2024年4月28日发(作者:浑盼夏)
电机参数
单位
电机系列
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
编号(H00-00)
13100
13101
13102
13103
13104
13105
13106
13107
13108
13109
型号(华大)
80ST-M01330LF1B
80ST-M02430LF1B
80ST-M03330LF1B
110ST-M02030LF1B
110ST-M04030LF1B
110ST-M05030LF1B
110ST-M06020LF1B
110ST-M06030LF1B
130ST-M04025LF1B
130ST-M05020LF1B
型号(汇川)
1MV1-40B30CB-U131X
1MV1-75B30CB-U131X
1MV1-10C30CB-U131X
1MV2-60B30CB-U131X
1MV2-12C30CB-U131X
1MV2-15C30CB-U131X
1MV2-12C20CB-U131X
1MV2-16C30CB-U131X
1MV3-10C25CB-U131X
1MV3-10C20CB-U131X
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
13110
13111
13112
13113
13114
13115
13116
13117
13118
13119
13120
13121
13122
13123
130ST-M05025LF1B
130ST-M06025LF1B
130ST-M07720LF1B
130ST-M07725LF1B
130ST-M07730LF1B
130ST-M10015LF1B
130ST-M10025LF1B
130ST-M15015LF1B
130ST-M15025LF1B
150ST-M15025LF1B
150ST-M18020LF1B
150ST-M23020LF1B
150ST-M27020LF1B
110ST-M02030HF1B
1MV3-13C25CB-U131X
1MV3-15C25CB-U131X
1MV3-16C20CB-U131X
1MV3-20C25CB-U131X
1MV3-24C30CB-U131X
1MV3-15C15CB-U131X
1MV3-26C25CB-U131X
1MV3-23C15CB-U131X
1MV3-39C25CB-U131X
1MV4-38C25CB-U131X
1MV4-36C20CB-U131X
1MV4-47C20CB-U131X
1MV4-55C20CB-U131X
1MV2-60B30CD-U131X
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
13124
13125
13126
13127
13128
13129
13130
13131
13132
13133
13134
13135
13136
13137
110ST-M04030HF1B
110ST-M05030HF1B
110ST-M06020HF1B
110ST-M06030HF1B
130ST-M04025HF1B
130ST-M05020HF1B
130ST-M05025HF1B
130ST-M06025HF1B
130ST-M07720HF1B
130ST-M07725HF1B
130ST-M07730HF1B
130ST-M10015HF1B
130ST-M10025HF1B
130ST-M15015HF1B
1MV2-12C30CD-U131X
1MV2-15C30CD-U131X
1MV2-12C20CD-U131X
1MV2-16C30CD-U131X
1MV3-10C25CD-U131X
1MV3-10C20CD-U131X
1MV3-13C25CD-U131X
1MV3-15C25CD-U131X
1MV3-16C20CD-U131X
1MV3-20C25CD-U131X
1MV3-24C30CD-U131X
1MV3-15C15CD-U131X
1MV3-26C25CD-U131X
1MV3-23C15CD-U131X
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
13138
13139
13140
13141
13142
13000
13001
13002
13003
13004
13005
13006
13007
13008
130ST-M15025HF1B
150ST-M15025HF1B
150ST-M18020HF1B
150ST-M23020HF1B
150ST-M27020HF1B
80ST-M01330LFB
80ST-M02430LFB
80ST-M03330LFB
110ST-M02030LFB
110ST-M04030LFB
110ST-M05030LFB
110ST-M06020LFB
110ST-M06030LFB
130ST-M04025LFB
1MV3-39C25CD-U131X
1MV4-38C25CD-U131X
1MV4-36C20CD-U131X
1MV4-47C20CD-U131X
1MV4-55C20CD-U131X
*
*
*
*
*
*
*
*
*
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
13009
13010
13011
13012
13013
13014
13015
13016
13017
13018
13019
13020
13021
13022
130ST-M05020LFB
130ST-M05025LFB
130ST-M06025LFB
130ST-M07720LFB
130ST-M07725LFB
130ST-M07730LFB
130ST-M10015LFB
130ST-M10025LFB
130ST-M15015LFB
130ST-M15025LFB
150ST-M15025LFB
150ST-M18020LFB
150ST-M23020LFB
150ST-M27020LFB
*
*
*
*
*
*
*
*
*
*
*
*
*
*
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
13023
13024
13025
13026
13027
13028
13029
13030
13031
13032
13033
13034
13035
13036
110ST-M02030HFB
110ST-M04030HFB
110ST-M05030HFB
110ST-M06020HFB
110ST-M06030HFB
130ST-M04025HFB
130ST-M05020HFB
130ST-M05025HFB
130ST-M06025HFB
130ST-M07720HFB
130ST-M07725HFB
130ST-M07730HFB
130ST-M10015HFB
130ST-M10025HFB
*
*
*
*
*
*
*
*
*
*
*
*
*
*
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
13037
13038
13039
13040
13041
13042
05100
05101
05102
05103
05104
05105
05106
05107
130ST-M15015HFB
130ST-M15025HFB
150ST-M15025HFB
150ST-M18020HFB
150ST-M23020HFB
150ST-M27020HFB
*
*
*
*
*
*
*
*
*
*
*
*
*
*
ISMG1-37C10CD-U131X
ISMG1-55C15CD-U131X
ISMG1-62C17CD-U131X
ISMG1-75C20CD-U131X
50C10CDISMG1--U131X
ISMG1-75C15CD-U131X
ISMG1-85C17CD-U131X
ISMG1-11D20CD-U131X
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
05108
05109
05110
05111
05112
05113
05114
05115
05116
05117
05118
05119
05120
05121
*
*
*
*
*
*
*
*
*
*
*
*
*
*
ISMG1-75C10CD-U131X
ISMG1-11D15CD-U131X
ISMG1-12D17CD-U131X
ISMG1-15D20CD-U131X
ISMG1-92C10CD-U131X
ISMG1-13D15CD-U131X
ISMG1-18D20CD-U131X
ISMG1-63C10CD-U131X
ISMG1-95C15CD-U131X
ISMG1-11D17CD-U131X
ISMG1-12D20CD-U131X
ISMG1-95C10CD-U131X
ISMG1-14D15CD-U131X
ISMG1-16D17CD-U131X
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
05122
05123
05124
05125
05126
05127
05128
05129
05000
05001
05002
05003
05004
05005
*
*
*
*
*
*
*
*
*
*
*
*
*
*
ISMG1-18D20CD-U131X
ISMG1-14D10CD-U131X
ISMG1-22D15CD-U131X
ISMG1-24D17CD-U131X
ISMG1-28D20CD-U131X
ISMG1-20D10CD-U131X
ISMG1-30D15CD-U131X
ISMG1-41D20CD-U131X
ISMG1-37C10CD-R131X
ISMG1-55C15CD-R131X
ISMG1-62C17CD-R131X
ISMG1-75C20CD-R131X
50C10CDISMG1--R131X
ISMG1-75C15CD-R131X
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
05006
05007
05008
05009
05010
05011
05012
05013
05014
05015
05016
05017
05018
05019
*
*
*
*
*
*
*
*
*
*
*
*
*
*
ISMG1-85C17CD-R131X
ISMG1-11D20CD-R131X
ISMG1-75C10CD-R131X
ISMG1-11D15CD-R131X
ISMG1-12D17CD-R131X
ISMG1-15D20CD-R131X
ISMG1-92C10CD-R131X
ISMG1-13D15CD-R131X
ISMG1-18D20CD-R131X
ISMG1-63C10CD-R131X
ISMG1-95C15CD-R131X
ISMG1-11D17CD-R131X
ISMG1-12D20CD-R131X
ISMG1-95C10CD-R131X
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMH电机
ISMH电机
ISMH电机
ISMH电机
05020
05021
05022
05023
05024
05025
05026
05027
05028
05029
0
1
2
3
*
*
*
*
*
*
*
*
*
*
*
*
*
*
ISMG1-14D15CD-R131X
ISMG1-16D17CD-R131X
ISMG1-18D20CD-R131X
ISMG1-14D10CD-R131X
ISMG1-22D15CD-R131X
ISMG1-24D17CD-R131X
ISMG1-28D20CD-R131X
ISMG1-20D10CD-R131X
ISMG1-30D15CD-R131X
ISMG1-41D20CD-R131X
ISMH1-05B30CB-U131X
ISMH1-10B30CB-U131X
ISMH1-15B30CB-U131X
ISMH1-20B30CB-U131X
ISMH电机
ISMH电机
ISMH电机
ISMH电机
ISMH电机
ISMH电机
ISMH电机
ISMH电机
MECAPION电
机
MECAPION电
机
登奇电机
三洋电机
三洋电机
4
5
6
7
100
101
102
103
11000
11001
12000
10000
10001
*
*
*
*
*
*
*
*
*
*
*
*
*
ISMH1-40B30CB-U131X
ISMH1-55B30CB-U131X
ISMH1-75B30CB-U131X
ISMH1-10C30CB-U131X
ISMH2-10C30CD-U131X
ISMH2-15C30CD-U131X
ISMH2-20C30CD-U131X
ISMH2-25C30CD-U131X
APM-SAR5A
APM-SA01A
GK6060-6AC31FEb
P50B07040HXS
P50B08075HXS
三洋电机
三洋电机
三洋电机
10002
10100
