Harmonic Drive CHA - Page 17

171018854 12/2015 V01
Table 17.1
Symbol [Unit] CHA-17A-E
Motor feedback system
RES / D2048 / M128S
Ratio i [ ] 30 50 80 100 120
Maximum output torque T
max
[Nm] 16 34 43 54 54
Maximum output speed n
max
[rpm] 220 132 83 66 55
Maximum current I
max
[A
rms
] 8.3 10.3 8.1 8.1 6.8
Continuous stall torque T
0
[Nm] 12 26 27 39 39
Continuous stall current I
0
[A
rms
] 6.4 8.0 5.3 6.0 5.1
Maximum DC bus voltage U
DCmax
[V
DC
] 48
Electrical time constant (20° C) t
e
[ms] 1.3
Mechanical time constant (20° C) Version RES t
m
[ms] 10.0
Mechanical time constant (20° C) Version D2048 t
m
[ms] 5.0
Mechanical time constant (20° C) Version M128S t
m
[ms] 9.0
No load current (+20° C) I
NLS
[A
rms
] 0.8 0.7 0.6 0.6 0.6
No load current (-20° C) I
NLS
[A
rms
] 2.6 3.5 3.9 4.4 4.7
No load running current constant (30° C) K
INL
[x10
-3
A
rms
/rpm] 4.6 7.7 12.3 15.4 18.5
No load running current constant (80° C) K
INL
[x10
-3
A
rms
/rpm] 1.7 2.8 4.5 5.6 6.8
Torque constant (at output) k
Tout
[Nm/A
rms
] 1.9 3.3 5.1 6.5 7. 6
Torque constant (at motor) k
TM
[Nm/A
rms
] 0.07
AC voltage constant (L-L, 20° C, at motor) k
EM
[V
rms
/1000 rpm] 5
Motor terminal voltage (fundamental wave only) U
M
[V
rms
] 18 … 34
Demagnetisation current I
E
[A
rms
] -
Maximum motor speed n
max
[rpm] 6600
Rated motor speed n
N
[rpm] 3500
Resistance (L-L, 20° C) R
L- L
[Ω] 0.32
Inductance (L-L) L
L- L
[mH] 0.42
Number of pole pairs p [ ] 5
Weight without brake m [kg]
2.1 (D2048)
2.8 (RES / M128S)
Weight with brake m [kg]
2.5 (D2048)
3.2 (RES / M128S)
Hollow shaft diameter d
h
[mm]
16