Harmonic Drive CHA - Moment of Inertia; Technical Data Brake

14 1018854 12/2015 V01
Technical Data Brake
Table 14.2
Symbol [Unit] CHA-14A
Ratio i [ ] 30 50 80 100
Brake voltage U
Br
[V
DC
] 24 ±10%
Brake holding torque (at output) T
Br
[Nm] 9 18 23 28
Brake current to open I
OBr
[A
DC
] -
Brake current to hold I
HBr
[A
DC
] 0.54
Number of brake cyles at n = 0 rpm -
Emergency brake cyles -
Opening time t
O
[ms] -
Closing time t
C
[ms] -
Moment of Inertia
Table 14.1
Symbol [Unit] CHA-14A
Motor feedback system RES
Ratio i [ ] 30 50 80 100
Moment of Inertia output side
Moment of inertia without brake J
out
[kgm²] 0.031 0.087 0.222 0.347
Moment of inertia with brake J
out
[kgm²] 0.039 0.109 0.280 0.438
Moment of Inertia at motor
Moment of inertia at motor without brake J [x10
-4
kgm²] 0.347
Moment of inertia at motor with brake J [x10
-4
kgm²] 0.438
Motor feedback system D2048
Ratio i [ ] 30 50 80 100
Moment of Inertia output side
Moment of inertia without brake J
out
[kgm²] 0.020 0.056 0.142 0.223
Moment of inertia with brake J
out
[kgm²] 0.028 0.078 0.201 0.314
Moment of Inertia at motor
Moment of inertia at motor without brake J [x10
-4
kgm²] 0.223
Moment of inertia at motor with brake J [x10
-4
kgm²] 0.314
Motor feedback system M128S
Ratio i [ ] 30 50 80 100
Moment of Inertia output side
Moment of inertia without brake J
out
[kgm²] 0.052 0.145 0.371 0.580
Moment of inertia with brake J
out
[kgm²] 0.060 0.168 0.429 0.671
Moment of Inertia at motor
Moment of inertia at motor without brake J [x10
-4
kgm²] 0.580
Moment of inertia at motor with brake J [x10
-4
kgm²] 0.671