Harmonic Drive CHA - Actuator Data

12 1018854 12/2015 V01
Symbol [Unit] CHA-14A-E
Motor feedback system RES / D2048 / M128S
Ratio i [ ] 30 50 80 100
Maximum output torque T
max
[Nm] 9 18 23 28
Maximum output speed n
max
[rpm] 283 170 106 85
Maximum current I
max
[A
rms
] 7.4 8.6 6.9 6.7
Continuous stall torque T
0
[Nm] 6.8 6.9 11 11
Continuous stall current I
0
[A
rms
] 5.8 3.8 3.7 3.1
Maximum DC bus voltage U
DCmax
[V
DC
] 48
Electrical time constant (20° C) t
e
[ms] 0.8
Mechanical time constant (20° C) Version RES t
m
[ms] 14.0
Mechanical time constant (20° C) Version D2048 t
m
[ms] 9.0
Mechanical time constant (20° C) Version M128S t
m
[ms] 23.0
No load current (+20° C) I
NLS
[A
rms
] 1.0 0.9 0.8 0.8
No load current (-40° C) I
NLS
[A
rms
] 3.1 3.7 4.5 5.1
No load running current constant (30° C) K
INL
[x10
-3
A
rms
/rpm] 4.6 7. 6 12.2 15.2
No load running current constant (80° C) K
INL
[x10
-3
A
rms
/rpm] 1.6 2.7 4.3 5.4
Torque constant (at output) k
Tout
[Nm/A
rms
] 1.2 1.8 3.0 3.5
Torque constant (at motor) k
TM
[Nm/A
rms
] 0.04
AC voltage constant (L-L, 20° C, at motor) k
EM
[V
rms
/1000 rpm] 3
Motor terminal voltage (fundamental wave only) U
M
[V
rms
] 18 … 34
Demagnetisation current I
E
[A
rms
] -
Maximum motor speed n
max
[rpm] 8500
Rated motor speed n
N
[rpm] 3500
Resistance (L-L, 20° C) R
L- L
[Ω] 0.42
Inductance (L-L) L
L- L
[mH] 0.35
Number of pole pairs p [ ] 5
Weight without brake m [kg]
1.6 (D2048)
1.9 (RES / M128S)
Weight with brake m [kg]
2.2 (D2048)
2.5 (RES / M128S)
Hollow shaft diameter d
h
[mm] 12
3.3.2 Actuator Data
Table 12.1