10101
*
*
*
P50B08100HXS
P30B06040DXS
P30B06075DXS
电压等级
/
型号(汇川)
1MV1-40B30CB-U132X
1MV1-75B30CB-U132X
1MV1-10C30CB-U132X
1MV2-60B30CB-U132X
1MV2-12C30CB-U132X
1MV2-15C30CB-U132X
1MV2-12C20CB-U132X
1MV2-16C30CB-U132X
1MV3-10C25CB-U132X
1MV3-10C20CB-U132X
额定功率
0.01KW
0.10KW~
655.35KW
40
75
100
60
120
150
120
160
100
100
额定电流
0.01A
0.00A~
655.35A
260
420
420
400
500
600
600
800
400
500
额定转矩
0.01Nm
0.00Nm~
655.35Nm
130
240
330
200
400
500
600
600
400
500
最大转矩
0.01Nm
0.00Nm~
655.35Nm
390
720
990
600
1200
1500
1800
1800
1200
1500
1MV3-13C25CB-U132X
1MV3-15C25CB-U132X
1MV3-16C20CB-U132X
1MV3-20C25CB-U132X
1MV3-24C30CB-U132X
1MV3-15C15CB-U132X
1MV3-26C25CB-U132X
1MV3-23C15CB-U132X
1MV3-39C25CB-U132X
1MV4-38C25CB-U132X
1MV4-36C20CB-U132X
1MV4-47C20CB-U132X
1MV4-55C20CB-U132X
1MV2-60B30CD-U132X
130
150
160
200
240
150
260
230
390
380
360
470
550
60
500
600
600
750
900
600
1000
950
1700
1650
1650
2050
2050
300
500
600
770
770
770
1000
1000
1500
1500
1500
1800
2300
2700
200
1500
1800
2310
2310
2310
3000
3000
4500
4500
4500
5400
6900
8100
600
1MV2-12C30CD-U132X
1MV2-15C30CD-U132X
1MV2-12C20CD-U132X
1MV2-16C30CD-U132X
1MV3-10C25CD-U132X
1MV3-10C20CD-U132X
1MV3-13C25CD-U132X
1MV3-15C25CD-U132X
1MV3-16C20CD-U132X
1MV3-20C25CD-U132X
1MV3-24C30CD-U132X
1MV3-15C15CD-U132X
1MV3-26C25CD-U132X
1MV3-23C15CD-U132X
120
150
120
160
100
100
130
150
160
200
240
150
260
230
400
450
350
500
300
300
350
450
400
550
650
450
700
700
400
500
600
600
400
500
500
600
770
770
770
1000
1000
1500
1200
1500
1800
1800
1200
1500
1500
1800
2310
2310
2310
3000
3000
4500
1MV3-39C25CD-U132X
1MV4-38C25CD-U132X
1MV4-36C20CD-U132X
1MV4-47C20CD-U132X
1MV4-55C20CD-U132X
*
*
*
*
*
*
*
*
*
390
380
360
470
550
40
75
100
60
120
150
120
160
100
1150
1150
1050
1350
1350
260
420
420
400
500
600
600
800
400
1500
1500
1800
2300
2700
130
240
330
200
400
500
600
600
400
4500
4500
5400
6900
8100
390
720
990
600
1200
1500
1800
1800
1200
*
*
*
*
*
*
*
*
*
*
*
*
*
*
100
130
150
160
200
240
150
260
230
390
380
360
470
550
500
500
600
600
750
900
600
1000
950
1700
1650
1650
2050
2050
500
500
600
770
770
770
1000
1000
1500
1500
1500
1800
2300
2700
1500
1500
1800
2310
2310
2310
3000
3000
4500
4500
4500
5400
6900
8100
*
*
*
*
*
*
*
*
*
*
*
*
*
*
60
120
150
120
160
100
100
130
150
160
200
240
150
260
300
400
450
350
500
300
300
350
450
400
550
650
450
700
200
400
500
600
600
400
500
500
600
770
770
770
1000
1000
600
1200
1500
1800
1800
1200
1500
1500
1800
2310
2310
2310
3000
3000
*
*
*
*
*
*
ISMG1-37C10CD-U132X
ISMG1-55C15CD-U132X
ISMG1-62C17CD-U132X
ISMG1-75C20CD-U132X
50C10CDISMG1--U132X
ISMG1-75C15CD-U132X
ISMG1-85C17CD-U132X
ISMG1-11D20CD-U132X
230
390
380
360
470
550
370
550
620
750
500
750
850
1100
700
1150
1150
1050
1350
1350
800
1100
1300
1500
1000
1600
1800
2000
1500
1500
1500
1800
2300
2700
3500
3500
3500
3500
4800
4800
4800
4800
4500
4500
4500
5400
6900
8100
13000
13000
13000
13000
20000
20000
20000
20000
ISMG1-75C10CD-U132X
ISMG1-11D15CD-U132X
ISMG1-12D17CD-U132X
ISMG1-15D20CD-U132X
ISMG1-92C10CD-U132X
ISMG1-13D15CD-U132X
ISMG1-18D20CD-U132X
ISMG1-63C10CD-U132X
ISMG1-95C15CD-U132X
ISMG1-11D17CD-U132X
ISMG1-12D20CD-U132X
ISMG1-95C10CD-U132X
ISMG1-14D15CD-U132X
ISMG1-16D17CD-U132X
750
1100
1200
1500
920
1300
1850
630
950
1100
1260
950
1410
1600
1500
2100
2600
2800
1800
2800
3500
1300
1900
2300
2600
1800
3000
3400
7000
7000
7000
7000
8900
8900
8900
6000
6000
6000
6000
9000
9000
9000
22000
22000
22000
22000
28000
28000
28000
15200
15200
15200
15200
25000
25000
25000
ISMG1-18D20CD-U132X
ISMG1-14D10CD-U132X
ISMG1-22D15CD-U132X
ISMG1-24D17CD-U132X
ISMG1-28D20CD-U132X
ISMG1-20D10CD-U132X
ISMG1-30D15CD-U132X
ISMG1-41D20CD-U132X
ISMG1-37C10CD-R132X
ISMG1-55C15CD-R132X
ISMG1-62C17CD-R132X
ISMG1-75C20CD-R132X
50C10CDISMG1--R132X
ISMG1-75C15CD-R132X
1880
1410
2200
2400
2830
2050
3060
4100
370
550
620
750
500
750
3600
2900
4100
5000
5400
4000
6100
7600
800
1100
1300
1500
1000
1600
9000
13500
13500
13500
13500
19500
19500
19500
3500
3500
3500
3500
4800
4800
25000
35800
35800
35800
35800
48500
58500
58500
13000
13000
13000
13000
20000
20000
ISMG1-85C17CD-R132X
ISMG1-11D20CD-R132X
ISMG1-75C10CD-R132X
ISMG1-11D15CD-R132X
ISMG1-12D17CD-R132X
ISMG1-15D20CD-R132X
ISMG1-92C10CD-R132X
ISMG1-13D15CD-R132X
ISMG1-18D20CD-R132X
ISMG1-63C10CD-R132X
ISMG1-95C15CD-R132X
ISMG1-11D17CD-R132X
ISMG1-12D20CD-R132X
ISMG1-95C10CD-R132X
850
1100
750
1100
1200
1500
920
1300
1850
630
950
1100
1260
950
1800
2000
1500
2100
2600
2800
1800
2800
3500
1300
1900
2300
2600
1800
4800
4800
7000
7000
7000
7000
8900
8900
8900
6000
6000
6000
6000
9000
20000
20000
22000
22000
22000
22000
28000
28000
28000
15200
15200
15200
15200
25000
ISMG1-14D15CD-R132X
ISMG1-16D17CD-R132X
ISMG1-18D20CD-R132X
ISMG1-14D10CD-R132X
ISMG1-22D15CD-R132X
ISMG1-24D17CD-R132X
ISMG1-28D20CD-R132X
ISMG1-20D10CD-R132X
ISMG1-30D15CD-R132X
ISMG1-41D20CD-R132X
ISMH1-05B30CB-U132X
ISMH1-10B30CB-U132X
ISMH1-15B30CB-U132X
ISMH1-20B30CB-U132X
1410
1600
1880
1410
2200
2400
2830
2050
3060
4100
5
10
15
20
3000
3400
3600
2900
4100
5000
5400
4000
6100
7600
66
91
130
150
9000
9000
9000
13500
13500
13500
13500
19500
19500
19500
16
32
48
64
25000
25000
25000
35800
35800
35800
35800
48500
58500
58500
48
96
143
191
ISMH1-40B30CB-U132X
ISMH1-55B30CB-U132X
ISMH1-75B30CB-U132X
ISMH1-10C30CB-U132X
ISMH2-10C30CD-U132X
ISMH2-15C30CD-U132X
ISMH2-20C30CD-U132X
ISMH2-25C30CD-U132X
APM-SAR6A
APM-SA02A
GK6060-6AC32FEb
P50B07041HXS
P50B08076HXS
40
55
75
100
100
150
200
250
5
10
75
40
75
260
380
470
740
280
500
630
760
70
138
250
210
390
127
175
239
318
318
490
636
796
16
32
300
127
238
382
525
716
955
954
147
191
239
48
96
900
392
882
P50B08101HXS
P30B06041DXS
P30B06076DXS
100
40
75
430
270
460
319
127
238
882
382
715
额定转速
1rpm
0rpm~
9000rpm
3000
3000
3000
3000
3000
3000
