阅读说明：本技术 操作机加工工具的方法和机加工工具 (Method for operating a machining tool and machining tool ) 是由 Q·刘 B·吉尔迈尔 S·施密德 于 2020-06-17 设计创作，主要内容包括：本发明描述了操作具有电池和电动机的机加工工具的方法,该电动机被设计为旋转地驱动可联接到工具的输出轴,提供用于致动电动机的控制装置和用于确定参数的装置,该机加工工具可以在第一操作模式和第二操作模式下操作,并且如果由装置确定的参数超过或低于限定的阈值,则控制装置将机加工工具从第一操作模式转换到第二操作模式。电动机(3)在第二操作模式下由包括电流脉冲(10、10’、11)的安倍数曲线控制,电流脉冲(10、10’、11)的最大安倍数(A1、A1’、A2)的水平取决于电池(2)的实际充电状态而变化。还描述了可以使用这种方法操作的机加工工具。(The invention describes a method of operating a machining tool having a battery and an electric motor designed to rotationally drive an output shaft coupleable to the tool, a control device for actuating the electric motor and a device for determining a parameter being provided, the machining tool being operable in a first operating mode and a second operating mode, and the control device switching the machining tool from the first operating mode to the second operating mode if the parameter determined by the device exceeds or falls below a defined threshold value. The electric motor (3) is controlled in the second operating mode by an ampere curve comprising current pulses (10, 10', 11), the level of the maximum ampere (a1, a1', a2) of the current pulses (10, 10', 11) varying depending on the actual state of charge of the battery (2). A machine tool operable using this method is also described.)

1. Method for operating a machining tool (1) having a battery (2) and an electric motor (3) designed to rotationally drive an output shaft (4) which can be coupled to a tool (5), control means (6) for actuating the electric motor (3) and means (7) for determining a parameter being provided, the machining tool (1) being operable in a first and a second operating mode, and the control means (6) switching the machining tool (1) from the first to the second operating mode if the parameter determined by the means (7) exceeds or falls below a defined threshold value,

it is characterized in that

The electric motor (3) is controlled in the second operating mode by an ampere-multiple curve comprising current pulses (10, 10', 11, 12), the level of the maximum ampere-multiple (a1, a1', a2, A3, a4) of the current pulses (10, 10', 11, 12) varying depending on the actual state of charge of the battery (2).

2. The method of claim 1, wherein the first and second light sources are selected from the group consisting of,

it is characterized in that

The level of the maximum amperage (a1, a1', a2, A3, a4) of the current pulses (10, 10', 11, 12) applied to the motor (3) in the second mode of operation does not increase, in particular decreases, with time.

3. The method of claim 1 or claim 2,

it is characterized in that

The level of the maximum amperage (A1, A1', A2, A3, A4) of the current pulse (10, 10', 11, 12) can be adjusted discretely or continuously depending on the state of charge of the battery (2).

4. The method according to any one of the preceding claims,

it is characterized in that

In a second operating mode in which a first current pulse (10, 10') and a second current pulse (11) are applied to the electric motor (3), the level of the maximum amperage (A1, A1') of the first current pulse (10, 10') is greater than the level of the maximum amperage (A2) of the second current pulse (11).

5. The method according to any one of the preceding claims,

it is characterized in that

In a second operating mode, the electric motor (3) is alternately controlled by a defined number of first current pulses (10, 10') and a defined number of second current pulses (11).

6. The method according to any one of the preceding claims,

it is characterized in that

The electric motor (3) is alternately controlled in the second operating mode by a first current pulse (10, 10') followed by a plurality of second current pulses (11), in particular two to twenty, preferably five to fourteen, more preferably eight to ten current pulses.

7. The method according to any one of the preceding claims,

it is characterized in that

In a second operating mode, the electric motor (3) is controlled such that the length of the first current pulses (10, 10') differs from the length of the second current pulses (11), the first current pulses (10, 10') being in particular longer than the second current pulses (11) and preferably substantially twice as long as the second current pulses (11).

8. The method according to any one of the preceding claims,

it is characterized in that

In a second operating mode, the electric motor (3) is controlled such that the level of the maximum amperage (A1, A1') of the first current pulse (10, 10') is between 25% and 80%, particularly preferably substantially 50%, greater than the maximum amperage (A2) of the second current pulse (11).

