Harmonic Drive CHA - Page 36

36 1018854 12/2015 V01
Table 36.1
Symbol [Unit] CHA-25A
Motor feedback system M512P
Ratio i [ ] 30 50 80 100 120 160
Maximum output torque T
max
[Nm] 50 98 137 157 167 176
Maximum output speed n
max
[rpm] 187 112 70 56 47 35
Maximum current I
max
[A
rms
] 3.5 4.0 3.4 3.2 2.8 2.2
Continuous stall torque T
0
[Nm] 38 55 87 108 108 108
Continuous stall current I
0
[A
rms
] 2.7 2.3 2.2 2.2 1.9 1.4
Maximum DC bus voltage U
DCmax
[V
DC
] 680
Electrical time constant (20° C) t
e
[ms] 1.6
Mechanical time constant (20° C) t
m
[ms] 5.9
No load current I
NLS
[A
rms
] 0.21 0.19 0.15 0.15 0.15 0.14
No load running current constant (30° C) K
INL
[x10
-3
A
rms
/rpm] 4 6 10 12 14 19
No load running current constant (80° C) K
INL
[x10
-3
A
rms
/rpm] 1 2 3 4 5 7
Torque constant (at output) k
Tout
[Nm/A
rms
] 15.5 26.0 42.5 53.1 63.9 85.0
Torque constant (at motor) k
TM
[Nm/A
rms
] 0.55
AC voltage constant (L-L, 20° C, at motor) k
EM
[V
rms
/1000 rpm] 37
Motor terminal voltage (fundamental wave only) U
M
[V
rms
] 220 … 430
Demagnetisation current I
E
[A
rms
] 15
Maximum motor speed n
max
[rpm] 5600
Rated motor speed n
N
[rpm] 3500
Resistance (L-L, 20° C) R
L- L
[Ω] 3.7
Inductance (L-L) L
L- L
[mH] 6.0
Number of pole pairs p [ ] 6
Weight without brake m [kg] 4.9
Weight with brake m [kg] 6.1
Hollow shaft diameter d
h
[mm] 27
Technical Data Brake
Table 36.3
Moment of Inertia
Table 36.2
Symbol [Unit] CHA-25A
Ratio i [ ] 30 50 80 100 120 160
Brake voltage U
Br
[V
DC
] 24 ±10%
Brake holding torque (at output) T
Br
[Nm] 54 90 137 157 167 176
Brake current to open I
OBr
[A
DC
] 0.9
Brake current to hold (10V) I
HBr
[A
DC
] 0.4
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-25A
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] 0.39 0.97 2.8 4.4 6.3 11.2
Moment of inertia with brake J
out
[kgm²] 0.46 1.27 3.2 5.1 7.3 13.0
Moment of Inertia at motor
Moment of inertia at motor without brake J [x10
-4
kgm²] 4.4
Moment of inertia at motor with brake J [x10
-4
kgm²] 5.1