2000
3000
2500
2000
最大转速
1rpm
0rpm~
9000rpm
3000
3000
3000
3000
3000
3000
2000
3000
2500
2000
转动惯量Jm电机极对数
0.01
1对极
㎏c㎡
0.00㎏c㎡~
2~360对极
655.35㎏c㎡
744
120
158
425
828
915
1111
1111
1101
1333
4
4
4
4
4
4
4
4
4
定子电阻
0.001Ω
0.001Ω~
65.535Ω
1858
901
1081
982
779
567
640
338
1108
1222
2500
2500
2000
2500
3000
1500
2500
1500
2500
2500
2000
2000
2000
3000
2500
2500
2000
2500
3000
1500
2500
1500
2500
2500
2000
2000
2000
3000
1333
1544
2017
2017
2017
2595
2595
4320
4320
6150
6330
8940
11190
425
4
4
4
4
4
4
4
4
4
4
4
4
4
4
867
605
660
454
282
801
262
458
102
116
132
96
109
2506
3000
3000
2000
3000
2500
2000
2500
2500
2000
2500
3000
1500
2500
1500
3000
3000
2000
3000
2500
2000
2500
2500
2000
2500
3000
1500
2500
1500
828
915
1111
1111
1101
1333
1333
1544
2017
2017
2017
2595
2595
4320
4
4
4
4
4
4
4
4
4
4
4
4
4
4
1771
1247
2069
906
2787
2576
2003
1528
1638
1020
633
1730
637
709
2500
2500
2000
2000
2000
3000
3000
3000
3000
3000
3000
2000
3000
2500
2500
2500
2000
2000
2000
3000
3000
3000
3000
3000
3000
2000
3000
2500
4320
6150
6330
8940
11190
74
120
158
425
828
915
1111
1111
1101
4
4
4
4
4
4
4
4
4
4
4
4
4
4
237
319
357
235
263
1858
901
1081
982
779
567
640
338
1108
2000
2500
2500
2000
2500
3000
1500
2500
1500
2500
2500
2000
2000
2000
2000
2500
2500
2000
2500
3000
1500
2500
1500
2500
2500
2000
2000
2000
1333
1333
1544
2017
2017
2017
2595
2595
4320
4320
6150
6330
8940
11190
4
4
4
4
4
4
4
4
4
4
4
4
4
4
1222
867
605
660
454
282
801
262
458
102
116
132
96
109
3000
3000
3000
2000
3000
2500
2000
2500
2500
2000
2500
3000
1500
2500
3000
3000
3000
2000
3000
2500
2000
2500
2500
2000
2500
3000
1500
2500
425
828
915
1111
1111
1101
1333
1333
1544
2017
2017
2017
2595
2595
4
4
4
4
4
4
4
4
4
4
4
4
4
4
2506
1771
1247
2069
906
2787
2576
2003
1528
1638
1020
633
1730
637
1500
2500
2500
2000
2000
2000
1000
1500
1700
2000
1000
1500
1700
2000
1500
2500
2500
2000
2000
2000
1350
2000
2210
2500
1350
2000
2210
2500
4320
4320
6150
6330
8940
11190
7500
7500
7500
7500
9000
9000
9000
9000
4
4
4
4
4
4
4
4
4
4
4
4
4
4
709
237
319
357
235
263
500
500
500
500
500
500
500
500
1000
1500
2700
2000
1000
1500
2000
1000
1500
1700
2000
1000
1500
1700
1350
2000
2210
2500
1350
2000
2500
1350
2000
2210
2500
1350
2000
2210
12000
12000
12000
12000
15000
15000
15000
7500
7500
7500
7500
9000
9000
9000
4
4
4
4
4
4
4
4
4
4
4
4
4
4
500
500
500
500
500
500
500
500
500
500
500
500
500
500
2000
1000
1500
1700
2000
1000
1500
2000
1000
1500
1700
2000
1000
1500
2500
1350
2000
2210
2500
1350
2000
2500
1350
2000
2210
2500
1350
2000
9000
12000
12000
12000
12000
15000
15000
15000
7500
7500
7500
7500
9000
9000
4
4
4
4
4
4
4
4
4
4
4
4
4
4
500
500
500
500
500
500
500
500
500
500
500
500
500
500
1700
2000
1000
1500
2700
2000
1000
1500
2000
1000
1500
1700
2000
1000
2210
2500
1350
2000
2210
2500
1350
2000
2500
1350
2000
2210
2500
1350
9000
9000
12000
12000
12000
12000
15000
15000
15000
7500
7500
7500
7500
9000
4
4
4
4
4
4
4
4
4
4
4
4
4
4
500
500
500
500
500
500
500
500
500
500
500
500
500
500
1500
1700
2000
1000
1500
1700
2000
1000
1500
2000
3000
3000
3000
3000
2000
2210
2500
1350
2000
2210
2500
1350
2000
2500
6000
6000
6000
6000
9000
9000
9000
12000
12000
12000
12000
15000
15000
15000
2
4
5
12
4
4
4
4
4
4
4
4
4
4
4
4
4
4
500
500
500
500
500
500
500
500
500
500
1000
1000
1000
1000
3000
3000
3000
3000
3000
3000
3000
3000
3000
3000
2000
3000
3000
6000
6000
6000
6000
6000
5000
5000
5000
5000
5000
2500
3000
3000
19
104
130
120
187
246
305
365
2
5
440
735
192
4
4
4
4
4
4
4
4
4
4
3
2
2
1000
540
500
500
2030
1790
1275
1060
3500
3500
300
3400
1070
3000
3000
3000
3000
4500
4500
265
26
64
2
4
4
1000
1400
520
定子电感Lq
0.01mH
0.01mH~
655.35mH
1196
655
829
298
303
232
276
152
376
452
定子电感Ld
0.01mH
0.01mH~
655.35mH
1196
655
829
298
303
232
276
152
376
452
线反电势系
转矩系数Kt电气常数Te
数
0.01mV/rpm0.01Nm/Arms0.01ms
0.01mV/rpm0.01Nm/Arms
0.01ms~655.35ms
~~
655.35mV/rp655.35Nm/Ar
364650644
3944
5070
4086
5844
5861
7169
5284
6533
8052
57
79
50
80
83
100
75
100
100
727
767
297
388
409
432
448
339
370
312
232
283
191
123
368
126
237
60
72
84
67
77
779
312
232
283
191
123
368
126
237
60
72
84
67
77
779
6713
6467
8243
6933
5581
11239
6713
11800
5901
6078
7222
7527
8747
6523
100
100
128
112
86
167
100
158
88
91
109
112
132
67
360
383
429
421
437
459
480
514
582
617
636
702
703
311
674
511
881
402
909
909
714
588
684
432
272
812
301
371
674
511
881
402
909
909
714
588
684
432
272
812
301
371
8941
8459
12907
8916
10020
12017
10683
10179
13267
10602
8518
17325
10621
14585
100
111
171
120
133
167
143
133
193
140
119
222
143
214
380
410
426
444
326
353
357
385
418
423
429
469
473
523
133
177
212
140
163
1196
655
829
298
303
232
276
152
376
133
177
212
140
163
1196
655
829
298
303
232
276
152
376
8838
9348
11580
11343
13257
3646
3944
5070
4086
5844
5861
7169
5284
6533
130
130
171
170
200
50
57
79
50
80
83
100
75
100
561
554
594
595
618
644
727
767
297
388
409
432
448
339
452
312
232
283
191
123
368
126
237
60
72
84
67
77
452
312
232
283
191
123
368
126
237
60
72
84
67
77
8052
6713
6467
8243
6933
5581
11239
6713
11800
5901
6078
7222
7527
8747
100
100
100
128
112
86
167
100
158
88
91
109
112
132
370
360
383
429
421
437
459
480
514
582
617
636
702
703
779
674
511
881
402
909
909
714
588
684
432
272
812
301
779
674
511
881
402
909
909
714
588
684
432
272
812
301
6523
8941
8459
12907
8916
10020
12017
10683
10179
13267
10602
8518
17325
10621
67
100
111
171
120
133
167
143
133
193
140
119
222
143
311
380
410
426
444
326
353
357
385
418
423
429
469
473
371
133
177
212
140
163
100
100
100
100
100
100
100
100
371
133
177
212
140
163
100
100
100
100
100
100
100
100
14585
8838
9348
11580
11343
13257
30500
20300
17400
14550
31000
19400
17400
15500
214
130
130
171
170
200
485
324
268
239
502
301
275
255
523
561
554
594
595
618
500
500
500
500
