90
1018854 8/2018
V03
Repeated peak torque T
R
[Nm]
Specifies the maximum allowable acceleration and deceleration torque. During the normal operating cycle the repeatable peak
torque T
R
must not be exceeded. The repeated peak torque can be applied as often as desired, as long as the application's
average torque is lower than the permitted average torque of the gear.
Resistance (L-L, 20 °C) R
L-L
[Ω]
Winding resistance measured between two conductors at a winding temperature of 20 °C.
Size
1) Actuators / Gears with Harmonic Drive® Gears or Harmonic Planetary Gears
The frame size is derived from the pitch circle diameter of the gear teeth in inches multiplied by 10.
2) CHM Servo Motor Series
The size of the CHM Servo Motors is derived from the stall torque in Ncm.
3) Direct drives from the TorkDrive® Series
The size of the TorkDrive® Series is the outer diameter of the iron core of the stator.
Static load rating C
0
[N]
Maximum static load that can be absorbed by the output bearing before permanent damage may occur.
Static tilting moment M
0
[Nm]
With the bearing stationary, this is the maximum allowable radial load with no additional axial forces or tilting moments
applied.
Synchronous inductance L
d
[mH]
Sum of air gap inductance and leakage inductance in relation to the single-phase equivalent circuit diagram of the
synchronous motor.
Tilting moment stiffness K
B
[Nm/arcmin]
The ratio of the tilting angle of the output bearing and the applied moment load.
Torque constant (motor) k
TM
[Nm/A
rms
]
Quotient of stall torque and stall current.
Torque constant (output) k
Tout
[Nm/A
rms
]
Quotient of stall torque and stall current, taking into account the transmission losses.
