HR8 Motor User Manual
3-1
3. Specifications
3.1 General
These specifications apply to the standard motor driven by the AB1
Driver Box. The motor features a linear voltage response. The
motor and driver can be modeled as a DC-motor with friction driven
by a voltage amplifier, as illustrated in the following diagram. .
Offset
Vin
Kf
1/M
1/S
Vel
-
+
-
+
Kfv
Figure 3-1: Block Diagram of the Motor and Driver
Where:
Vin
- Command to the driver -10 to +10 [V]
Kf
- Force constant
[
N/V]
Offset -
Starting
voltage
[V
]
Kfv
- Velocity damping factor
(similar to back EMF)
[
N x sec / m]
Vel -
Motor
velocity
[
m/Sec]
M
- Moving mass
[
kg]
S -
Laplace
variable
[
1/sec
]