500
500
500
500
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
29100
20300
17410
14550
31000
19400
15500
30500
20300
17400
14550
31000
19400
17400
473
331
275
253
495
320
258
485
324
268
239
502
301
275
500
500
500
500
500
500
500
500
500
500
500
500
500
500
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
15500
29100
20300
17400
14600
31000
19400
15500
30500
20300
17400
14550
31000
19400
255
473
331
276
253
495
320
258
485
324
268
239
502
301
500
500
500
500
500
500
500
500
500
500
500
500
500
500
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
17400
15500
29100
20300
17410
14550
31000
19400
15500
30500
20300
17400
14550
31000
275
255
473
331
275
253
495
320
258
485
324
268
239
502
500
500
500
500
500
500
500
500
500
500
500
500
500
500
100
100
100
100
100
100
100
100
100
100
300
300
300
300
100
100
100
100
100
100
100
100
100
100
300
300
300
300
19400
17400
15500
29100
20300
17400
14600
31000
19400
15500
3000
3000
3000
3000
301
275
255
473
331
276
253
495
320
258
50
50
50
50
500
500
500
500
500
500
500
500
500
500
500
500
500
500
300
304
327
300
740
682
510
410
500
500
100
1
1
300
347
387
300
740
682
510
410
500
500
100
1
1
3000
2933
3330
3000
5833
6999
6999
6999
1500
1500
7593
4157
4166
50
49
51
50
113
98
100
105
23
23
120
74
69
500
563
654
500
500
500
500
500
685
685
675
400
530
1
1
1
1
1
1
5200
3222
3419
86
53
57
590
460
830
机械常数Tm
0.01ms
编码器选择编码器线数
11脉冲/rev
0:非省线式1脉冲/rev~
0.01ms~655.35ms
增量型1073741824
1:省线式增脉冲/rev
16512500
99
83
500
302
224
213
200
366
489
1
1
1
1
1
1
1
1
1
2500
2500
2500
2500
2500
2500
2500
2500
2500
初始化电角U初始化电角
度度
0.1°0.1°
0.0°~0.0°~
360.0°360.0°
33803380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
347
280
243
221
233
224
200
240
170
259
211
205
211
719
1
1
1
1
1
1
1
1
1
1
1
1
1
1
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
440
277
235
210
518
371
393
398
268
315
273
273
243
200
1
1
1
1
1
1
1
1
1
1
1
1
1
1
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
180
346
231
217
221
165
99
83
500
302
224
213
200
366
1
1
1
1
1
0
0
0
0
0
0
0
0
0
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
1580
1580
1580
1580
1580
1580
1580
1580
1580
489
347
280
243
221
233
224
200
240
170
259
211
205
211
0
0
0
0
0
0
0
0
0
0
0
0
0
0
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
1580
1580
1580
1580
1580
1580
1580
1580
1580
1580
1580
1580
1580
1580
719
440
277
235
210
518
371
393
398
268
315
273
273
243
0
0
0
0
0
0
0
0
0
0
0
0
0
0
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
1580
1580
1580
1580
1580
1580
1580
1580
1580
1580
1580
1580
1580
1580
200
180
346
231
217
221
50
50
50
50
50
50
50
50
0
0
0
0
0
0
1
1
1
1
1
1
1
1
2500
2500
2500
2500
2500
2500
4096
4096
4096
4096
4096
4096
4096
4096
3380
3380
3380
3380
3380
3380
1652
1652
1652
1652
1652
1652
1652
1652
1580
1580
1580
1580
1580
1580
1800
1800
1800
1800
1800
1800
1800
1800
50
50
50
50
50
50
50
50
50
50
50
50
50
50
1
1
1
1
1
1
1
1
1
1
1
1
1
1
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
50
50
50
50
50
50
50
50
50
50
50
50
50
50
1
1
1
1
1
1
1
1
0x20
0x20
0x20
0x20
0x20
0x20
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
50
50
50
50
50
50
50
50
50
50
50
50
50
50
0x20
0x20
0x20
0x20
0x20
0x20
0x20
0x20
0x20
0x20
0x20
0x20
0x20
0x20
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
50
50
50
50
50
50
50
50
50
50
50
50
50
50
0x20
0x20
0x20
0x20
0x20
0x20
0x20
0x20
0x20
0x20
1
1
1
1
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
2500
2500
2500
2500
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
0
0
0
0
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
50
50
50
50
100
100
100
100
35
35
30
170
130
1
1
1
1
1
1
1
1
0
0
0
1
1
2500
2500
2500
2500
2500
2500
2500
2500
2048
2048
2500
2000
2000
0
0
0
0
0
0
0
0
0
0
0
0
0
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
600
600
110
38
30
1
1
1
2000
2000
2000
0
0
0
600
600
600
电流环Kp
PU
电流环Ki
PU
电流环Kd
PU
500
500
500
500
500
500
500
500
500
500
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
0
0
0
0
0
0
0
0
0
0
500
500
500
500
500
500
500
500
500
500
500
500
500
500
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
500
500
500
500
500
500
500
500
500
500
500
500
500
500
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
500
500
500
500
500
500
500
500
500
500
500
500
500
500
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
500
500
500
500
500
500
500
500
500
500
500
500
500
500
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
500
500
500
500
500
500
500
500
500
500
500
500
500
500
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
500
500
500
500
500
500
1000
3000
1000
3000
3000
3000
3000
2000
1000
1000
1000
1000
1000
1000
1000
3000
1000
3000
3000
3000
3000
2000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
3000
2000
2000
2000
2000
2000
2000
2000
2000
2000
2000
2000
2000
2000
3000
2000
2000
2000
2000
2000
2000
2000
2000
2000
2000
2000
2000
2000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
2000
2000
2000
2000
2000
2000
2000
2000
1000
3000
1000
3000
3000
3000
2000
2000
2000
2000
2000
2000
2000
2000
1000
3000
1000
3000
3000
3000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
3000
2000
3000
2000
2000
2000
2000
2000
2000
2000
2000
2000
2000
2000
3000
2000
3000
2000
2000
2000
2000
2000
2000
2000
2000
2000
2000
2000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
2000
2000
2000
2000
2000
2000
2000
2000
2000
2000
1800
1800
1800
1800
2000
2000
2000
2000
2000
2000
2000
2000
2000
2000
0
0
0
0
0
0
0
0
0
0
10001500
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
3000
2400
2400
1000
540
600
500
1700
2500
2800
2200
2000
2000
3000
4800
4800
1800
1200
900
1300
1800
2400
2800
2800
0
0
0
0
0
2400
1000
1000
4800
1000
1000
0
0
0
2024年4月28日发(作者:浑盼夏)
电机参数
单位
电机系列
