User manual

2 SRV02 COMPONENTS
The SRV02 components are identified in Section 2.1. Some of the those components are then described in Section
2.2.
2.1 SRV02 Component Nomenclature
The SRV02 components listed in Table 2.1 below are labeled in figures 2.1a, 2.1b, 2.1c, 2.1d, and 2.1e. Note
that Figure 2.1a shows the SRV02 in the low-gear configuration and Figure 2.1b is the SRV02 in the high-gear
configuration. These different gear setups will be explained later in Section 4.1.
ID Component ID Component
1 Potentiometer 13 Tachometer
2 Bottom plate 14 Ball-bearing block
3 Posts 15 Motor connector
4 Motor pinion gear: 72-teeth (low-gear) 16 Tachometer connector
5 Load gear: 72-teeth (low-gear) 17 Encoder connector
6 Potentiometer anti-backlash gear 18 S1 & S2 connector (i.e. potentiometer)
7 Anti-backlash springs 19 Motor pinion gear: 24-teeth (high-gear)
8 Load shaft (i.e. output shaft) 20 Load gear: 120-teeth (high-gear)
9 Motor 21 Bar inertial load
10 Gearbox 22 Disc inertial load
11 Potentiometer 23 Thumb screws
12 Encoder
Table 2.1: SRV02 Components
2.2 Component Description
2.2.1 DC Motor
The SRV02 incorporates a Faulhaber Coreless DC Motor model 2338S006 and is shown in Figure 2.1c with ID #9.
This is a high efficiency, low inductance motor that can obtain a much faster response than a conventional dc motor.
The complete specification sheet of the motor is included in [2].
 Caution: High-frequency signal applied to a motor will eventually damage the gearbox motor and the motor
brushes. The most likely source for high frequency noise is derivative feedback. If the derivative gain is set too high,
a noisy voltage will be fed into the motor. To protect your motor, you should always band limit your signal (especially
derivative feedback) to a value of 50 Hz.
 Caution: Input ±15 V, 3 A peak, 1 A continuous.
 Caution: Exposed moving parts.
2.2.2 Potentiometer
All SRV02 models are equipped with a Vishay Spectrol model 132 potentiometer, shown in in Figure 2.1c with label
#11. It is a single turn 10 kΩ sensor with no physical stops and has an electrical range of 352 deg. The total output
range of the sensor is ±5 V over the full 352 deg range. Note that a potentiometer provides an absolute position
measurement as opposed to a relative measurement from, for instance, an incremental encoder. See [6] for a full
listing of the potentiometer specifications.
SRV02 User Manual 6