9. The method according to any one of the preceding claims,

it is characterized in that

Starting from a first operating mode of the machine tool (1), an amperage substantially equal to a zero value is applied to the electric motor (3) for a defined period of time, and then a transition is made to a second operating mode.

10. The method according to any one of the preceding claims,

it is characterized in that

The machining tool (1) is switched from the second operating mode to the first operating mode when the torque determined by the device (7) and applied to the output shaft (4) becomes less than a threshold torque.

11. The method of any one of claims 1 to 9,

it is characterized in that

The motor (3) is stopped when the machining tool (1) is in the second mode of operation for a period of time greater than a predetermined threshold.

12. The method according to any one of the preceding claims,

it is characterized in that

The parameter determined by the means (7) is a torque applied to the output shaft (4), the machine tool being operated in a first operating mode when the torque determined by the means (7) is less than a defined threshold torque, and the machine tool (1) being switched from the first operating mode to a second operating mode when the torque determined by the means (7) exceeds the defined threshold torque.

13. The method according to any one of the preceding claims,

it is characterized in that

The parameter determined by the device (7) is an acceleration value of the output shaft (4), and the machine tool (1) is switched from the first operating mode to the second operating mode when the determined acceleration exceeds a defined negative acceleration value.

14. The method according to any one of the preceding claims,

it is characterized in that

The parameter determined by the device (7) is the speed of the drive shaft (4), and the machining tool (1) is switched from the first operating mode to the second operating mode if the speed does not reach a defined threshold speed after a specified period of time.

15. Machining tool (1) with a battery (2), an electric motor (3) designed to rotationally drive an output shaft (4) that can be coupled to a tool (5), control means (6) for actuating the electric motor (3) and means (7) for determining a parameter, the machining tool (1) operating using a method according to any one of the preceding claims.

Technical Field

The present invention relates to a method for operating a machining tool with a battery and an electric motor according to the type described in more detail in the preamble of claim 1. Furthermore, the invention relates to a machining tool of the type described in more detail in claim 15.

Background

In machining tools known in practice which are designed with a regulating motor which can be operated by batteries, the output torque applied to the output shaft is increased, and therefore the motor current required to provide this output torque is increased, for example when drilling holes of increased drilling depth, to provide a correspondingly increased output torque and maintain the desired rotational speed of the motor rotor. If the braking torque applied to the output shaft exceeds the performance capacity of the motor, the rotor will stop even if the motor current increases. Without hardware protection or software protection, locking the rotor and the high current applied may damage the electronics and/or the motor. Also, the output shaft may lock suddenly, for example when drilling a hard surface. As a result, the applied amperage suddenly increases.

In order to prevent damage to the machining tool under these circumstances, it is known to provide a mechanical coupling which, when a defined output torque is applied to the output shaft, decouples the output shaft from the electric motor so that the rotor of the electric motor can continue to rotate without transmitting the torque applied to the output shaft to the electric motor.

However, mechanical couplings are characterized by a high weight, require space and have a negative impact on the manufacturing costs of the machining tools. In addition, mechanical parts wear out and may require repair or replacement. Wear of the mechanical coupling can adversely alter the release torque of the coupling such that the maximum possible release torque of the coupling may be reduced during operation of the coupling. Further, the mechanical coupling cannot reach a desired range.

In order to eliminate these disadvantages, machining tools are known in practice with an electronically implemented coupling which is implemented by correspondingly controlling the electric motor, for example by determining and evaluating signals from the electric motor for this purpose. After detecting a release event, for example a torque applied to the output shaft exceeding a defined threshold value, or a sudden braking of the drive shaft being greater than a defined threshold value, or a speed applied to the output shaft not reaching a minimum threshold value within a defined time interval due to the machining tool being locked during start-up, the electric motor is switched from the first operation mode to a second operation mode in which current pulses are applied to the electric motor. These current pulses give the user tactile feedback, which is modeled and preferably similar to that of a machining tool with a mechanical coupling. In addition, the discontinuous current pulses help to release a locking tool coupled to the output shaft in the surface. When the output shaft is again free, the motor torque exceeds the braking torque applied to the output shaft, the rotational speed of the motor rotor increases, and the motor rotates back to the first operating state.

Disadvantageously, the operation of the electric motor in the second operating state is very energy-consuming and leads to a rapid reduction in the charge level of the battery, in which case it may not be possible to always maintain a voltage as high as desired.

