7.1 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 tempera-
ture 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. The applications average input speed must be lower than
the permitted average input speed of the gear.
Average input speed (oil lubrication) n
Maximum permissible average gear input speed for oil lubrication. The applications average input speed must be lower than
the permitted average input speed of the gear.
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 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
BR
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.
1021387
12/2018
V02
[V
/ 1000 rpm]
rms
av (max)
[rpm]
av (max)
limit.
A
[A
]
DC
[A
]
OBr
DC
[Nm]
[rpm]
Hysteresis loss/
Backlash
Torsion
φ
Torque T +T
N
T
= Rated torque
N
φ = Output angle
61
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