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Parker K Series, Техническое руководство

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17 - PVD 3674_GB_K Series_CE-November 2016.Docx 

3.2.  K Characteristics: Torque, speed, current, power

… 

3.2.1. 

Voltage withstand characteristics 

 

 

 

The K serie is designed to be supplied by a drive with a maximum DC 
bus voltage of : 
155VDC for size 32, 44, 64 and 89 
340 VDC for size 178.

.

 

3.2.2. 

Torque, Speed, Current characteristics 

The torque vs speed graph below explains different intrinsic values given in the next 
tables. 
 
 

Torque 

 
Peak Torque

 

 
 
 
 
Permanent 
Low Speed 
Torque

 

 
Rated  
torque

 

 
Stall torque 
 
 
 

3 rpm

 

 

 

Rated 

Max

 

Speed 

 

 

 

 

speed

 

speed 

 
 
 

 

Rated 
Power 

Содержание K Series

Страница 1: ...1 PVD 3674_GB_K Series_CE November 2016 Docx Servomotors K Series Kit CE Certified Technical Manual PVD 3674_GB ...

Страница 2: ...egrees of protection provided by the integral design of rotating electrical machines IP code Classification EN 60204 1 2006 AC 2010 Safety of machinery Electrical equipment of machines Part 1 General requirements The undersigned certify that the above mentioned model is procured in accordance with the above directives and standards Further information Kit K shall be mounted on a mechanical support...

Страница 3: ...DC 19 3 2 5 K datas DC bus voltage 48VDC 20 3 2 6 K datas DC bus voltage 96VDC 21 3 2 7 K datas Power voltage 240VAC 22 3 2 8 Further Data 23 3 2 9 Electromagnetic losses 24 3 2 10 Electric time constant Mechanical time constant 25 3 3 Dimension drawings 26 3 3 1 K032 Stator 26 3 3 2 K032 Rotor 27 3 3 3 K032 Stator with Hall effect sensor 28 3 3 4 K032 Rotor with magnets for Hall effect sensor 29 ...

Страница 4: ... 2 Handling 58 4 1 3 Storage 58 4 2 Kit Integration 59 4 2 1 General warnings 59 4 2 1 Tightening torque 60 4 3 Electrical connections 61 4 4 Commutation sensor cable handling 63 4 5 Tests 64 4 6 Troubleshooting 65 Lexicon in use Kit Active parts delivered by Parker Motor Active parts integrated into a mechanical assembly providing the means of rotating designed assemblied certified and tested acc...

Страница 5: ...ation procedures safety instructions or any other issue tackled in this manual please contact PARKER as well PARKER s responsibility is limited to its servomotors in kit and does not encompass the kit integration the certification of the complete motor or the whole user s system Data provided in this manual are for product description only and may not be guaranteed unless expressly mentioned in a ...

Страница 6: ...asurements use only a meter to IEC 61010 CAT III or higher Always begin using the highest range CAT I and CAT II meters must not be used on this product Allow at least 5 minutes for the drive s capacitors to discharge to safe voltage levels 50V Use the specified meter capable of measuring up to 1000V DC AC rms to confirm that less than 50V is present between all power terminals and between power t...

Страница 7: ...pact dimensions and large hollow shaft A large set of torque speed characteristics options and customization possibilities are available making K Series Kit the ideal solution for most servosystems applications Advantages Low voltage Compact dimensions and robustness Large hollow shaft Direct drive accurate and dynamic motion Integrated Hall Effect sensor as an option Higher stiffness of the syste...

Страница 8: ...8 PVD 3674_GB_K Series_CE November 2016 Docx 2 4 Motor description ...

Страница 9: ...ooling Altitude Up to 1000m IEC 60034 1 for higher altitude see 3 1 1 for derating Rated Supply voltage of drive 115 VAC for size 32 44 64 and 89 240 VAC for size 178 Rated Supply voltage of motor 100 VACrms phase to phase for size 32 44 64 and 89 214 VACrms phase to phase for size 178 Connections Power cables Insulation of the stator winding Class F according to EN 60034 1 Operating temperature 1...

Страница 10: ...32 044 064 089 and 178mm in relation with the motor diameter Motor length Stack length 0 50 in 1 00 in and 2 00 in Windings variant See the following tables for selection Connection Wye connection Commutation 1 Without Hall effect sensor 2 With Hall effect sensor not available for size K178 Certification CE CE certified ...

