Harmonic Drive CHA - Page 18

18 1018854 12/2015 V01
Table 18.1
Symbol [Unit] CHA-17A-H/N
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] 243 146 91 73 61
Maximum current I
max
[A
rms
] 1.6 2.0 1.6 1.6 1.3
Continuous stall torque T
0
[Nm] 12 26 27 39 39
Continuous stall current I
0
[A
rms
] 1.3 1.6 1.0 1.2 1.0
Maximum DC bus voltage U
DCmax
[V
DC
] 680
Electrical time constant (20° C) t
e
[ms] 2.5
Mechanical time constant (20° C) Version RES t
m
[ms] 5.5
Mechanical time constant (20° C) Version D2048 t
m
[ms] 3.0
Mechanical time constant (20° C) Version M128S t
m
[ms] 4.5
No load current I
NLS
[A
rms
] 0.15 0.13 0.11 0.11 0.10
No load running current constant (30° C) K
INL
[x10
-3
A
rms
/rpm] 1 2 3 4 5
No load running current constant (80° C) K
INL
[x10
-3
A
rms
/rpm] 0.4 0.6 0.9 1 1
Torque constant (at output) k
Tout
[Nm/A
rms
] 10.9 18.3 30.3 3 7.5 43.3
Torque constant (at motor) k
TM
[Nm/A
rms
] 0.37
AC voltage constant (L-L, 20° C, at motor) k
EM
[V
rms
/1000 rpm] 26
Motor terminal voltage (fundamental wave only) U
M
[V
rms
] 220 … 430
Demagnetisation current I
E
[A
rms
] -
Maximum motor speed n
max
[rpm] 7300
Rated motor speed n
N
[rpm] 3500
Resistance (L-L, 20° C) R
L- L
[Ω] 4.8
Inductance (L-L) L
L- L
[mH] 12.0
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