Motor Constants Torque EMF Damping Friction Torque Terminal Resistance Rotor Moment of Inertia K Nem/Amp Ke V/krpm Ka Nem/krpm Tf Nem Rm Ohm J kg.cm GR12C GR12CH GR16C GR16CH 10.8 11.3 1.16 4.2 0.95 1.2 17.0 17.8 1.95 4.2 0.95 1.2 23.7 24.8 3.57 7.7 0.95 5.93 37.3 39.0 6.44 7.7 0.95 5.93 GR19CH 24.0 25.0 7.76 9.8 0.65 12.71 Question 4 Using the manufacturers data sheet (as shown in Table Q1c) determine the following parameters for the GR12C motors to produce a load torque of 75 Ncm at 2000 rev/min: i) Calculate the loss of torque due to damping. (answer: 2.32 Ncm) ii) Determine the current. (answer: 7.55 A) iii) Determine the terminal voltage. (answer: 29.8 V) Table Q1c: Data tables for motors (Note that EMF and Damping constants are krpm = 1000rpm for example EMF constant Ke = 11.3/1000)