I

W31023
OM1494
OM1495
 5
4
5

2
6

1 2 OM1448
 5

7 8

4
5

2
6
1

2
OM1411
 15

12

11

13
14

10

OM1412
OM0884
1

OM1464
 3

OM1453
 P

A
W30373
14
T50
TS
T55
f = 50Hz
12 T60
T65
f = 55Hz T70
10

f = 60Hz
8
f = 65Hz

f = 70Hz
6

0
1000 1200 1400 1600 1800 2000 2200
VR
W30374
14 5Hz 10Hz 15Hz 20Hz 25Hz 30Hz 35Hz 40Hz 45Hz 50Hz
20V 40V 60V 80V 100V 120V 140V 160V 180V 200V T5
12 T10

T15
10
T20
8 T25

T30
6
T35
4 T40

T45
2
T50

0
0 100 200 300 400 500 600 700 800 900 1000 1100 1200 1300 1400 1500
VR
W30375
 T1
=
T1 + T2

W30389

CM P

CR

t
W30390
4
v(t)
D
3

0
PWM
-1
0 0.2 0.4 0.6 0.8 1
W30391
 7
2
4 5 6
3
8

17

12
16 15 14 13 12 11 10 9
W30514
 4 Nm 300

Nm 300
3

1 2

Nm 300 3

W30982
 3 Nm 300

4 Nm 300
W30983
4

3
W30947
1 Nm 100

2 Nm 50

W31002
1

4
2

5
3
W30996
W31003
W31004
W31005
 B
A

W31011
 6

5
3 2 1

7
Nm 20 9
4

Nm 20 9

W31022
 S 6 C= 3 Nm Nm

1 C= 195 Nm Nm

2 C= 9,5 Nm Nm

3 C= 145 Nm Nm

3 C= 145 Nm Nm

4 C= 200 Nm Nm
7 C= 5.5 Nm Nm

5 C= 145 Nm Nm

W31024
 D

B/2 B/2

8 C= 200 Nm Nm

W31025
W31026
 W31035

1 Nm 195 W31036
 6
11

10
14 3

4
16
15 5
9
16 7
13

1
17

8
12 2

16 15

16

14

3
2
4 1
6 5
16 10
11 16
14 14
7

15 15
9 17

13 12
W31038
1 C= 145 Nm Nm

7 C= 195 Nm Nm

5 4

2 3
W31039
 7 2
10
1
11

9 3
8

4 C= 145 Nm Nm

W31040
 W31060

A
W31061
 4 Nm C= 45 Nm

2 Nm C= 170 Nm

3 Nm C= 120 Nm

1 Nm C= 200 Nm
5
4

W31046
3
W31051

C= 200 Nm Nm

W31053
 '
30
1


7
78

5
1
2 3
9
4
9

10

11 12

W31058
 6
2
5
6
1

K X
+5%
10= C= 20 Nm -15%
Nm

5 W31055
3/7 C= 120 Nm +5%
-15% Nm

4 C= 170 Nm +5%
-15%
Nm
4/7 C= 170 Nm +5%
-15%
Nm

X K

W31056
 A

76  1 30'

8
54  1 30'

W31057
 E= 155
1 C= 45 +5% -5% Nm Nm

0,25

W31059
 W31060

A
W31061