Disclosure of Invention

The problem addressed by the present invention is to provide a method and a machine tool for operating a machine tool, which can be operated in a second operating state using a voltage that is desirably high for an advantageously long period of time.

This problem is solved by a method for operating a machining tool according to claim 1.

Accordingly, a method is proposed for operating a machining tool having a battery and an electric motor designed to rotationally drive an output shaft coupleable to the tool, a control device for actuating the electric motor and a device for determining a parameter are provided, the machining tool being operable in a first and a second operating mode, and the control device transferring the machining tool from the first operating mode to the second operating mode when the parameter determined by the device exceeds or falls below a defined threshold value.

According to the invention, the control device controls the electric motor in the second operating mode by means of an amperage curve comprising current pulses, the maximum level of which is varied by the control device in dependence on the actual state of charge of the battery.

Even if no mechanical coupling is provided, a machining tool operated using the method according to the invention provides a user with a tactile feedback comparable to a machining tool with a mechanical coupling in a simple manner, for example in the case of a locked drive shaft. Furthermore, by providing different current pulses with different maximum amperages, the machining tool operated using the method according to the invention can advantageously be operated in the second mode of operation for a longer time than the machining tool which in each case applies the same high current pulse in the second mode of operation in order to release the output shaft. If a machining tool is provided for machining hard materials, the tool coupled to the output shaft, such as a drill bit, screwdriver, drill, etc., may suddenly stop. When the machining tool is used for machining soft materials but also for machining hard materials, the torque applied to the output shaft increases, for example as drilling progresses, until it reaches an allowable threshold torque. Furthermore, the output shaft also cannot reach a defined minimum speed within a specified time interval during the start-up, so that, for example, a drill bit which has been detected at the beginning of the machining process is detected. In these cases, the machining tool is switched from the first operating mode to the second operating mode.

The energy-saving operation of the machine tool in the second operating state is achieved by adjusting the maximum current pulse level in dependence on the actual state of charge of the battery, so that when the state of charge decreases, the power consumption also decreases, and therefore the machine tool can advantageously be operated in the second operating mode for a long time. Furthermore, the method according to the invention can be used to ensure in a simple manner that the voltage is safely above a defined threshold value during operation of the machining tool in the second mode of operation.

In an advantageous embodiment of the method according to the invention, the maximum level of the current pulses applied to the motor in the second operating mode does not increase and in particular decreases over time.

The maximum level of the first current pulse and/or the maximum level of the second current pulse may be discrete, i.e. for example stepwise, or, in particular in the case of a continuous monitoring of the state of charge of the battery, continuously adjusted in dependence on the state of charge of the battery.

In a particularly advantageous embodiment of the method according to the invention, a first current pulse and a second current pulse are applied to the electric motor in the second operating mode, the level of the maximum amperage of the first current pulse being greater than the level of the maximum amperage of the second current pulse. The machining tool can be operated in a particularly energy-efficient manner in the second operating mode by providing a first and a second current pulse with different maximum amperage, the first current pulse having a larger maximum amperage to release the output shaft or a tool connected to the output shaft from a specific surface. In contrast, the second current pulse has a smaller maximum amperage in order to provide the user with a tactile feedback comparable to a machining tool designed with a mechanical coupling (when the coupling is released) in the second operating mode of the machining tool. A lower maximum amperage was found to be sufficient for this purpose. The order in which the first current pulse and the second current pulse occur is based, in particular, on a particular pattern.

The level of the maximum amperage of the first current pulse and/or the level of the maximum amperage of the second current pulse may be adjusted, in particular may decrease, over time, depending on the state of charge of the battery.

In an advantageous embodiment of the method according to the invention, the electric motor is controlled in the second operating mode alternately by a defined number of first current pulses and a defined number of second current pulses, in particular the sequence is repeated. The defined sequence achieves in a simple manner the desired tactile feedback and the desired torque to be transmitted to the output shaft in an energy-saving manner, for example to provide the torque to release a drill bit locked in the surface.

It is particularly advantageous in terms of haptic feedback and power consumption if in the second operating mode the electric motor is controlled alternately by a first current pulse and a subsequent plurality of second current pulses, in particular two to twenty, preferably five to fourteen, more preferably eight to ten, in particular nine second current pulses.

