User manual

3 SRV02 SPECIFICATIONS
Table 3.1 lists and characterizes the main parameters associated with the SRV02. Some of these are used in the
mathematical model. More detailed information about the gears is given in Table 3.2 and the calibration gains for
the various sensors on the SRV02 are summarized in Table 3.3.
Symbol Description Matlab
Variable
Value Variation
V
nom
Motor nominal input voltage 6.0 V
R
m
Motor armature resistance Rm 2.6 Ω ± 12%
L
m
Motor armature inductance Lm 0.18 mH
k
t
Motor current-torque constant kt 7.68 × 10
−3
N
m/A
± 12%
k
m
Motor back-emf constant km 7.68 × 10
−3
V/(rad/s)
± 12%
K
g
High-gear total gear ratio Kg 70
Low-gear total gear ratio Kg 14
η
m
Motor efficiency eta m 0.69 ± 5%
η
g
Geabox efficiency eta g 0.90 ± 10%
J
m,rotor
Rotor moment of inertia Jm rotor 3.90 × 10
−7
kg ·
m
2
± 10%
J
tach
Tachometer moment of inertia Jtach 7.06 × 10
−8
kg ·
m
2
± 10%
J
eq
High-gear equivalent moment of
inerta without external load
Jeq 9.76 × 10
−5
kg ·
m
2
Low-gear equivalent moment of
inerta without external load
Jeq 2.08 × 10
−5
N ·
m / (rad/s)
B
eq
High-gear Equivalent viscous
damping coefficient
Beq 0.015 N · m /
(rad/s)
Low-Gear Equivalent viscous
damping coefficient
Beq 1.50 × 10
−4
kg ·
m
2
m
b
Mass of bar load m b 0.038 kg
L
b
Length of bar load L b 0.1525 m
m
d
Mass of disc load m d 0.04 kg
r
d
Radius of disc load r d 0.05 m
m
max
Maximum load mass 5 kg
f
max
Maximum input voltage fre-
quency
50 Hz
I
max
Maximum input current 1 A
ω
max
Maximum motor speed 628.3 rad/s
Table 3.1: Main SRV02 Specifications
SRV02 User Manual
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