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
编号(H00-00)
13100
13101
13102
13103
13104
13105
13106
13107
13108
13109
型号(华大)
80ST-M01330LF1B
80ST-M02430LF1B
80ST-M03330LF1B
110ST-M02030LF1B
110ST-M04030LF1B
110ST-M05030LF1B
110ST-M06020LF1B
110ST-M06030LF1B
130ST-M04025LF1B
130ST-M05020LF1B
型号(汇川)
1MV1-40B30CB-U131X
1MV1-75B30CB-U131X
1MV1-10C30CB-U131X
1MV2-60B30CB-U131X
1MV2-12C30CB-U131X
1MV2-15C30CB-U131X
1MV2-12C20CB-U131X
1MV2-16C30CB-U131X
1MV3-10C25CB-U131X
1MV3-10C20CB-U131X
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
13110
13111
13112
13113
13114
13115
13116
13117
13118
13119
13120
13121
13122
13123
130ST-M05025LF1B
130ST-M06025LF1B
130ST-M07720LF1B
130ST-M07725LF1B
130ST-M07730LF1B
130ST-M10015LF1B
130ST-M10025LF1B
130ST-M15015LF1B
130ST-M15025LF1B
150ST-M15025LF1B
150ST-M18020LF1B
150ST-M23020LF1B
150ST-M27020LF1B
110ST-M02030HF1B
1MV3-13C25CB-U131X
1MV3-15C25CB-U131X
1MV3-16C20CB-U131X
1MV3-20C25CB-U131X
1MV3-24C30CB-U131X
1MV3-15C15CB-U131X
1MV3-26C25CB-U131X
1MV3-23C15CB-U131X
1MV3-39C25CB-U131X
1MV4-38C25CB-U131X
1MV4-36C20CB-U131X
1MV4-47C20CB-U131X
1MV4-55C20CB-U131X
1MV2-60B30CD-U131X
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
13124
13125
13126
13127
13128
13129
13130
13131
13132
13133
13134
13135
13136
13137
110ST-M04030HF1B
110ST-M05030HF1B
110ST-M06020HF1B
110ST-M06030HF1B
130ST-M04025HF1B
130ST-M05020HF1B
130ST-M05025HF1B
130ST-M06025HF1B
130ST-M07720HF1B
130ST-M07725HF1B
130ST-M07730HF1B
130ST-M10015HF1B
130ST-M10025HF1B
130ST-M15015HF1B
1MV2-12C30CD-U131X
1MV2-15C30CD-U131X
1MV2-12C20CD-U131X
1MV2-16C30CD-U131X
1MV3-10C25CD-U131X
1MV3-10C20CD-U131X
1MV3-13C25CD-U131X
1MV3-15C25CD-U131X
1MV3-16C20CD-U131X
1MV3-20C25CD-U131X
1MV3-24C30CD-U131X
1MV3-15C15CD-U131X
1MV3-26C25CD-U131X
1MV3-23C15CD-U131X
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
13138
13139
13140
13141
13142
13000
13001
13002
13003
13004
13005
13006
13007
13008
130ST-M15025HF1B
150ST-M15025HF1B
150ST-M18020HF1B
150ST-M23020HF1B
150ST-M27020HF1B
80ST-M01330LFB
80ST-M02430LFB
80ST-M03330LFB
110ST-M02030LFB
110ST-M04030LFB
110ST-M05030LFB
110ST-M06020LFB
110ST-M06030LFB
130ST-M04025LFB
1MV3-39C25CD-U131X
1MV4-38C25CD-U131X
1MV4-36C20CD-U131X
1MV4-47C20CD-U131X
1MV4-55C20CD-U131X
*
*
*
*
*
*
*
*
*
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
13009
13010
13011
13012
13013
13014
13015
13016
13017
13018
13019
13020
13021
13022
130ST-M05020LFB
130ST-M05025LFB
130ST-M06025LFB
130ST-M07720LFB
130ST-M07725LFB
130ST-M07730LFB
130ST-M10015LFB
130ST-M10025LFB
130ST-M15015LFB
130ST-M15025LFB
150ST-M15025LFB
150ST-M18020LFB
150ST-M23020LFB
150ST-M27020LFB
*
*
*
*
*
*
*
*
*
*
*
*
*
*
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
13023
13024
13025
13026
13027
13028
13029
13030
13031
13032
13033
13034
13035
13036
110ST-M02030HFB
110ST-M04030HFB
110ST-M05030HFB
110ST-M06020HFB
110ST-M06030HFB
130ST-M04025HFB
130ST-M05020HFB
130ST-M05025HFB
130ST-M06025HFB
130ST-M07720HFB
130ST-M07725HFB
130ST-M07730HFB
130ST-M10015HFB
130ST-M10025HFB
*
*
*
*
*
*
*
*
*
*
*
*
*
*
华大电机
华大电机
华大电机
华大电机
华大电机
华大电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
13037
13038
13039
13040
13041
13042
05100
05101
05102
05103
05104
05105
05106
05107
130ST-M15015HFB
130ST-M15025HFB
150ST-M15025HFB
150ST-M18020HFB
150ST-M23020HFB
150ST-M27020HFB
*
*
*
*
*
*
*
*
*
*
*
*
*
*
ISMG1-37C10CD-U131X
ISMG1-55C15CD-U131X
ISMG1-62C17CD-U131X
ISMG1-75C20CD-U131X
50C10CDISMG1--U131X
ISMG1-75C15CD-U131X
ISMG1-85C17CD-U131X
ISMG1-11D20CD-U131X
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
05108
05109
05110
05111
05112
05113
05114
05115
05116
05117
05118
05119
05120
05121
*
*
*
*
*
*
*
*
*
*
*
*
*
*
ISMG1-75C10CD-U131X
ISMG1-11D15CD-U131X
ISMG1-12D17CD-U131X
ISMG1-15D20CD-U131X
ISMG1-92C10CD-U131X
ISMG1-13D15CD-U131X
ISMG1-18D20CD-U131X
ISMG1-63C10CD-U131X
ISMG1-95C15CD-U131X
ISMG1-11D17CD-U131X
ISMG1-12D20CD-U131X
ISMG1-95C10CD-U131X
ISMG1-14D15CD-U131X
ISMG1-16D17CD-U131X
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
05122
05123
05124
05125
05126
05127
05128
05129
05000
05001
05002
05003
05004
05005
*
*
*
*
*
*
*
*
*
*
*
*
*
*
ISMG1-18D20CD-U131X
ISMG1-14D10CD-U131X
ISMG1-22D15CD-U131X
ISMG1-24D17CD-U131X
ISMG1-28D20CD-U131X
ISMG1-20D10CD-U131X
ISMG1-30D15CD-U131X
ISMG1-41D20CD-U131X
ISMG1-37C10CD-R131X
ISMG1-55C15CD-R131X
ISMG1-62C17CD-R131X
ISMG1-75C20CD-R131X
50C10CDISMG1--R131X
ISMG1-75C15CD-R131X
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
05006
05007
05008
05009
05010
05011
05012
05013
05014
05015
05016
05017
05018
05019
*
*
*
*
*
*
*
*
*
*
*
*
*
*
ISMG1-85C17CD-R131X
ISMG1-11D20CD-R131X
ISMG1-75C10CD-R131X
ISMG1-11D15CD-R131X
ISMG1-12D17CD-R131X
ISMG1-15D20CD-R131X
ISMG1-92C10CD-R131X
ISMG1-13D15CD-R131X
ISMG1-18D20CD-R131X
ISMG1-63C10CD-R131X
ISMG1-95C15CD-R131X
ISMG1-11D17CD-R131X
ISMG1-12D20CD-R131X
ISMG1-95C10CD-R131X
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMG电机
ISMH电机
ISMH电机
ISMH电机
ISMH电机
05020
05021
05022
05023
05024
05025
05026
05027
05028
05029
0
1
2
3
*
*
*
*
*
*
*
*
*
*
*
*
*
*
ISMG1-14D15CD-R131X
ISMG1-16D17CD-R131X
ISMG1-18D20CD-R131X
ISMG1-14D10CD-R131X
ISMG1-22D15CD-R131X
ISMG1-24D17CD-R131X
ISMG1-28D20CD-R131X
ISMG1-20D10CD-R131X
ISMG1-30D15CD-R131X
ISMG1-41D20CD-R131X
ISMH1-05B30CB-U131X
ISMH1-10B30CB-U131X
ISMH1-15B30CB-U131X
ISMH1-20B30CB-U131X
ISMH电机
ISMH电机
ISMH电机
ISMH电机
ISMH电机
ISMH电机
ISMH电机
ISMH电机
MECAPION电
机
MECAPION电
机
登奇电机
三洋电机
三洋电机
4
5
6
7
100
101
102
103
11000
11001
12000
10000
10001
*
*
*
*
*
*
*
*
*
*
*
*
*
ISMH1-40B30CB-U131X
ISMH1-55B30CB-U131X
ISMH1-75B30CB-U131X
ISMH1-10C30CB-U131X
ISMH2-10C30CD-U131X
ISMH2-15C30CD-U131X
ISMH2-20C30CD-U131X
ISMH2-25C30CD-U131X
APM-SAR5A
APM-SA01A
GK6060-6AC31FEb
P50B07040HXS
P50B08075HXS
三洋电机
三洋电机
三洋电机
10002
10100
10101
*
*
*
P50B08100HXS
