Harmonic Drive CHA - Page 28

28 1018854 12/2015 V01
Table 28.1
Symbol [Unit] CHA-40A
Motor feedback system C1024
Ratio i [ ] 50 80 100 120 160
Maximum output torque T
max
[Nm] 402 519 568 617 647
Maximum output speed n
max
[rpm] 80 50 40 33 25
Maximum current I
max
[A
rms
] 11.8 9.2 8.1 7.3 5.9
Continuous stall torque T
0
[Nm] 125 208 260 314 420
Continuous stall current I
0
[A
rms
] 3.6 3.6 3.6 3.6 3.6
Maximum DC bus voltage U
DCmax
[V
DC
] 680
Electrical time constant (20° C) t
e
[ms] 2.1
Mechanical time constant (20° C) t
m
[ms] 6.8
No load current I
NLS
[A
rms
] 0.30 0.20 0.20 0.20 0.20
No load running current constant (30° C) K
INL
[x10
-3
A
rms
/rpm] 13 20 25 30 40
No load running current constant (80° C) K
INL
[x10
-3
A
rms
/rpm] 4 6 8 10 13
Torque constant (at output) k
Tout
[Nm/A
rms
] 38 62 77 92 123
Torque constant (at motor) k
TM
[Nm/A
rms
] 0.83
AC voltage constant (L-L, 20° C, at motor) k
EM
[V
rms
/1000 rpm] 53
Motor terminal voltage (fundamental wave only) U
M
[V
rms
] 220 … 430
Demagnetisation current I
E
[A
rms
] 18
Maximum motor speed n
max
[rpm] 4000
Rated motor speed n
N
[rpm] 3000
Resistance (L-L, 20° C) R
L- L
[Ω] 2.9
Inductance (L-L) L
L- L
[mH] 6.0
Number of pole pairs p [ ] 6
Weight without brake m [kg] 11.7
Weight with brake m [kg] 13.8
Hollow shaft diameter d
h
[mm] 39
Technical Data Brake
Table 28.3
Moment of Inertia
Table 28.2
Symbol [Unit] CHA-40A
Ratio i [ ] 50 80 100 120 160
Brake voltage U
Br
[V
DC
] 24 ±10%
Brake holding torque (at output) T
Br
[Nm] 225 360 450 540 647
Brake current to open I
OBr
[A
DC
] 0.7
Brake current to hold (10V) I
HBr
[A
DC
] 0.3
Number of brake cyles at n = 0 rpm 10000000
Emergency brake cyles 200
Opening time t
O
[ms] 110
Closing time t
C
[ms] 70
Symbol [Unit] CHA-40A
Motor feedback system C1024
Ratio i [ ] 50 80 100 120 160
Moment of Inertia output side
Moment of inertia without brake J
out
[kgm²] 3.10 7.90 12.3 1 7.7 31.4
Moment of inertia with brake J
out
[kgm²] 3.60 9.10 14.2 20.4 36.3
Moment of Inertia at motor
Moment of inertia at motor without brake J [x10
-4
kgm²] 12.3
Moment of inertia at motor with brake J [x10
-4
kgm²] 14.2