Bending moment and stiffness
- Allowable bending moment: HSA-17 80 N·m, HSA-20 110 N·m, HSA-25 258 N·m
- Torsional stiffness K1: HSA-17 1.5×10⁴, HSA-20 2.0×10⁴, HSA-25 4.8×10⁴ N·m/rad
- Cross-overturning stiffness: HSA-17 12.7×10⁴, HSA-20 16.0×10⁴, HSA-25 40.2×10⁴ N·m/rad
Inertia and starting torque
- High-speed motor rotor inertia: HSA-17 0.00005824, HSA-20 0.00009501, HSA-25 0.000308 kg·m²
- Reflected low-speed output inertia: HSA-17 0.7084, HSA-20 1.756944, HSA-25 3.67868737774 kg·m²
- Input-side no-load starting torque: HSA-17 ≤0.04, HSA-20 ≤0.052, HSA-25 ≤0.093 N·m
- Torque ripple: <5% on all three
A numerical backdriving/breakaway friction coefficient has not been provided by Rokae, so you'll need to measure that one or request it from them.