Страница 11: ...40 C with a torque reduction The following formula gives an indicative about the torque derating at low speed But in any case refer to PARKER technical department to know the exact values At low speed the torque derating is given by the following formula for an ambient temperature 40 C C C e temperatur Ambient C derating Torque 105 _ 145 100 _ At high speed the calculation is more complex and the ...

Страница 12: ...uration ti s So the rms torque Mrms can be calculated through the following basic formula Example For a cycle of 2s at 0 Nm and 2s at 10Nm and a period of 4 s the rms torque is Illustration Acceleration deceleration torque 10 Nm for 0 1 s Resistant torque 1 Nm during all the movement Max min speed 2800 rpm during 0 2 s Max torque provided by the motor 11 Nm rms torque 6 Nm The maximal torque Mi de...

Страница 13: ...i and speed associated Ωi of the duty cycle has to be located in the operational area of the torque vs speed curve Torque Mk Mrms Mn Mi Ωi Ωk Ωrms Ωn Speed 3 1 4 Kit Selection The selection of a particular frame size and winding for an application depends on Dimensions diameter and length requirement Power torque and speed requirement Voltage and current available or required The first two items a...

Страница 14: ...f 0 36 0 176 2 Arms Note KE and Kt are directly proportional to each other Increasing KE will also increase Kt decreasing KE will also decrease Kt The result is that as the voltage requirement changes the current requirement changes inversely Current and voltage from torque and speed The required speed and torque will determine the required voltage on the motor leads due to the polarity Kt Ke Indu...

Страница 15: ...x4 267 Uphase to neutral 123 4 V Uphase to phase 123 4 x 3 Uphase to phase 213 7 V Parker has a range of 3 windings that are available for each stack length within a particular frame size to meet the majority of your application requirements Parker does have additional windings that are available upon request from Parker s Application Engineering Department Use the performance specifications on th...

Страница 16: ... Series Kit with a current higher than the permanent current But to avoid any overheating the following rules must be respected 1 The peak currents and peak torques given in the data sheet must never be exceeded 2 The thermal equivalent torque must be respected 3 1 3 3 If 1 and 2 are respected it can limit the peak current value or duration the peak current duration tp must be limited in addition ...

Страница 17: ... be supplied by a drive with a maximum DC bus voltage of 155VDC for size 32 44 64 and 89 340 VDC for size 178 3 2 2 Torque Speed Current characteristics The torque vs speed graph below explains different intrinsic values given in the next tables Torque Peak Torque Permanent Low Speed Torque Rated torque Stall torque 3 rpm Rated Max Speed speed speed Rated Power ...

Страница 18: ...2 1 0 13 2 2 0 45 7 6 1869 K032200 7Y_ 0 006 0 21 270 2 2 0 21 2 2 0 72 7 8 1204 K044050 7Y_ 0 018 0 19 938 4 1 0 19 4 2 0 66 14 6 2437 K044050 8Y_ 0 009 0 19 456 3 3 0 19 3 3 0 66 11 6 1949 K044100 7Y_ 0 012 0 33 356 3 6 0 33 3 6 1 16 12 6 1208 K044100 8Y_ 0 004 0 33 114 2 9 0 33 2 9 1 15 10 1 966 K044200 7Y_ 0 005 0 54 85 2 9 0 54 2 9 1 88 10 3 607 K064050 8Y_ 0 005 0 53 89 4 0 0 53 4 0 1 86 14 ...

Страница 19: ...4 K044200 8Y_ 0 030 0 53 539 2 3 0 53 2 3 1 87 8 2 1068 K044200 EY_ 0 008 0 54 145 1 5 0 54 1 5 1 88 5 1 667 K064050 8Y_ 0 058 0 53 1053 4 0 0 53 4 0 1 86 14 0 1830 K064050 9Y_ 0 039 0 53 700 3 2 0 53 3 2 1 85 11 1 1464 K064050 EY_ 0 022 0 53 396 2 5 0 53 2 5 1 87 8 8 1144 K064100 8Y_ 0 047 0 9 484 3 5 0 9 3 5 3 29 12 3 915 K064100 9Y_ 0 030 0 9 305 2 8 0 9 2 8 3 28 9 8 732 K064100 EY_ 0 015 0 9 1...