P30B06040DXS
P30B06075DXS
电压等级
/
型号(汇川)
1MV1-40B30CB-U132X
1MV1-75B30CB-U132X
1MV1-10C30CB-U132X
1MV2-60B30CB-U132X
1MV2-12C30CB-U132X
1MV2-15C30CB-U132X
1MV2-12C20CB-U132X
1MV2-16C30CB-U132X
1MV3-10C25CB-U132X
1MV3-10C20CB-U132X
额定功率
0.01KW
0.10KW~
655.35KW
40
75
100
60
120
150
120
160
100
100
额定电流
0.01A
0.00A~
655.35A
260
420
420
400
500
600
600
800
400
500
额定转矩
0.01Nm
0.00Nm~
655.35Nm
130
240
330
200
400
500
600
600
400
500
最大转矩
0.01Nm
0.00Nm~
655.35Nm
390
720
990
600
1200
1500
1800
1800
1200
1500
1MV3-13C25CB-U132X
1MV3-15C25CB-U132X
1MV3-16C20CB-U132X
1MV3-20C25CB-U132X
1MV3-24C30CB-U132X
1MV3-15C15CB-U132X
1MV3-26C25CB-U132X
1MV3-23C15CB-U132X
1MV3-39C25CB-U132X
1MV4-38C25CB-U132X
1MV4-36C20CB-U132X
1MV4-47C20CB-U132X
1MV4-55C20CB-U132X
1MV2-60B30CD-U132X
130
150
160
200
240
150
260
230
390
380
360
470
550
60
500
600
600
750
900
600
1000
950
1700
1650
1650
2050
2050
300
500
600
770
770
770
1000
1000
1500
1500
1500
1800
2300
2700
200
1500
1800
2310
2310
2310
3000
3000
4500
4500
4500
5400
6900
8100
600
1MV2-12C30CD-U132X
1MV2-15C30CD-U132X
1MV2-12C20CD-U132X
1MV2-16C30CD-U132X
1MV3-10C25CD-U132X
1MV3-10C20CD-U132X
1MV3-13C25CD-U132X
1MV3-15C25CD-U132X
1MV3-16C20CD-U132X
1MV3-20C25CD-U132X
1MV3-24C30CD-U132X
1MV3-15C15CD-U132X
1MV3-26C25CD-U132X
1MV3-23C15CD-U132X
120
150
120
160
100
100
130
150
160
200
240
150
260
230
400
450
350
500
300
300
350
450
400
550
650
450
700
700
400
500
600
600
400
500
500
600
770
770
770
1000
1000
1500
1200
1500
1800
1800
1200
1500
1500
1800
2310
2310
2310
3000
3000
4500
1MV3-39C25CD-U132X
1MV4-38C25CD-U132X
1MV4-36C20CD-U132X
1MV4-47C20CD-U132X
1MV4-55C20CD-U132X
*
*
*
*
*
*
*
*
*
390
380
360
470
550
40
75
100
60
120
150
120
160
100
1150
1150
1050
1350
1350
260
420
420
400
500
600
600
800
400
1500
1500
1800
2300
2700
130
240
330
200
400
500
600
600
400
4500
4500
5400
6900
8100
390
720
990
600
1200
1500
1800
1800
1200
*
*
*
*
*
*
*
*
*
*
*
*
*
*
100
130
150
160
200
240
150
260
230
390
380
360
470
550
500
500
600
600
750
900
600
1000
950
1700
1650
1650
2050
2050
500
500
600
770
770
770
1000
1000
1500
1500
1500
1800
2300
2700
1500
1500
1800
2310
2310
2310
3000
3000
4500
4500
4500
5400
6900
8100
*
*
*
*
*
*
*
*
*
*
*
*
*
*
60
120
150
120
160
100
100
130
150
160
200
240
150
260
300
400
450
350
500
300
300
350
450
400
550
650
450
700
200
400
500
600
600
400
500
500
600
770
770
770
1000
1000
600
1200
1500
1800
1800
1200
1500
1500
1800
2310
2310
2310
3000
3000
*
*
*
*
*
*
ISMG1-37C10CD-U132X
ISMG1-55C15CD-U132X
ISMG1-62C17CD-U132X
ISMG1-75C20CD-U132X
50C10CDISMG1--U132X
ISMG1-75C15CD-U132X
ISMG1-85C17CD-U132X
ISMG1-11D20CD-U132X
230
390
380
360
470
550
370
550
620
750
500
750
850
1100
700
1150
1150
1050
1350
1350
800
1100
1300
1500
1000
1600
1800
2000
1500
1500
1500
1800
2300
2700
3500
3500
3500
3500
4800
4800
4800
4800
4500
4500
4500
5400
6900
8100
13000
13000
13000
13000
20000
20000
20000
20000
ISMG1-75C10CD-U132X
ISMG1-11D15CD-U132X
ISMG1-12D17CD-U132X
ISMG1-15D20CD-U132X
ISMG1-92C10CD-U132X
ISMG1-13D15CD-U132X
ISMG1-18D20CD-U132X
ISMG1-63C10CD-U132X
ISMG1-95C15CD-U132X
ISMG1-11D17CD-U132X
ISMG1-12D20CD-U132X
ISMG1-95C10CD-U132X
ISMG1-14D15CD-U132X
ISMG1-16D17CD-U132X
750
1100
1200
1500
920
1300
1850
630
950
1100
1260
950
1410
1600
1500
2100
2600
2800
1800
2800
3500
1300
1900
2300
2600
1800
3000
3400
7000
7000
7000
7000
8900
8900
8900
6000
6000
6000
6000
9000
9000
9000
22000
22000
22000
22000
28000
28000
28000
15200
15200
15200
15200
25000
25000
25000
ISMG1-18D20CD-U132X
ISMG1-14D10CD-U132X
ISMG1-22D15CD-U132X
ISMG1-24D17CD-U132X
ISMG1-28D20CD-U132X
ISMG1-20D10CD-U132X
ISMG1-30D15CD-U132X
ISMG1-41D20CD-U132X
ISMG1-37C10CD-R132X
ISMG1-55C15CD-R132X
ISMG1-62C17CD-R132X
ISMG1-75C20CD-R132X
50C10CDISMG1--R132X
ISMG1-75C15CD-R132X
1880
1410
2200
2400
2830
2050
3060
4100
370
550
620
750
500
750
3600
2900
4100
5000
5400
4000
6100
7600
800
1100
1300
1500
1000
1600
9000
13500
13500
13500
13500
19500
19500
19500
3500
3500
3500
3500
4800
4800
25000
35800
35800
35800
35800
48500
58500
58500
13000
13000
13000
13000
20000
20000
ISMG1-85C17CD-R132X
ISMG1-11D20CD-R132X
ISMG1-75C10CD-R132X
ISMG1-11D15CD-R132X
ISMG1-12D17CD-R132X
ISMG1-15D20CD-R132X
ISMG1-92C10CD-R132X
ISMG1-13D15CD-R132X
ISMG1-18D20CD-R132X
ISMG1-63C10CD-R132X
ISMG1-95C15CD-R132X
ISMG1-11D17CD-R132X
ISMG1-12D20CD-R132X
ISMG1-95C10CD-R132X
850
1100
750
1100
1200
1500
920
1300
1850
630
950
1100
1260
950
1800
2000
1500
2100
2600
2800
1800
2800
3500
1300
1900
2300
2600
1800
4800
4800
7000
7000
7000
7000
8900
8900
8900
6000
6000
6000
6000
9000
20000
20000
22000
22000
22000
22000
28000
28000
28000
15200
15200
15200
15200
25000
ISMG1-14D15CD-R132X
ISMG1-16D17CD-R132X
ISMG1-18D20CD-R132X
ISMG1-14D10CD-R132X
ISMG1-22D15CD-R132X
ISMG1-24D17CD-R132X
ISMG1-28D20CD-R132X
ISMG1-20D10CD-R132X
ISMG1-30D15CD-R132X
ISMG1-41D20CD-R132X
ISMH1-05B30CB-U132X
ISMH1-10B30CB-U132X
ISMH1-15B30CB-U132X
ISMH1-20B30CB-U132X
1410
1600
1880
1410
2200
2400
2830
2050
3060
4100
5
10
15
20
3000
3400
3600
2900
4100
5000
5400
4000
6100
7600
66
91
130
150
9000
9000
9000
13500
13500
13500
13500
19500
19500
19500
16
32
48
64
25000
25000
25000
35800
35800
35800
35800
48500
58500
58500
48
96
143
191
ISMH1-40B30CB-U132X
ISMH1-55B30CB-U132X
ISMH1-75B30CB-U132X
ISMH1-10C30CB-U132X
ISMH2-10C30CD-U132X
ISMH2-15C30CD-U132X
ISMH2-20C30CD-U132X
ISMH2-25C30CD-U132X
APM-SAR6A
APM-SA02A
GK6060-6AC32FEb
P50B07041HXS
P50B08076HXS
40
55
75
100
100
150
200
250
5
10
75
40
75
260
380
470
740
280
500
630
760
70
138
250
210
390
127
175
239
318
318
490
636
796
16
32
300
127
238
382
525
716
955
954
147
191
239
48
96
900
392
882
P50B08101HXS
P30B06041DXS
P30B06076DXS
100
40
75
430
270
460
319
127
238
882
382
715
额定转速
1rpm
0rpm~
9000rpm
3000
3000
3000
3000
3000
3000
2000
3000
2500
2000
最大转速