In order to be able to transmit the desired large torque to the output shaft in the second operating mode and at the same time achieve a low power consumption, it is advantageous to control the electric motor in the second operating mode such that the length of the first current pulses is different from the length of the second current pulses, in particular the first current pulses are longer than the second current pulses and preferably substantially twice the length of the second current pulses. This is based on the following knowledge: a second current pulse, which is short compared to the first current pulse, is sufficient to achieve the desired tactile feedback, while a longer current pulse is useful for releasing the tool.

The time interval between successive current pulses may in particular correspond to the length of the first current pulse. The intervals between all current pulses may be substantially the same.

Energy is particularly saved if the electric motor is controlled in the second operating mode such that the maximum amperage of the first current pulse is 25% to 80%, particularly preferably substantially 50%, greater than the maximum amperage of the second current pulse. The ratio of the maximum amperage of the first current pulse to the maximum amperage of the second current pulse may also be varied at all times.

If a change over of the machine tool from the first operating mode to the second operating mode is provided, it is advantageous if, starting from the first operating mode of the machine tool, an amperage substantially equal to a zero value is applied to the motor for a defined period of time, then a transition is made to the second operating mode, and in particular the motor is stopped.

For example, in order to be able to continue the drilling process after releasing the drill bit from the surface, in an advantageous embodiment of the method according to the invention the machining tool is switched from the second operating mode to the first operating mode when the torque determined by the device and applied to the output shaft is less than a threshold torque. In this case, the motor may be accelerated to a desired speed, for example, by a specified ramp.

To protect the motor from damage, the motor may be stopped if the motor is in the second mode of operation for a period of time greater than a predetermined threshold. As a result, the machining tool is particularly protected against damage due to overheating of components of the machining tool, in particular of the electronics, the rotor or the motor turns.

In an advantageous embodiment of the invention, the device is designed to determine a torque applied to the output shaft, the machining tool being operated in the first operating mode when the torque determined by the device is smaller than a defined threshold torque, and the control device switching the machining tool from the first operating mode to the second operating mode when the torque determined by the device exceeds the defined threshold torque. The determined torque corresponds to a parameter determined by the device. The device may be designed as an algorithm stored in the control device which calculates or estimates the torque applied to the output shaft based on input parameters such as motor speed and the amperage actually present.

Furthermore, the device may be designed to determine an acceleration value of the output shaft, and to switch the machining tool from the first operating mode into the second operating mode if the determined acceleration value of the output shaft exceeds a defined negative acceleration value and the output shaft is thus braked more strongly than the defined value. This is particularly the case if the drill bit is locked to a hard surface, for example. The determined acceleration corresponds to a parameter determined by the device.

Furthermore, the parameter determined by the device may be the rotational speed of the drive shaft, the machining tool being switched from the first operation mode to the second operation mode if the rotational speed of the motor shaft or the output shaft does not reach a threshold speed defined after a specified period of time. As a result, it can be determined, in particular, whether, for example, a tool coupled to the output shaft has already locked in the surface at the beginning of the machining process.

Furthermore, the above problem is solved by a machining tool according to claim 15.

A machine tool is therefore proposed, which has a battery, an electric motor designed for rotationally driving an output shaft which can be coupled to the tool, a control device for actuating the electric motor and a device for determining parameters, said machine tool being operated using the method described in more detail above.

The machining tool according to the invention has the following advantages: it can provide the user with a tactile feedback comparable to a machining tool with a mechanical coupling in a simple, cost-effective, weight-optimized and energy-saving way, if the braking torque applied to the output shaft is greater than a defined threshold torque and releases said mechanical coupling.

The energy-saving operation of the machine tool in the second operating state is achieved by adjusting the maximum current pulse level in dependence on the actual state of charge of the battery, so that when the state of charge decreases, the power consumption also decreases, and therefore the machine tool can advantageously be operated in the second operating mode for a long time. Furthermore, it may be ensured that the voltage is safely above a defined threshold value during operation of the machining tool in the second operation mode.

Drawings

Other advantages may be found in the following description of the drawings. Various embodiments of the present invention are shown in the drawings. The figures, description, and claims contain many combined features. It will be convenient for those skilled in the art to consider these features individually and combine them to form meaningful other combinations.

In the drawings, identical and equivalent parts have the same reference numerals.