Страница 20: ... 0 54 1 5 1 88 5 1 1395 K064050 8Y_ 0 160 0 52 2958 3 9 0 53 4 0 1 86 14 0 3826 K064050 9Y_ 0 121 0 52 2225 3 1 0 53 3 2 1 85 11 1 3061 K064050 EY_ 0 088 0 53 1590 2 5 0 53 2 5 1 87 8 8 2391 K064100 8Y_ 0 140 0 9 1447 3 5 0 9 3 5 3 29 12 3 1913 K064100 9Y_ 0 104 0 9 1077 2 8 0 9 2 8 3 28 9 8 1530 K064100 EY_ 0 074 0 9 757 2 2 0 9 2 2 3 30 7 7 1196 K064200 8Y_ 0 112 1 5 692 2 9 1 6 2 9 5 50 10 3 95...

Страница 21: ... 5 1 88 5 1 2851 K064050 8Y_ 0 263 0 50 5000 3 8 0 53 4 0 1 86 14 0 5000 K064050 9Y_ 0 262 0 50 5000 3 0 0 53 3 2 1 85 11 1 5000 K064050 EY_ 0 213 0 51 3975 2 4 0 53 2 5 1 87 8 8 4886 K064100 8Y_ 0 313 0 9 3381 3 3 0 9 3 5 3 29 12 3 3909 K064100 9Y_ 0 246 0 9 2620 2 7 0 9 2 8 3 28 9 8 3127 K064100 EY_ 0 188 0 9 1959 2 1 0 9 2 2 3 30 7 7 2443 K064200 8Y_ 0 262 1 5 1668 2 8 1 6 2 9 5 50 10 3 1954 K0...

Страница 22: ...178050 6Y_ 1 43 4 6 3000 9 1 7 0 14 0 26 8 53 3 3000 K178050 8Y_ 1 43 4 6 3000 5 7 7 0 8 8 26 7 33 6 3000 K178050 EY_ 1 39 5 4 2477 4 3 7 0 5 6 26 6 21 2 2818 K178100 8Y_ 2 05 9 8 2006 6 1 13 7 8 6 48 0 30 2 2225 K178100 9Y_ 1 82 11 3 1531 5 7 13 7 6 8 48 0 23 9 1761 K178100 EY_ 1 51 12 1 1192 4 8 13 6 5 4 47 8 19 1 1409 K178200 8Y_ 2 00 19 2 994 6 1 23 2 7 3 81 5 25 7 1112 K178200 9Y_ 1 66 20 6 7...

Страница 23: ...353 9 8 0 29 1 68 22 K064050 9Y_ 5 000 0 167 10 066 3 13 2 7351 9 8 0 29 1 68 22 K064050 EY_ 5 000 0 213 12 885 5 12 4 4143 9 8 0 29 1 68 22 K064100 8Y_ 5 000 0 266 16 106 4 00 2 2176 18 8 0 57 1 68 22 K064100 9Y_ 5 000 0 333 20 132 6 25 3 4953 18 8 0 57 1 68 22 K064100 EY_ 5 000 0 426 25 769 10 24 5 6412 18 8 0 57 1 68 22 K064200 8Y_ 5 000 0 533 32 212 7 98 3 1791 36 8 1 13 1 68 22 K064200 9Y_ 5 ...

Страница 24: ...ges due to the use of these data Tf Rotor shaft Dynamic Friction Kd Rotor shaft Viscous Damping Torque losses Tf Kd x speed 1000 Type Tf Nm Kd Nm 1000rpm K032050 0 0003 0 0001 K032100 0 0007 0 0002 K032200 0 0013 0 0004 K044050 0 0010 0 0004 K044100 0 0019 0 0007 K044200 0 0039 0 0014 K064050 0 0030 0 0010 K064100 0 0060 0 0021 K064200 0 0120 0 0042 K089050 0 0097 0 0034 K089100 0 0193 0 0068 K089...

Страница 25: ...nt phase to phase Vrms rad s Kb 2 Electric time constant Mechanical time constant ph ph ph ph elec R L _ _ 2 _ _ 5 0 ph ph ph ph mech Ke J R Hereunder is given an overall summary of kit time constants Type Electric time constant ms Mechanical time constant ms K032050_EY 0 5 1 1 K032100_EY 0 8 0 8 K032200_EY 1 0 6 K044050_EY 0 7 1 2 K044100_EY 1 1 0 8 K044200_EY 1 4 0 6 K064050_EY 1 2 1 3 K064100_E...

