## 5 Conducting Measurements of Characteristic Properties of Bearing Reducers during Their Trial Run
### Trial Run of the Gear Reducer in Configuration B
The summary of the natural frequency values measured in the axial and radial direction for the individual BR samples is shown in Table 9. Starting torque (Rm) BR TS 050-63, s/n.1911 before the trial run of CW direction is shown in Figure 15 and CWW direction, in Figure 16. \begin{table}
\begin{tabular}{c c c c c c} \hline \hline \multirow{2}{*}{**No.**} & **Type BR/Serial** & **Cost Motion** & **Hysteresis** & **Rm (CW)** & **Rm (CCW)** \\  & **No.** & **[arcmin]** & **[arcmin]** & **[Nm]** & **[Nm]** \\ \hline
1. & TS 050 s/n.1911 & 0.73 & 0.55 & 0.045 & 0.043 \\
2. & TS 050 s/n.1912 & 0.65 & 0.95 & 0.035 & 0.041 \\
3. & TS 050 s/n.1913 & 0.80 & 1.11 & 0.040 & 0.046 \\
4. & TS 050 s/n.1914 & 0.78 & 0.63 & 0.032 & 0.038 \\
5. & TS 050 s/n.1915 & 0.62 & 1.00 & 0.042 & 0.050 \\
6. & TS 050 s/n.1916 & 0.71 & 0.82 & 0.051 & 0.046 \\
7. & TS 050 s/n.1917 & 0.82 & 1.04 & 0.036 & 0.040 \\
8. & TS 050 s/n.1918 & 0.90 & 0.74 & 0.044 & 0.042 \\
9. & TS 050 s/n.1919 & 0.55 & 0.67 & 0.032 & 0.039 \\
10. & TS 050 s/n.1920 & 0.76 & 0.90 & 0.028 & 0.034 \\ \hline \hline \end{tabular}
\end{table} 
Table 7: Bearing reducer TS 050 parameters measured before the trial run (configuration B). Figure 14: Graphic display of the course of temperature changes during the trial run. Figure 16: Starting torque (Rm) BR TS 050-63, s/n.1911—CCW direction (before the trial run). \begin{table}
\begin{tabular}{c c c} \hline \hline
**No.** & **Type BR/Serial No.** & **Natural Frequency Radial—Torsional [rpm/Hz]** \\ \hline
1. & TS 050 s/n.1911 & 820/11.3 \\
2. & TS 050 s/n.1912 & 830/12.0 \\
3. & TS 050 s/n.1913 & 815/13.0 \\
4. & TS 050 s/n.1914 & 835/12.0 \\
5. & TS 050 s/n.1915 & 824/11.5 \\
6. & TS 050 s/n.1916 & 822/13.0 \\
7. & TS 050 s/n.1917 & 838/12.5 \\
8. & TS 050 s/n.1918 & 832/13.0 \\
9. & TS 050 s/n.1919 & 840/11.0 \\
10. & TS 050 s/n.1920 & 837/14.0 \\ \hline \hline \end{tabular}
\end{table} 
Table 9: Values of natural BR TS 050 frequencies measured after the trial run (configuration B). Figure 15: Starting torque (Rm) BR TS 050-63, s/n.1911—CW direction (before the trial run). Summary of partial results from MDS during the trial run of the TS 050 bearing reducer--loading by the load application servomotor during the trial run:  
Measurements were conducted on 10 BR TS 050-63 samples. Before the trial run, we performed a series of measurements on the samples to identify the factual state of BR. After an initial 48 h trial run with a load factor of 9 Nm at the output, there was a decrease in the starting torque in both directions, i.e., the CW, CCW, which can be attributed to the starting of kinematic pairs during mechanical transmission. After the trial run, the parameters, such as lost motion (LM), remained unchanged. In the case of the hysteresis parameter (H), there was a slight growth in the increase in value, but the value of the difference itself is so small that no significant effect needs to be attributed thereto. The range of change is 0.01 to 0.05 arcmin (Table 11). From the course of the temperature values measured on the support body after the initial temperature rise to 42 \({}^{\circ}\)C, it is apparent that the temperatures stabilized at 31 \({}^{\circ}\)C after about 26 h. The maximum degree of contamination of the PG TT1 lubricant with Fe solid particles was 15 ppm Fe. \begin{table}
\begin{tabular}{c c c c c c} \hline \hline \multirow{2}{*}{**No. **} & **Type BR/Serial** & **Lost Motion** & **Hysteresis** & **Rm (CW)** & **Rm (CCW)** \\  & **No. ** & **[arcmin]** & **[arcmin]** & **[Nm]** & **[Nm]** \\ \hline
1. & TS 050 s/n.1911 & 0 & +0.04 & \(-\)0.019 & \(-\)0.018 \\
2. & TS 050 s/n.1912 & 0 & +0.05 & \(-\)0.0  
Evaluation of Results and Qualitative Assessment of the Impact of the Load during the Trial Run Mode  
The examined object No. 1 BR TR 050 with a gear ratio of 63 was subjected to two types of the trial run mode. Configuration A represented a load placed on the arm, represented by a mechanical weight. Configuration B represented the load applied by the drive, the so-called motor versus motor.