In the drawings:

FIG. 1 is a very simplified representation of a machining tool having a battery, a motor, and a control for actuating the motor;

FIG. 2 is a simplified flow diagram of a method for operating the machining tool according to FIG. 1;

FIG. 3 shows a simplified graph representing motor speed and amperage applied to the motor over a period of time, showing the machining tool first operating in a first mode of operation, then operating in a second mode of operation, and finally re-entering the first mode of operation;

fig. 4 is a simplified view of a portion of a ampere-factor curve to which the motor is controlled by the control device in a second operating mode;

FIG. 5 is a simplified graph of machine tool battery state of charge versus maximum Amp of current pulses of an Amp multiple curve; and

fig. 6 is a simplified view of a portion of another ampere-factor curve to which the motor is controlled by the control device in the second operating mode.

Detailed Description

Fig. 1 is an exemplary flow chart of an embodiment of a method according to the invention for operating a machining tool 1, in particular a cordless screwdriver, a drill or the like. The machining tool 1 has a battery 2 which is provided for supplying power to an electric motor 3 of the machining tool 1. The electric motor 3 is designed to rotationally drive an output shaft 4 of the machining tool 1, which output shaft 4 may be coupled to a tool 5, such as a drill bit, a drilling head or the like. The machining tool 1 also has a control device 6 for actuating the electric motor 3, which control device 6 is designed to actuate the electric motor 3 in a controlled manner on the basis of amperages. The machining tool 1 also has means 7 for determining parameters of the machining tool 1, in particular a torque applied to the output shaft 4 and/or an acceleration value of the output shaft 4. The machining tool 1 is designed without a mechanical coupling, so that the electric motor 3 is operatively connected directly to the output shaft 4, optionally through an intermediately placed gear.

The machining tool 1 may be operated in a first operation mode and a second operation mode. This will be discussed in more detail below.

The method starts with a start S. In a first step S1, the machining tool 1 is operated in a first operation mode according to a user request, the first operation mode for example corresponding to a normal drilling mode.

In a second step S2, the device 7 detects a defined operating state in which continued operation in the first operating mode may, for example, damage the electric motor 3, in particular due to overheating. In this case, the device 7 detects or determines an undesirably high braking torque, for example applied to the output shaft 4 of the tool 5, which exceeds a specified threshold value or threshold torque. This may occur, for example, when drilling at an advanced drilling depth. Alternatively, the defined operating state may be detected by the device 7, since the determined absolute value of the acceleration of the output shaft 4 is greater than the defined threshold value and the tool 5 is thus subjected to a defined braking. This may occur, for example, when the tool 5 is locked.

The device 7 can be designed, for example, as an algorithm stored in the control device 6, which determines or calculates or estimates a parameter directly or indirectly from other input values and compares the parameter with a defined threshold value. The parameter may be, for example, a torque applied to the output shaft 4 or an acceleration value of the output shaft 4.

After the correspondingly defined operating state has been detected, the electric motor 3 is braked by the control device 6 to a substantially zero speed n in step S3_mot。

The control device 6 then switches the machining tool 1 to the second operating mode in step S4, the purpose of which is to release the tool 5 and provide tactile feedback to the user, which is comparable to a machining tool with a mechanical coupling. The second mode of operation is discussed in more detail below.

After the tool 5 is released again in particular, i.e. for example if the device 7 detects that the torque applied to the output shaft 4 is less than a defined torque value, the control device 6 switches the machining tool 1 back to the first operating mode in step S5 and checks again in step S6 whether the above-defined operating state occurs again.

In step E, the method is ended, for example, according to a request of the user.

FIG. 2 shows an exemplary sequence of drilling processes, motor speed n_motThe curve of (a) is shown in the upper graph, while the actual curve of the ampere-multiple a over time is shown in the lower graph. The amperage curve substantially corresponds to the torque curve applied to the output shaft 4.

The machining tool 1 is operated in the first operation mode in the first phase P1, motor speed n_motSubstantially constantly present as an operating value n_mot1And the ampere-multiple a required for operating the motor 3 is below the threshold value a_{Threshold value}. It is also possible to estimate the applied load torque in the control device 6 instead of the ampere-times a.

At time t1, the amperage A increases to a threshold value A_{Threshold value}And/or the estimated load torque increases to the threshold mthreshold. This is due, for example, to the fact that the tool 5 enters deeper into the surface and/or the tool 5 locks and gets stuck in the surface. The defined operating state is determined by the control means 6. To protect the motor 3 from overheating or other damage, the motor speed n_motAnd then substantially set to a zero value in a second phase P2 until a point in time t 2.