Страница 26: ...26 PVD 3674_GB_K Series_CE November 2016 Docx 3 3 Dimension drawings 3 3 1 K032 Stator ...

Страница 27: ...27 PVD 3674_GB_K Series_CE November 2016 Docx 3 3 2 K032 Rotor ...

Страница 28: ...28 PVD 3674_GB_K Series_CE November 2016 Docx 3 3 3 K032 Stator with Hall effect sensor ...

Страница 29: ...29 PVD 3674_GB_K Series_CE November 2016 Docx 3 3 4 K032 Rotor with magnets for Hall effect sensor ...

Страница 30: ...30 PVD 3674_GB_K Series_CE November 2016 Docx 3 3 5 K044 ...

Страница 31: ...31 PVD 3674_GB_K Series_CE November 2016 Docx 3 3 6 K044 with Hall effect sensor ...

Страница 32: ...32 PVD 3674_GB_K Series_CE November 2016 Docx 3 3 7 K064 ...

Страница 33: ...33 PVD 3674_GB_K Series_CE November 2016 Docx 3 3 8 K064 with Hall effect sensor ...

Страница 34: ...34 PVD 3674_GB_K Series_CE November 2016 Docx 3 3 9 K089 ...

Страница 35: ...35 PVD 3674_GB_K Series_CE November 2016 Docx 3 3 10 K089 with Hall effect sensor ...

Страница 36: ...36 PVD 3674_GB_K Series_CE November 2016 Docx 3 3 11 K178 ...

Страница 37: ...Integrator bears the entire responsibility for choice of the key components such as bearing encoder electric connection and mechanical parts design Warning A grade A motor according to IEC 60034 14 well balanced may exhibit large vibrations when installed in situ arising from various causes such as unsuitable foundations reaction of the driven motor current ripple from the power supply etc Vibrati...

Страница 38: ... bearing to accept shaft dilatation and to create a preload Warning When motor runs temperature increases up to 120 C on the rotor so we recommend to use bearings with C3 clearance 3 4 4 Mounting recommendations A number of methods are used to mount the stator and rotor assemblies to the customer product The method chosen largely depends on the product design performance requirements torque veloci...

Страница 39: ...ator is located in the same position for each assembly The yellow dot on the stator provides an index point for accomplishing this This will eliminate the need to perform mechanical commutation alignment at final assembly In designing the housing provide a means for the stator lead wires three and the commutation Hall sensor PCB wires five to extend outside of the housing without interfering with ...

Страница 40: ...holding the rotor sleeve on the shaft either with adhesive or by using a spring pin and retaining ring When using the adhesive method a shoulder should be provided on the shaft to properly locate the rotor sleeve assembly When using the spring pin retaining ring method a slot must be provided in the sleeve that will engage the spring pin in the shaft thus properly locating the rotor sleeve assembl...

Страница 41: ...ng uncontrolled attraction may damage magnets on contact Caution When assembling the rotor into the stator high radial forces will be experienced witch can cause the magnets to crash into the stator and be damaged and or cause bodily injury The following precautions should be taken Wrap the rotor with a thin 0 12 mm thick Mylar sleeve which fill the air gap between the rotor and stator during asse...

Страница 42: ...e stator assembly around the rotor shaft product assembly 4 Tighten all fasteners to complete assembly 5 Remove Mylar shim and check for rotational clearance Caution The motor has to be painted in order to evacuate the losses as much as possible Recommended paint black color Additional information can be obtained with the following link http www parkermotion com products Rotary_Servo_Motors__7057_...

Страница 43: ...l cross section of earthing conductor Sp mm S 16 S 16 S 35 16 S 35 0 5S 3 4 8 Minimum clearances for insulation and creepage distances Depending on the pollution degree and the voltage in use the minimum clearances for insulation and creepage distances must meet the standard EN 60664 1 It is the integrator s responsibility to take the needed actions to comply with these distances or by adding prop...