1rpm
0rpm~
9000rpm
3000
3000
3000
3000
3000
3000
2000
3000
2500
2000
转动惯量Jm电机极对数
0.01
1对极
㎏c㎡
0.00㎏c㎡~
2~360对极
655.35㎏c㎡
744
120
158
425
828
915
1111
1111
1101
1333
4
4
4
4
4
4
4
4
4
定子电阻
0.001Ω
0.001Ω~
65.535Ω
1858
901
1081
982
779
567
640
338
1108
1222
2500
2500
2000
2500
3000
1500
2500
1500
2500
2500
2000
2000
2000
3000
2500
2500
2000
2500
3000
1500
2500
1500
2500
2500
2000
2000
2000
3000
1333
1544
2017
2017
2017
2595
2595
4320
4320
6150
6330
8940
11190
425
4
4
4
4
4
4
4
4
4
4
4
4
4
4
867
605
660
454
282
801
262
458
102
116
132
96
109
2506
3000
3000
2000
3000
2500
2000
2500
2500
2000
2500
3000
1500
2500
1500
3000
3000
2000
3000
2500
2000
2500
2500
2000
2500
3000
1500
2500
1500
828
915
1111
1111
1101
1333
1333
1544
2017
2017
2017
2595
2595
4320
4
4
4
4
4
4
4
4
4
4
4
4
4
4
1771
1247
2069
906
2787
2576
2003
1528
1638
1020
633
1730
637
709
2500
2500
2000
2000
2000
3000
3000
3000
3000
3000
3000
2000
3000
2500
2500
2500
2000
2000
2000
3000
3000
3000
3000
3000
3000
2000
3000
2500
4320
6150
6330
8940
11190
74
120
158
425
828
915
1111
1111
1101
4
4
4
4
4
4
4
4
4
4
4
4
4
4
237
319
357
235
263
1858
901
1081
982
779
567
640
338
1108
2000
2500
2500
2000
2500
3000
1500
2500
1500
2500
2500
2000
2000
2000
2000
2500
2500
2000
2500
3000
1500
2500
1500
2500
2500
2000
2000
2000
1333
1333
1544
2017
2017
2017
2595
2595
4320
4320
6150
6330
8940
11190
4
4
4
4
4
4
4
4
4
4
4
4
4
4
1222
867
605
660
454
282
801
262
458
102
116
132
96
109
3000
3000
3000
2000
3000
2500
2000
2500
2500
2000
2500
3000
1500
2500
3000
3000
3000
2000
3000
2500
2000
2500
2500
2000
2500
3000
1500
2500
425
828
915
1111
1111
1101
1333
1333
1544
2017
2017
2017
2595
2595
4
4
4
4
4
4
4
4
4
4
4
4
4
4
2506
1771
1247
2069
906
2787
2576
2003
1528
1638
1020
633
1730
637
1500
2500
2500
2000
2000
2000
1000
1500
1700
2000
1000
1500
1700
2000
1500
2500
2500
2000
2000
2000
1350
2000
2210
2500
1350
2000
2210
2500
4320
4320
6150
6330
8940
11190
7500
7500
7500
7500
9000
9000
9000
9000
4
4
4
4
4
4
4
4
4
4
4
4
4
4
709
237
319
357
235
263
500
500
500
500
500
500
500
500
1000
1500
2700
2000
1000
1500
2000
1000
1500
1700
2000
1000
1500
1700
1350
2000
2210
2500
1350
2000
2500
1350
2000
2210
2500
1350
2000
2210
12000
12000
12000
12000
15000
15000
15000
7500
7500
7500
7500
9000
9000
9000
4
4
4
4
4
4
4
4
4
4
4
4
4
4
500
500
500
500
500
500
500
500
500
500
500
500
500
500
2000
1000
1500
1700
2000
1000
1500
2000
1000
1500
1700
2000
1000
1500
2500
1350
2000
2210
2500
1350
2000
2500
1350
2000
2210
2500
1350
2000
9000
12000
12000
12000
12000
15000
15000
15000
7500
7500
7500
7500
9000
9000
4
4
4
4
4
4
4
4
4
4
4
4
4
4
500
500
500
500
500
500
500
500
500
500
500
500
500
500
1700
2000
1000
1500
2700
2000
1000
1500
2000
1000
1500
1700
2000
1000
2210
2500
1350
2000
2210
2500
1350
2000
2500
1350
2000
2210
2500
1350
9000
9000
12000
12000
12000
12000
15000
15000
15000
7500
7500
7500
7500
9000
4
4
4
4
4
4
4
4
4
4
4
4
4
4
500
500
500
500
500
500
500
500
500
500
500
500
500
500
1500
1700
2000
1000
1500
1700
2000
1000
1500
2000
3000
3000
3000
3000
2000
2210
2500
1350
2000
2210
2500
1350
2000
2500
6000
6000
6000
6000
9000
9000
9000
12000
12000
12000
12000
15000
15000
15000
2
4
5
12
4
4
4
4
4
4
4
4
4
4
4
4
4
4
500
500
500
500
500
500
500
500
500
500
1000
1000
1000
1000
3000
3000
3000
3000
3000
3000
3000
3000
3000
3000
2000
3000
3000
6000
6000
6000
6000
6000
5000
5000
5000
5000
5000
2500
3000
3000
19
104
130
120
187
246
305
365
2
5
440
735
192
4
4
4
4
4
4
4
4
4
4
3
2
2
1000
540
500
500
2030
1790
1275
1060
3500
3500
300
3400
1070
3000
3000
3000
3000
4500
4500
265
26
64
2
4
4
1000
1400
520
定子电感Lq
0.01mH
0.01mH~
655.35mH
1196
655
829
298
303
232
276
152
376
452
定子电感Ld
0.01mH
0.01mH~
655.35mH
1196
655
829
298
303
232
276
152
376
452
线反电势系
转矩系数Kt电气常数Te
数
0.01mV/rpm0.01Nm/Arms0.01ms
0.01mV/rpm0.01Nm/Arms
0.01ms~655.35ms
~~
655.35mV/rp655.35Nm/Ar
364650644
3944
5070
4086
5844
5861
7169
5284
6533
8052
57
79
50
80
83
100
75
100
100
727
767
297
388
409
432
448
339
370
312
232
283
191
123
368
126
237
60
72
84
67
77
779
312
232
283
191
123
368
126
237
60
72
84
67
77
779
6713
6467
8243
6933
5581
11239
6713
11800
5901
6078
7222
7527
8747
6523
100
100
128
112
86
167
100
158
88
91
109
112
132
67
360
383
429
421
437
459
480
514
582
617
636
702
703
311
674
511
881
402
909
909
714
588
684
432
272
812
301
371
674
511
881
402
909
909
714
588
684
432
272
812
301
371
8941
8459
12907
8916
10020
12017
10683
10179
13267
10602
8518
17325
10621
14585
100
111
171
120
133
167
143
133
193
140
119
222
143
214
380
410
426
444
326
353
357
385
418
423
429
469
473
523
133
177
212
140
163
1196
655
829
298
303
232
276
152
376
133
177
212
140
163
1196
655
829
298
303
232
276
152
376
8838
9348
11580
11343
13257
3646
3944
5070
4086
5844
5861
7169
5284
6533
130
130
171
170
200
50
57
79
50
80
83
100
75
100
561
554
594
595
618
644
727
767
297
388
409
432
448
339
452
312
232
283
191
123
368
126
237
60
72
84
67
77
452
312
232
283
191
123
368
126
237
60
72
84
67
77
8052
6713
6467
8243
6933
5581
11239
6713
11800
5901
6078
7222
7527
8747
100
100
100
128
112
86
167
100
158
88
91
109
112
132
370
360
383
429
421
437
459
480
514
582
617
636
702
703
779
674
511
881
402
909
909
714
588
684
432
272
812
301
779
674
511
881
402
909
909
714
588
684
432
272
812
301
6523
8941
8459
12907
8916
10020
12017
10683
10179
13267
10602
8518
17325
10621
67
100
111
171
120
133
167
143
133
193
140
119
222
143
311
380
410
426
444
326
353
357
385
418
423
429
469
473
371
133
177
212
140
163
100
100
100
100
100
100
100
100
371
133
177
212
140
163
100
100
100
100
100
100
100
100
14585
8838
9348
11580
11343
13257
30500
20300
17400
14550
31000
19400
17400
15500
214
130
130
171
170
200
485
324
268
239
502
301
275
255
523
561
554
594
595
618
500
500
500
500
500
500
500
500
