Harmonic Drive SC-610 Series, Operation Manual, Page: 63 / 69

Page A12 Operations Manual SC-610
Harmonic Drive AG 900105 11/2005
Appendix F
Definition of Parameters for Controller-Setup
1 Motor-Parameters referred to the Motor Shaft
K
E
= Voltage constant in V/Krpm effective value (rms)
Pole Pairs = Number of poles divided by 2
I
MAX
= Maximum peak current
I
RATED
= Continuous current
R
A
(L-L) = Armature resistance measured between U and V
or double of phase resistance given in the catalogue
L
A
(L-L) = Armature inductance measured between U and V
or field inductance given in the catalogue
K
T
= Torque constant
J
ROTOR
= Moment of Inertia of the Motor (without gear)
2 System-Parameters
N
MAX
= Maximum motor speed at 10V demand input
Enc. Res. = Number of encoder counts per one motor revolution
Power Supply = Amplifier power supply voltage depending on the actuator
3 System Configuration
HD-No. = Part number given on the type lable at the front panel
showing the parameter settings ex stock. First 6 numbers
specify the basic unit. Last 2 numbers define the parameter
settings.
Mod.-No. = Part number given on the additional lable at the front panel
showing customers specific parameter settings, if specified.
This Mod.-No. „overwrites“ the HD-No.
The individual motor parameters are given within the motor database of the setup software
Work Bench v5 and will be updated on regular basis.