Страница 44: ... 5 1 7 1 9 2 2 5 3 2 100 0 25 0 71 1 1 4 1 8 2 2 2 2 4 3 3 8 160 0 32 0 8 1 1 1 6 2 2 2 2 5 3 2 4 5 200 0 42 1 1 4 2 2 5 2 8 3 2 4 5 6 3 250 0 56 1 25 1 8 2 5 3 2 3 6 4 5 6 3 8 320 0 75 1 6 2 2 3 2 4 4 5 5 6 3 8 10 400 1 2 2 8 4 5 5 6 6 3 8 10 12 5 500 1 3 2 5 3 6 5 6 3 7 8 10 12 5 16 N B Please refer to the standard EN 60664 1 for more information 3 4 9 Ground continuity compliance The Motors mus...

Страница 45: ...ndard IEC 60034 1 3 4 12 EMC Directive cf guide lines 2004 108 CE and standard IEC 61800 3 It is the integrator s responsibility to ensure that the motor and drive in use comply with the EMC directive 3 4 13 Other regulation requirements The previous list is not exhaustive and all the other requirements in the regulation standard and directives must be checked by the integrator ...

Страница 46: ... cm S 1355 cm K064 25 4 cm 25 4 cm 0 635 cm S 1355 cm K089 30 48 cm 30 48 cm 1 27 cm S 2013 cm K178 40 64 cm 40 64 cm 2 54cm S 3716 cm Caution the ambient air temperature shall not exceed 40 C in the vicinity of the motor flange Warning A significant part of the heat produced by the motor is evacuated through the flange if the air is not able to circulate freely around the motor if the motor is mo...

Страница 47: ...re sizes Some drives have cable limitations or recommendations please refer to the drive technical documentation for any further information Cable selection At standstill the current must be limited at 80 of the low speed current Io and cable has to support peak current for a long period So if the motor works at standstill the current to select wire size is 2 x 0 8 Io 1 13 x Io Sizes for H07 RN F ...

Страница 48: ...section selection 35mm for a 3 cores in a cable tray at 30 C max You also have to respect the Drive commissioning manual and the cables current densities or voltage specifications 3 6 2 Conversion Awg kcmil mm Awg kcmil mm 500 253 400 203 350 177 300 152 250 127 0000 4 0 212 107 000 3 0 168 85 00 2 0 133 67 4 0 1 0 106 53 5 1 83 7 42 4 2 66 4 33 6 3 52 6 26 7 4 41 7 21 2 5 33 1 16 8 6 26 3 13 3 7 ...

Страница 49: ...tinuity between frame and ground wire 3 6 5 Motor cable The motor cables are flexible so cables can take any direction The electrical connection on motor in kit version is realized by high performance cable The motor cable section depends of the motor current level Caution The motor cables are designed for high current density so cable surface can reach temperatures exceeding 100 C Caution The wir...

Страница 50: ...tor Winding 4Y 6Y 7Y 8Y 9Y EY K032050 25 26 28 K032100 25 26 28 K032200 25 26 28 K044050 23 24 26 K044100 23 24 26 K044200 23 24 26 K064050 22 23 24 K064100 22 23 24 K064200 22 23 24 K089050 19 20 22 K089100 19 20 22 K089200 17 20 22 K178050 14 16 18 K178100 16 17 18 K178200 16 17 18 ...

Страница 51: ...dn t a feedback system A classic position sensor is an encoder a commutation Hall effect ensor and resolver Attention Do not mix feedback wires with motor wires to avoid EMI electromagnetic interference EMI risk to set default the drive So careful to separate resolver and motor wires 3 7 1 Commutation Hall effect sensor The motor can be delivered with a commutation sensor allowing to control the c...

Страница 52: ...is used to determine rotor position Its signals are processed by the drive in order to control the stator currents the speed and the position The resolver is a high precision device and must be wired and mounted with care 3 7 2 2 Example of resolver mounting Screw and ring to fit stator Stator Rotor Forcing nut Motor shaft ...

Страница 53: ...der accuracy 10 maxi Ratio 0 5 5 Output impedance primary in short circuit whatever the position of the rotor Typical 120 200j Ω Typical 95 180j Ω Dielectric rigidity 50 60 Hz 500 V 1 min Insulation resistance 10MΩ 100MΩ Rotor inertia 6 g cm 30 g cm 123 g cm Operating temperature range 55 to 155 C Rotor is clock wise rotation viewed from mounting flange end F view Resolvers are single pole pair re...