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
29100
20300
17410
14550
31000
19400
15500
30500
20300
17400
14550
31000
19400
17400
473
331
275
253
495
320
258
485
324
268
239
502
301
275
500
500
500
500
500
500
500
500
500
500
500
500
500
500
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
15500
29100
20300
17400
14600
31000
19400
15500
30500
20300
17400
14550
31000
19400
255
473
331
276
253
495
320
258
485
324
268
239
502
301
500
500
500
500
500
500
500
500
500
500
500
500
500
500
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
17400
15500
29100
20300
17410
14550
31000
19400
15500
30500
20300
17400
14550
31000
275
255
473
331
275
253
495
320
258
485
324
268
239
502
500
500
500
500
500
500
500
500
500
500
500
500
500
500
100
100
100
100
100
100
100
100
100
100
300
300
300
300
100
100
100
100
100
100
100
100
100
100
300
300
300
300
19400
17400
15500
29100
20300
17400
14600
31000
19400
15500
3000
3000
3000
3000
301
275
255
473
331
276
253
495
320
258
50
50
50
50
500
500
500
500
500
500
500
500
500
500
500
500
500
500
300
304
327
300
740
682
510
410
500
500
100
1
1
300
347
387
300
740
682
510
410
500
500
100
1
1
3000
2933
3330
3000
5833
6999
6999
6999
1500
1500
7593
4157
4166
50
49
51
50
113
98
100
105
23
23
120
74
69
500
563
654
500
500
500
500
500
685
685
675
400
530
1
1
1
1
1
1
5200
3222
3419
86
53
57
590
460
830
机械常数Tm
0.01ms
编码器选择编码器线数
11脉冲/rev
0:非省线式1脉冲/rev~
0.01ms~655.35ms
增量型1073741824
1:省线式增脉冲/rev
16512500
99
83
500
302
224
213
200
366
489
1
1
1
1
1
1
1
1
1
2500
2500
2500
2500
2500
2500
2500
2500
2500
初始化电角U初始化电角
度度
0.1°0.1°
0.0°~0.0°~
360.0°360.0°
33803380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
347
280
243
221
233
224
200
240
170
259
211
205
211
719
1
1
1
1
1
1
1
1
1
1
1
1
1
1
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
440
277
235
210
518
371
393
398
268
315
273
273
243
200
1
1
1
1
1
1
1
1
1
1
1
1
1
1
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
180
346
231
217
221
165
99
83
500
302
224
213
200
366
1
1
1
1
1
0
0
0
0
0
0
0
0
0
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
1580
1580
1580
1580
1580
1580
1580
1580
1580
489
347
280
243
221
233
224
200
240
170
259
211
205
211
0
0
0
0
0
0
0
0
0
0
0
0
0
0
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
1580
1580
1580
1580
1580
1580
1580
1580
1580
1580
1580
1580
1580
1580
719
440
277
235
210
518
371
393
398
268
315
273
273
243
0
0
0
0
0
0
0
0
0
0
0
0
0
0
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
2500
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
3380
1580
1580
1580
1580
1580
1580
1580
1580
1580
1580
1580
1580
1580
1580
200
180
346
231
217
221
50
50
50
50
50
50
50
50
0
0
0
0
0
0
1
1
1
1
1
1
1
1
2500
2500
2500
2500
2500
2500
4096
4096
4096
4096
4096
4096
4096
4096
3380
3380
3380
3380
3380
3380
1652
1652
1652
1652
1652
1652
1652
1652
1580
1580
1580
1580
1580
1580
1800
1800
1800
1800
1800
1800
1800
1800
50
50
50
50
50
50
50
50
50
50
50
50
50
50
1
1
1
1
1
1
1
1
1
1
1
1
1
1
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
50
50
50
50
50
50
50
50
50
50
50
50
50
50
1
1
1
1
1
1
1
1
0x20
0x20
0x20
0x20
0x20
0x20
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
50
50
50
50
50
50
50
50
50
50
50
50
50
50
0x20
0x20
0x20
0x20
0x20
0x20
0x20
0x20
0x20
0x20
0x20
0x20
0x20
0x20
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
50
50
50
50
50
50
50
50
50
50
50
50
50
50
0x20
0x20
0x20
0x20
0x20
0x20
0x20
0x20
0x20
0x20
1
1
1
1
4096
4096
4096
4096
4096
4096
4096
4096
4096
4096
2500
2500
2500
2500
1652
1652
1652
1652
1652
1652
1652
1652
1652
1652
0
0
0
0
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
50
50
50
50
100
100
100
100
35
35
30
170
130
1
1
1
1
1
1
1
1
0
0
0
1
1
2500
2500
2500
2500
2500
2500
2500
2500
2048
2048
2500
2000
2000
0
0
0
0
0
0
0
0
0
0
0
0
0
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
600
600
110
38
30
1
1
1
2000
2000
2000
0
0
0
600
600
600
电流环Kp
PU
电流环Ki
PU
电流环Kd
PU
500
500
500
500
500
500
500
500
500
500
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
0
0
0
0
0
0
0
0
0
0
500
500
500
500
500
500
500
500
500
500
500
500
500
500
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
500
500
500
500
500
500
500
500
500
500
500
500
500
500
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
500
500
500
500
500
500
500
500
500
500
500
500
500
500
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
500
500
500
500
500
500
500
500
500
500
500
500
500
500
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
500
500
500
500
500
500
500
500
500
500
500
500
500
500
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
1000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
500
500
500
500
500
500
1000
3000
1000
3000
3000
3000
3000
2000
1000
1000
1000
1000
1000
1000
1000
3000
1000
3000
3000
3000
3000
2000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
3000
2000
2000
2000
2000
2000
2000
2000
2000
2000
2000
2000
2000
2000
3000
2000
2000
2000
2000
2000
2000
2000
2000
2000
2000
2000
2000
2000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
2000
2000
2000
2000
2000
2000
2000
2000
1000
3000
1000
3000
3000
3000
2000
2000
2000
2000
2000
2000
2000
2000
1000
3000
1000
3000
3000
3000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
3000
2000
3000
2000
2000
2000
2000
2000
2000
2000
2000
2000
2000
2000
3000
2000
3000
2000
2000
2000
2000
2000
2000
2000
2000
2000
2000
2000
0
0
0
0
0
0
0
0
0
0
0
0
0
0
2000
2000
2000
2000
2000
2000
2000
2000
2000
2000
1800
1800
1800
1800
2000
2000
2000
2000
2000
2000
2000
2000
2000
2000
0
0
0
0
0
0
0
0
0
0
10001500
1800
1800
1800
1800
1800
1800
1800
1800
1800
1800
3000
2400
2400
1000
540
600
500
1700
2500
2800
2200
2000
2000
3000
4800
4800
1800
1200
900
1300
1800
2400
2800
2800
0
0
0
0
0
2400
1000
1000
4800
1000
1000
0
0
0