Harmonic Drive CHA - Page 34

34 1018854 12/2015 V01
Table 34.1
Symbol [Unit] CHA-20A
Motor feedback system M512P
Ratio i [ ] 30 50 80 100 120 160
Maximum output torque T
max
[Nm] 27 56 74 82 87 92
Maximum output speed n
max
[rpm] 200 120 75 60 50 38
Maximum current I
max
[A
rms
] 2.9 3.8 3.1 2.8 2.5 2.1
Continuous stall torque T
0
[Nm] 19 32 47 49 49 49
Continuous stall current I
0
[A
rms
] 2.1 2.1 1.9 1.6 1.4 1.0
Maximum DC bus voltage U
DCmax
[V
DC
] 680
Electrical time constant (20° C) t
e
[ms] 1.4
Mechanical time constant (20° C) t
m
[ms] 6.7
No load current I
NLS
[A
rms
] 0.19 0.17 0.14 0.14 0.13 0.13
No load running current constant (30° C) K
INL
[x10
-3
A
rms
/rpm] 2 4 7 8 9 12
No load running current constant (80° C) K
INL
[x10
-3
A
rms
/rpm] 0.7 2 2 3 4 5
Torque constant (at output) k
Tout
[Nm/A
rms
] 9.9 16.5 26.8 33.4 40.1 53.5
Torque constant (at motor) k
TM
[Nm/A
rms
] 0.36
AC voltage constant (L-L, 20° C, at motor) k
EM
[V
rms
/1000 rpm] 23
Motor terminal voltage (fundamental wave only) U
M
[V
rms
] 220 … 430
Demagnetisation current I
E
[A
rms
] 7.0
Maximum motor speed n
max
[rpm] 6000
Rated motor speed n
N
[rpm] 3500
Resistance (L-L, 20° C) R
L- L
[Ω] 5.9
Inductance (L-L) L
L- L
[mH] 8.0
Number of pole pairs p [ ] 5
Weight without brake m [kg] 4.2
Weight with brake m [kg] 4.9
Hollow shaft diameter d
h
[mm] 18
Technical Data Brake
Table 34.3
Moment of Inertia
Table 34.2
Symbol [Unit] CHA-20A
Ratio i [ ] 30 50 80 100 120 160
Brake voltage U
Br
[V
DC
] 24 ±10%
Brake holding torque (at output) T
Br
[Nm] 27 45 72 82 87 92
Brake current to open I
OBr
[A
DC
] 0.6
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-20A
Motor feedback system M512P
Ratio i [ ] 30 50 80 100 120 160
Moment of Inertia output side
Moment of inertia without brake J
out
[kgm²] 0.21 0.58 1.48 2.32 3.30 5.90
Moment of inertia with brake J
out
[kgm²] 0.23 0.65 1.65 2.60 3.70 6.60
Moment of Inertia at motor
Moment of inertia at motor without brake J [x10
-4
kgm²] 2.32
Moment of inertia at motor with brake J [x10
-4
kgm²] 2.60