Страница 54: ...0xxx CS5UA1F1R0xxx For other drive you can assembly cable and plug by soldering with part number on the tab below Feedback Sensor Cable reference Plug reference Resolver 6537P0047 220065R4621 3 7 2 5 Resolver setting During the setting procedure it is strictly necessary to respect the 3 following conditions The rotor must be able to rotate freely The maximum friction torque on the rotor must not e...

Страница 55: ...55 PVD 3674_GB_K Series_CE November 2016 Docx 3 7 2 6 Resolver drawings Resolver part number 220005P1000 Resolver part number 220005P1001 Resolver part number 220005P1002 ...

Страница 56: ...56 PVD 3674_GB_K Series_CE November 2016 Docx Resolver part number 220005P1003 ...

Страница 57: ...57 PVD 3674_GB_K Series_CE November 2016 Docx 3 7 3 Encoder Instead of a resolver we can provide an encoder Incremental encoder Hiperface single turn or multiturn Endat single turn or multiturn ...

Страница 58: ...il within 24 h 4 1 2 Handling Kit motors are delivered in two part rotor and stator divided DANGER Do not handle the stator with the help of electrical cables or use any other inappropriate method Use non magnetic material to handle rotor Attention Rotors have strong permanent magnets It creates strong attraction forces that can crush fingers or hands Firmly hold the rotor and move away all magnet...

Страница 59: ...ory routine tests exemples IEC60034 Attention Rotor has strong permanent magnets It creates strong attraction force that can crush fingers or hands Firmly hold the rotor and move away all magnetic parts Caution Clean the working area of all ferromagnetic part such as tools screws steel particles Use wood table to work or make machine assembly Caution Anyone wearing pacemaker hearing aid watches ma...

Страница 60: ...r Tightening torque Screw diameter Tightening torque M2 x 0 35 0 35 N m M9 x 1 25 31 N m M2 5 x 0 4 0 6 N m M10 x 1 5 40 N m M3 x 0 5 1 1 N m M11 x 1 5 56 N m M3 5 x 0 6 1 7 N m M12 x 1 75 70 N m M4 x 0 7 2 5 N m M14 x 2 111 N m M5 x 0 8 5 N m M16 x 2 167 N m M6 x1 8 5 N m M18 x 2 5 228 N m M7 x 1 14 N m M20 x 2 5 329 N m M8 x 1 25 20 N m M22 x 2 5 437 N m M24 x 3 564 N m Warning After 15 days che...

Страница 61: ...ing must comply with the drive commissioning manual and with recommended cables Caution Section motor cable is lower than commissioning section cable between motor and drive due to high performance motor cable design Do not take the same cable section than motor Danger The kit must be earthed by connecting to an unpainted section of the motor Caution The motor cables are designed for high current ...

Страница 62: ...It is mandatory to connect a green yellow ground cable between the motor frame and machine The ground cable cross section must be the same as the power cable cross section Before applying power Check there is no damage on winding or cable due the mounting by a dielectric test Check all external wiring circuits of the system power control motor and earth connections Ensure that nobody is working on...

Страница 63: ...not mix feedback wires with motor wires to avoid EMI electromagnetic interference EMI risk to set default the drive So careful to separate resolver and motor wires Warning Always wear an antistatic wrist strap during encoder handling Warning Do not touch encoder contacts risk of damage due to electrostatic discharges ESD Danger before any intervention the drive must be stopped in accordance with t...

Страница 64: ...f the recommended safety tests to be validated by an approved organism Attention other could be needed in accordance with regulations The continuity of the grounding circuit On each complete motor the resistance between any conductive point and the grounding conductor shall not exeed than100m This test shall be performed before the dielectric tests EN60204 1 Safety of the machine Below exemples of...

Страница 65: ... a max 50V DC is 50 MΩ Between the phase and the casing Between the thermal protection and the casing Between the brake coil and the casing Between the resolver coils and the casing You find that the motor speed is drifting Reset the offset of the servoamplifier after having given a zero instruction to the speed setpoint input You notice that the motor is racing Check the speed set point of the se...

Страница 66: ...he motor is too noisy Several possible explanations Unsatisfactory mechanical balancing There is friction from the brake mechanical jamming Defective coupling Loosening of several pieces Poor adjustment of servo drive or position loop check rotation in open loop ...

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