78 1018854 12/2015 V01
7. Glossary
7.1 Technical Data
AC Voltage constant k
EM
[V
rms
/ 1000 rpm]
Eective 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
av (max)
[rpm]
Maximum permissible average gear input speed for grease lubrication.
Average input speed (oil lubrication) n
av (max)
[rpm]
Maximum permissible average gear input speed for oil lubrication.
Average torque T
A
[Nm]
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
A
limit.
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
C
[ms]
Delay time to close the brake.
Brake current to hold I
HBr
[A
DC
]
Current for applying the brake.
Brake current to open I
OBr
[A
DC
]
Current required to open the brake.
Brake holding torque T
BR
[Nm]
Torque the actuator can withstand when the brake is applied, with respect to the output.
Brake opening time t
O
[ms]
Delay time for opening the brake.
Brake voltage U
Br
[VDC]
Terminal voltage of the holding brake.
Torque T +T
N
Hysteresis loss/
Backlash
T
N
= Rated torque
φ = Output angle
Torsion
φ
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