In a following third phase P3, the machine tool 1 is switched from the first operating mode to the second operating mode, in which the control device 6 acts on the electric motor 3 using a predefined amperage curve, a portion of which is shown in fig. 4.

In the second operating mode, the electric motor 3 is controlled by the control device 6 on the basis of the ampere curve, a part of which is shown in fig. 3, or is set to this ampere curve. The ampere-multiple curve has a first current pulse 10 and a second current pulse 11, which in the present case are designed as rectangular pulses. The maximum a2 of the second current pulses 11 is substantially constant for all first current pulses 11, in the present case the a2 being approximately 50% less than the maximum a1 of the first current pulses 10. The first current pulse 10 according to fig. 4 has a maximum amperage a1 corresponding to the fully charged state of the battery 2. The maximum amperage a1 of the first current pulse 10 decreases according to the state of charge of the battery 2, the maximum amperage a1 'of the further first current pulse 10' being less than the maximum amperage a 1. Fig. 5 shows an example of the dependence of the maximum amperage of the first current pulse 10 on the state of charge of the battery 2, the maximum amperage of the first current pulse 10 in the present case decreasing in discrete values as the state of charge of the battery 2 decreases. The state of charge of the battery 2 is shown in fig. 5 as a percentage of the maximum state of charge of the battery 2.

Alternatively, the maximum amperage of the first current pulse 10 may also be substantially continuously reduced when current or actual information about the state of charge of the battery 2 is available.

Alternatively or additionally, the maximum amperage of the second current pulse 11 may also be reduced depending on the state of charge of the battery 2.

The first current pulse 10, 10' extends over a first time period T1 which, in the present case, is substantially twice as long as the time period T2 of the second current pulse 11. In the present case, the time period T3 between two successive current pulses 10, 10', 11 substantially corresponds to the time period T1 of the first current pulse 10, 10'.

In the ampere-times curve, nine second current pulses 11 follow the first current pulses 10, 10' in the present case. It has been found that this results in an advantageous compromise between the desired tactile feedback of the user, which is comparable to the tactile feedback of a machining tool with a released mechanical coupling, and low power consumption. In particular, the first current pulse 10, 10' applies a torque to the output shaft 4, which is intended to release the tool 5 from the locked condition.

At time t3 in the diagram according to fig. 3, the electrode speed n_motIncreasing to time point t4 in the fourth phase P4, because the tool's lock condition is released. Subsequently, the machine tool 1 is returned to the first operating state by the control device 6 in a fifth phase P5 starting from the time point t4, after which the motor speed n is increased_motBack to the value n_mot1。

Alternatively, if operation of the machining tool 1 for a defined period of time does not result in the locking of the tool 5 being released, the motor 3 may be stopped to prevent overheating of the motor 3.

Fig. 6 shows an amperage curve of a further design, which, unlike the amperage curve according to fig. 4, does not have two types of current pulses that differ from one another fundamentally, but only one type of current pulse 12. The current pulses 12 differ from one another only at the level of the maximum amperage in the present case, which depends on the state of charge of the battery 2 in the manner described above and in this case decreases over time from the value a1 to the value a 4. The maximum amperage of the first current pulse 10 decreases in the present case at discrete values as the state of charge of the battery 2 decreases.

Alternatively, a single or multiple current pulses 12 of the amp-multiple curve may be extended for a longer period of time than other current pulses 12, such that longer current pulses require greater current consumption to apply the desired high output torque to the output shaft 4 and other current pulses for achieving the desired tactile feedback are comparable to a released mechanical coupling.

Alternatively, the maximum amperage of the first current pulse 10, 10' or the current pulse 12 may also be substantially continuously reduced if current or actual information about the state of charge of the battery 2 is available.

List of reference numerals

1 machining tool

2 batteries

3 electric motor

4 output shaft

5 tools

6 control device

7 device

10. 10' first current pulse

11 second current pulse

12 current pulses

A_{Threshold value}Threshold value

A1, A1', A2, A3 and A4 maximum ampere times

n_motSpeed of the motor

n_mot1Operating value of motor speed

E. S, S1-S6 method steps

Stage P1-P4

T1, T2, T3 time periods

time point t1 to t5