Technical data
All data, with the exception of the voltage constant, are based on 40 °C ambient temperature and 100 K overtemperature of the winding. The data can have a tolerance of +/- 10%.
If a gear unit is attached the power may be reduced by up to 20 %. This loss in performance has thermal reasons, since a gear unit that is subject to warming is installed at the motor flange intended for heat dissipation.
Term definitions
Standstill torque M0 [Nm]
The standstill torque can be maintained indefinitely at a speed n<100 rpm and rated ambient conditions.
Rated torque Mn [Nm]
The rated torque is produced when the motor is drawing the rated current at the rated speed.
The rated torque can be produced indefinitely at the rated speed in continuous operation (S1).
Rated speed nn [rpm]
At the rated speed motor output corresponds to the rated torque and the rated output. The rated speed depends on the supply voltage. The example below refers to supply voltages of 24 and 48 VDC. The supply voltages are specified without tolerances.
Standstill current I0rms [A]
The standstill current is the effective sinusoidal current which the motor draws at n<100 rpm to produce the standstill torque.
Peak current (pulse current) I0max [A]
The peak current (effective sinusoidal value) is approximately equivalent to 5-times the rated standstill current. The configured peak current of the servo terminal in use must be lower.
Torque constant KTrms [Nm/A]
The torque constant indicates how much torque in Nm is generated by the motor with standstill current. The rule is M0 = I0 x KT
Voltage constant KErms [mVmin]
At 20 °C, the voltage constant indicates the induced motor EMF, referenced to 1000 rpm, as an effective sine value between two terminals.
Rotor moment of inertia J [kgcm²]
The constant J is a measure of the acceleration capability of the motor. For instance, at I0 the acceleration time tb from 0 to 3000 rpm is given as:
with M0 in Nm and J in kgcm2
Thermal time constant tTH [min]
The constant tTH defines the time for the cold motor, under a load of I0 to heat up to an overtemperature of 0.63 x 100 Kelvin.
This temperature rise happens in a much shorter time when the motor is loaded with the peak current.
Release delay time tBRH [ms] / Application delay time tBRL [ms] of the brake
These constants define the response times of the stopping brake when operated with the rated voltage at the servo terminal.
Winding inductance L [mH]
The winding inductance is the specification of the motor inductance as an average value over one revolution of the motor, on two powered phases at 1 kHz, taking into account the saturation of the motor.