Your first link doesn't work, that on-line configurator is not retentive so a few minutes after you used it, the system reset.
That looks like a servo motor. Did something recently change? If you changed out the motor and did not have the servo drive "auto-tune" to the new motor, it makes gravelly sounds like that.
" We are all here on earth to help others; what on earth the others are here for I don't know." -- W. H. Auden
Yeah, that's a Low Inertia Servo Motor from around 2005-2008, probably connected to a Kinetix 2000 or 6000 servo drive, maybe and Ultra 3000 servo drive. If you changed out the motor, the new motor must be tuned to the drive, even if it's the exact same part number.
" We are all here on earth to help others; what on earth the others are here for I don't know." -- W. H. Auden