Harmonic Drive CHA - Page 19

191018854 12/2015 V01
Moment of Inertia
Table 19.1
Technical Data Brake
Table 19.2
Symbol [Unit] CHA-17A
Ratio i [ ]
30 50 80 100 120
Brake voltage U
Br
[V
DC
] 24 ±10%
Brake holding torque (at output) T
Br
[Nm] 15 25 40 50 54
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]
-
Symbol [Unit] CHA-17A
Motor feedback system RES
Ratio i [ ] 30 50 80 100 120
Moment of Inertia output side
Moment of inertia without brake
J
out
[kgm²]
0.095 0.264 0.676 1.056 1.520
Moment of inertia with brake J
out
[kgm²] 0.104 0.289 0.741 1.158 1.667
Moment of Inertia at motor
Moment of inertia at motor without brake
J [x10
-4
kgm²]
1.056
Moment of inertia at motor with brake
J [x10
-4
kgm²]
1.158
Motor feedback system D2048
Ratio i [ ] 30 50 80 100 120
Moment of Inertia output side
Moment of inertia without brake
J
out
[kgm²]
0.047 0.131 0.355 0.523 0.753
Moment of inertia with brake J
out
[kgm²] 0.060 0.160 0.400 0.630 0.900
Moment of Inertia at motor
Moment of inertia at motor without brake
J [x10
-4
kgm²]
0.523
Moment of inertia at motor with brake
J [x10
-4
kgm²]
0.625
Motor feedback system M128S
Ratio i [ ] 30 50 80 100 120
Moment of Inertia output side
Moment of inertia without brake
J
out
[kgm²]
0.078 0.218 0.557 0.871 1.254
Moment of inertia with brake J
out
[kgm²] 0.088 0.243 0.623 0.973 1.401
Moment of Inertia at motor
Moment of inertia at motor without brake
J [x10
-4
kgm²]
0.871
Moment of inertia at motor with brake
J [x10
-4
kgm²]
0.973